IDEAS home Printed from https://ideas.repec.org/a/gam/jsusta/v15y2023i17p12810-d1224204.html
   My bibliography  Save this article

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

Author

Listed:
  • 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
    Xi’an Xuji Power Electronics Technology Co., Ltd., Xi’an 710075, 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)

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.

Suggested Citation

  • Qi Yang & Jing Qian & Jia Li & Yidong Zou & Danning Tian & Yun Zeng & Yan Long & Ganyuan Zhang, 2023. "A New Integral Sliding Mode Control for Hydraulic Turbine Governing Systems Based on Nonlinear Disturbance Observer Compensation," Sustainability, MDPI, vol. 15(17), pages 1-21, August.
    • Handle: RePEc:gam:jsusta:v:15:y:2023:i:17:p:12810-:d:1224204
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2071-1050/15/17/12810/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/2071-1050/15/17/12810/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Chen, Zhihuan & Yuan, Xiaohui & Yuan, Yanbin & Lei, Xiaohui & Zhang, Binqiao, 2019. "Parameter estimation of fuzzy sliding mode controller for hydraulic turbine regulating system based on HICA algorithm," Renewable Energy, Elsevier, vol. 133(C), pages 551-565.
    2. Yu, Xiaodong & Yang, Xiuwei & Yu, Chao & Zhang, Jian & Tian, Yuan, 2021. "Direct approach to optimize PID controller parameters of hydropower plants," Renewable Energy, Elsevier, vol. 173(C), pages 342-350.
    3. Yuan, Xiaohui & Chen, Zhihuan & Yuan, Yanbin & Huang, Yuehua & Li, Xianshan & Li, Wenwu, 2016. "Sliding mode controller of hydraulic generator regulating system based on the input/output feedback linearization method," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 119(C), pages 18-34.
    4. Zou, Yidong & Hu, Wenqing & Xiao, Zhihuai & Wang, Yunhe & Chen, Jinbao & Zheng, Yang & Qian, Jing & Zeng, Yun, 2023. "Design of intelligent nonlinear robust controller for hydro-turbine governing system based on state-dynamic-measurement hybrid feedback linearization method," Renewable Energy, Elsevier, vol. 204(C), pages 635-651.
    5. Wei Wang & Leonid Melnyk & Oleksandra Kubatko & Bohdan Kovalov & Luc Hens, 2023. "Economic and Technological Efficiency of Renewable Energy Technologies Implementation," Sustainability, MDPI, vol. 15(11), pages 1-19, May.
    6. Guo, Wencheng & Yang, Jiandong, 2017. "Hopf bifurcation control of hydro-turbine governing system with sloping ceiling tailrace tunnel using nonlinear state feedback," Chaos, Solitons & Fractals, Elsevier, vol. 104(C), pages 426-434.
    7. Junyi Li & Qijuan Chen, 2014. "Nonlinear Dynamical Analysis of Hydraulic Turbine Governing Systems with Nonelastic Water Hammer Effect," Journal of Applied Mathematics, Hindawi, vol. 2014, pages 1-11, June.
    8. Wissem Bahloul & Mohamed Ali Zdiri & Ismail Marouani & Khalid Alqunun & Badr M. Alshammari & Mansoor Alturki & Tawfik Guesmi & Hsan Hadj Abdallah & Kamel Tlijani, 2023. "A Backstepping Control Strategy for Power System Stability Enhancement," Sustainability, MDPI, vol. 15(11), pages 1-21, June.
    9. Kishor, Nand & Saini, R.P. & Singh, S.P., 2007. "A review on hydropower plant models and control," Renewable and Sustainable Energy Reviews, Elsevier, vol. 11(5), pages 776-796, June.
    10. Lanzhen Wu & Chen Qian & Yilin Shen & Dongyuan Sun, 2023. "Assessment and Factor Diagnosis of Water Resource Vulnerability in Arid Inland River Basin: A Case Study of Shule River Basin, China," Sustainability, MDPI, vol. 15(11), pages 1-19, June.
    11. Görtz, J. & Aouad, M. & Wieprecht, S. & Terheiden, K., 2022. "Assessment of pumped hydropower energy storage potential along rivers and shorelines," Renewable and Sustainable Energy Reviews, Elsevier, vol. 165(C).
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Zhao Liu & Zhenwu Yan & Hongwei Zhang & Huiping Xie & Yidong Zou & Yang Zheng & Zhihuai Xiao & Fei Chen, 2024. "Suppression and Analysis of Low-Frequency Oscillation in Hydropower Unit Regulation Systems with Complex Water Diversion Systems," Energies, MDPI, vol. 17(19), pages 1-29, September.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Xu, Beibei & Zhang, Jingjing & Egusquiza, Mònica & Chen, Diyi & Li, Feng & Behrens, Paul & Egusquiza, Eduard, 2021. "A review of dynamic models and stability analysis for a hydro-turbine governing system," Renewable and Sustainable Energy Reviews, Elsevier, vol. 144(C).
    2. Bicheng Guo & Jiang Guo, 2019. "Feedback Linearization and Reaching Law Based Sliding Mode Control Design for Nonlinear Hydraulic Turbine Governing System," Energies, MDPI, vol. 12(12), pages 1-19, June.
    3. Zou, Yidong & Hu, Wenqing & Xiao, Zhihuai & Wang, Yunhe & Chen, Jinbao & Zheng, Yang & Qian, Jing & Zeng, Yun, 2023. "Design of intelligent nonlinear robust controller for hydro-turbine governing system based on state-dynamic-measurement hybrid feedback linearization method," Renewable Energy, Elsevier, vol. 204(C), pages 635-651.
    4. Zhou, Jianxu & Mao, Yutong & Shen, Aili & Zhang, Jian, 2023. "Modeling and stability investigation on the governor-turbine-hydraulic system with a ceiling-sloping tail tunnel," Renewable Energy, Elsevier, vol. 204(C), pages 812-822.
    5. Huang, Sunhua & Xiong, Linyun & Wang, Jie & Li, Penghan & Wang, Ziqiang & Ma, Meilng, 2020. "Fixed-time synergetic controller for stabilization of hydraulic turbine regulating system," Renewable Energy, Elsevier, vol. 157(C), pages 1233-1242.
    6. Ma, Weichao & Zhao, Zhigao & Yang, Jiebin & Lai, Xu & Liu, Chengpeng & Yang, Jiandong, 2024. "A transient analysis framework for hydropower generating systems under parameter uncertainty by integrating physics-based and data-driven models," Energy, Elsevier, vol. 297(C).
    7. Zhu, Daoyi & Guo, Wencheng, 2019. "Critical sectional area of surge chamber considering nonlinearity of head loss of diversion tunnel and steady output of turbine," Chaos, Solitons & Fractals, Elsevier, vol. 127(C), pages 165-172.
    8. Chen, Zhihuan & Yuan, Xiaohui & Yuan, Yanbin & Lei, Xiaohui & Zhang, Binqiao, 2019. "Parameter estimation of fuzzy sliding mode controller for hydraulic turbine regulating system based on HICA algorithm," Renewable Energy, Elsevier, vol. 133(C), pages 551-565.
    9. Liu, Yang & Guo, Wencheng, 2021. "Multi-frequency dynamic performance of hydropower plant under coupling effect of power grid and turbine regulating system with surge tank," Renewable Energy, Elsevier, vol. 171(C), pages 557-581.
    10. Chen, Zi & Guo, Wencheng, 2023. "Stability and dynamic response of two-stage hydropower stations cascaded by regulating reservoir," Renewable Energy, Elsevier, vol. 202(C), pages 651-666.
    11. Xu, Pan & Fu, Wenlong & Lu, Qipeng & Zhang, Shihai & Wang, Renming & Meng, Jiaxin, 2023. "Stability analysis of hydro-turbine governing system with sloping ceiling tailrace tunnel and upstream surge tank considering nonlinear hydro-turbine characteristics," Renewable Energy, Elsevier, vol. 210(C), pages 556-574.
    12. Yi, Choong-Sung & Lee, Jin-Hee & Shim, Myung-Pil, 2010. "Site location analysis for small hydropower using geo-spatial information system," Renewable Energy, Elsevier, vol. 35(4), pages 852-861.
    13. Chiacchio, Ferdinando & D’Urso, Diego & Famoso, Fabio & Brusca, Sebastian & Aizpurua, Jose Ignacio & Catterson, Victoria M., 2018. "On the use of dynamic reliability for an accurate modelling of renewable power plants," Energy, Elsevier, vol. 151(C), pages 605-621.
    14. Doğan Gezer & Yiğit Taşcıoğlu & Kutay Çelebioğlu, 2021. "Frequency Containment Control of Hydropower Plants Using Different Adaptive Methods," Energies, MDPI, vol. 14(8), pages 1-18, April.
    15. Suberu, Mohammed Yekini & Mustafa, Mohd Wazir & Bashir, Nouruddeen & Muhamad, Nor Asiah & Mokhtar, Ahmad Safawi, 2013. "Power sector renewable energy integration for expanding access to electricity in sub-Saharan Africa," Renewable and Sustainable Energy Reviews, Elsevier, vol. 25(C), pages 630-642.
    16. Yu, Xiaodong & Zhang, Jian & Fan, Chengyu & Chen, Sheng, 2016. "Stability analysis of governor-turbine-hydraulic system by state space method and graph theory," Energy, Elsevier, vol. 114(C), pages 613-622.
    17. Vieira, Filipe & Ramos, Helena M., 2009. "Optimization of operational planning for wind/hydro hybrid water supply systems," Renewable Energy, Elsevier, vol. 34(3), pages 928-936.
    18. Hasan Akbari & Juan I. Pérez-Díaz & José-Ignacio Sarasúa & Robert Schürhuber, 2023. "Implementation and Evaluation of a Complex Pumped-Storage Hydropower Plant with Four Units, Common Penstock, and Surge Tank in a Real-Time Digital Simulator," Energies, MDPI, vol. 16(9), pages 1-23, April.
    19. Huang, Sunhua & Zhou, Bin & Bu, Siqi & Li, Canbing & Zhang, Cong & Wang, Huaizhi & Wang, Tao, 2019. "Robust fixed-time sliding mode control for fractional-order nonlinear hydro-turbine governing system," Renewable Energy, Elsevier, vol. 139(C), pages 447-458.
    20. Dong Liu & Zhihuai Xiao & Hongtao Li & Dong Liu & Xiao Hu & O.P. Malik, 2019. "Accurate Parameter Estimation of a Hydro-Turbine Regulation System Using Adaptive Fuzzy Particle Swarm Optimization," Energies, MDPI, vol. 12(20), pages 1-21, October.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jsusta:v:15:y:2023:i:17:p:12810-:d:1224204. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.