A New Integral Sliding Mode Control for Hydraulic Turbine Governing Systems Based on Nonlinear Disturbance Observer Compensation

Qi Yang, Jing Qian (), Jia Li, Yidong Zou, Danning Tian, Yun Zeng, Yan Long and Ganyuan Zhang
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Qi Yang: School of Metallurgy and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, China
Jing Qian: School of Metallurgy and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, China
Jia Li: School of Metallurgy and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, China
Yidong Zou: School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China
Danning Tian: School of Global Public Health, New York University, New York, NY 10012, USA
Yun Zeng: School of Metallurgy and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, China
Yan Long: School of Metallurgy and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, China
Ganyuan Zhang: School of Metallurgy and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, China

Sustainability, 2023, vol. 15, issue 17, 1-21

Abstract: To address the problem that the hydraulic turbine governing system (HTGS) exhibits poor anti-disturbance ability and instability phenomena under traditional PID control, an improved new integral sliding mode control strategy based on a nonlinear disturbance observer (NISMC-NDO) is designed for the HTGS. This study first establishes a nonlinear mathematical model of HTGS and analyzes its dynamic characteristics. The uncertain disturbances of the system are then accurately estimated using a disturbance observer, and a suitable nonlinear gain function is designed to achieve feedforward compensation of the controller by ensuring that the disturbance observation error converges. To design the controller, a proportional-integral sliding mode surface is selected, and the sliding mode exponential convergence law is improved by using the nonlinear power combination function f a l instead of s i g n or s a t . This improves the system’s stability, convergence speed, and tracking accuracy. The simulation results demonstrate that the equilibrium point can be quickly reached and stabilized by the HTGS with chaotic phenomena under the influence of NISMC-NDO. Furthermore, this paper also verifies that the designed controller has good dynamic performance. The findings of this study can serve as a valuable reference for optimizing the operation of hydraulic turbine regulation systems in control applications.

Keywords: hydraulic turbine; governing system; integral sliding mode control; disturbance observer (search for similar items in EconPapers)
JEL-codes: O13 Q Q0 Q2 Q3 Q5 Q56 (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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