大型水轮发电机组水门开度控制零动态设计方法

针对一类非线性非最小相位系统，利用微分几何控制理论，首先通过引入动态反馈对其扩维以获得稳定的零动态，然后采用标准的线性系统方法设计非线性控制器;进一步利用哈密顿 — 雅可比 — 贝尔曼方程和中心流形理论分别证明所设计控制律的最优性以及闭环系统的稳定性。结合水轮机调速系统模型，求得大型水轮发电机组水门开度非线性最优控制律。对川渝—华中电网的仿真结果表明，与常规控制器相比，所设计的调速系统控制律能够显著提高电力系统的暂态稳定性。

A Zero Dynamic Design Method for Hydraulic Turbine Governor Control

Based on the differential geometric control theory, this paper proposes a novel zero dynamic design method for a class of nonlinear non-minimum phase systems by adopting dynamic feedback to the controlled systems to obtain stable zero dynamics through dimension extension. The nonlinear control law is then derived by means of the linear control design method. Furthermore, both the optimality of the control law and the closed-loop system stability are mathematically and strictly proved using the Hamilton-Jacobian-Bellman equation and the center manifold theory, respectively. The nonlinear optimal governor control law of the large-scale hydraulic turbine generating set is derived by referring to the hydraulic turbine governing system model. Simulation results show that the proposed governor control strategy for hydraulic turbines can enhance the transient stability of power systems more effectively than the conventional control law.