【作者】 南海鹏；

【导师】 罗兴锜；

【作者基本信息】 西安理工大学 ， 水力学及河流动力学， 2003， 博士

【摘要】 本文根据水轮机调节领域存在的问题和发展趋势，对水轮机调速器的液压控制系统、频率测量环节、离散调节系统稳定性与调节参数最优整定以及适应式参数自调整PID控制策略进行了研究，得到以下主要成果和结论： 首次提出了采用步进电机驱动的步进式电液引导阀，从根本上解决了水轮机调速器电液随动系统中存在的电液转换元件发卡、堵塞问题，使电液随动系统的可靠性大大提高。在此基础上，提出一种全新的步进式电液随动系统，使调速器整机简单可靠；同时在建立该随动系统数学模型的基础上，得出了其稳定性控制方程。 首次提出了一种由整形电路和可编程计算机控制器配以适当软件完成频率测量的方法，有效地解决了PLC调速器测频环节存在的可靠性差及响应速度慢的问题，提高了频率测量的可靠性及动态品质。在此基础上，研究和开发了基于可编程计算机控制器(PCC)的步进式水轮机调速器工业样机并在电站运行中取得了圆满成功。 在建立水轮机调节系统离散数学模型的基础上，通过分析，给出离散调节系统的稳定域边界控制方程，通过稳定域绘制，比较离散与连续系统的差异，找出离散调节系统稳定域的变化规律和特点，从而为研究水轮机离散调节系统的控制策略及调节参数整定提供理论依据。 提出了一种可变交叉概率和变异概率的改进遗传算法进行调节参数优化的方法，仿真结果表明，该方法有效地消除了对参数初值的依赖性，使得寻优效率大大提高，同时具有很强的鲁棒性，是一种较好的PID参数寻优方法。 结合智能控制理论，提出了基于模糊规则的适应式参数自调整PID控制策略。它将模糊推理与传统PID控制相结合，使调速器进一步适应调节系统工况的变化。首次利用遗传算法对模糊推理中较难确定的模糊规则进行寻优，以确保得到适合水轮机调节系统的模糊规则。仿真结果表明基于模糊规则的适应式参数自调整PID控制策略是行之有效的。更多还原

【Abstract】 According to the present problems and developing tendency of hydraulic turbine governor, four main issues of this field are studied in this paper. The content include hydraulic control system, frequency measurement unit, stability of the discrete control system, optimization of control parameters and self-adjusting PID control strategy based on fuzzy logic. Several main achievement and results are obtained and shown as follows:The electric-hydraulic pilot valve driven by step-motor is firstly proposed, which solves the problem that the electric-hydraulic converter of hydraulic turbine governor hydraulic servo is prone to be stuck and blocked and improves the systemic stability greatly. Based on it, a new-style step-type electric-hydraulic servo is developed which simplifies the structure and improves the reliability of the governor, and the mathematical model and its stability control equation are obtained.A new method, which uses shaping circuit and programmable computer controller with appropriate software to measure frequency, is initially applied which overcomes the problems of low reliability and slow responding process of traditional frequency measurement unit, improves the reliability and dynamic quality of frequency measurement and expedites the responding speed effectively. The sample industrial controller of PCC step-type hydraulic governor using this method is proved to be successful by practical operation in hydropower stations.Based on modeling and analyzing the discrete mathematic model of hydraulic turbine governor system, the edge equation of stable domain of the discrete control system is obtained. According to this equation, the stable domain is specified. Compared with continuous system, the changing rules and characters of the discrete system are found, which provide the theoretic foundation for researching the control strategy and the parameter adjustment of discretecontrol system of the hydraulic turbine governor.In addition, a new improving genetic algorithm with the alterable intercross probability and mutation probability to optimize the parameters of hydro turbine governor is presented. The simulation result doesn’ t suggest that it depend on the initial parameter value of the system and the searching efficiency can be ameliorated. At the same time, it has strong robustness and is an excellent PID optimization method.Finally, referring the intelligent control theory, the self-adjusting parameter PID control strategy based on the fuzzy logic rules is introduced. Combining the fuzzy logic and traditional PID control, it makes governor more adaptive to the real operation conditions. Since the fuzzy reasoning rules are difficult to make, the improving genetic algorithms is applied to optimize the fuzzy reasoning rules and thus the excellent fuzzy reasoning rules can be obtained. The simulation result shows that the self-adjusting PID control strategy based on fuzzy reasoning rules is more available.更多还原