Open Access

ARTICLE

Terminal Sliding Mode Controllers for Hydraulic Turbine Governing System with Bifurcated Penstocks under Input Saturation

Ji Liang¹, Zhihuan Chen^2,*, Xiaohui Yuan^1,3,*, Binqiao Zhang³, Yanbin Yuan⁴

1 School of Hydropower and Information Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China
2 School of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan, 430081, China
3 Hubei Provincial Key Laboratory for Operation and Control of Cascaded Hydropower Station, China Three Gorges University, Yichang, 443002, China
4 School of Resource and Environmental Engineering, Wuhan University of Technology, Wuhan, 430070, China

* Corresponding Authors: Zhihuan Chen. Email: ; Xiaohui Yuan. Email:

Computer Modeling in Engineering & Sciences 2020, 123(2), 603-629. https://doi.org/10.32604/cmes.2020.09328

Received 03 December 2019; Accepted 03 March 2020; Issue published 01 May 2020

Abstract

Terminal sliding mode controller method is introduced to enhance the regulation performance of the hydraulic turbine governing system (HTGS). For the purpose of describing the characteristics of controlled system and deducing the control rule, a nonlinear mathematic model of hydraulic turbine governing system with bifurcated penstocks (HTGSBF) under control input saturation is established, and the input/output state linearization feedback approach is used to obtain the relationship between turbine speed and controller output. To address the control input saturation problem, an adaptive assistant system is designed to compensate for controller truncation. Numerical simulations have been conducted under fixed point stabilization and periodic orbit tracking conditions to compare the dynamic performances of proposed terminal sliding mode controllers and conventional sliding mode controller. The results indicate that the proposed terminal sliding mode controllers not only have a faster response and accurate tracking results, but also own a stronger robustness to the system parameter variations. Moreover, the comparisons between the proposed terminal sliding mode controllers and current most often used proportional-integral-differential (PID) controller, as well its variant NPID controller, are discussed at the end of this paper, where the superiority of the terminal sliding mode controllers also have been verified.

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Keywords

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