等体积明渠的鲁棒控制
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摘要
本文论述了渠道运行自动控制的必要性，针对渠道运行具有非线性，时滞性且无法建立精确数学模型等特点，采用鲁棒控制理论研究渠道运行问题，从而为渠道运行控制设计和研究建立起一个完整的框架体系。
研究了渠道运行控制系统数学模型的建模方法，建立起渠道运行控制状态空间方程，将明渠水力学的问题转化为控制论问题。将最优控制理论应用到渠道系统运行管理中设计出最优控制器，并对不同的初始条件进行模拟仿真，验证所建立的渠道运行控制理论和设计方法是可行的。对H~∞控制理论进行了深入的分析并将其用于渠道控制中，仿真结果表明该控制器在抑制干扰方面明显优于最优控制器。
最后，针对基于H~∞最优控制理论设计出的控制器阶数高，结构复杂，实现较困难等特点，提出了一种基于非迭代算法的鲁棒控制器的设计方法。
In this thesis, the necessity of automatic control of canal operation is discussed The canal operating has nonlinear , time lag and can't establish accurately mathematical model. By studying the canal operating control problem with robust control theory, the thesis set up a theory framework for the design and research of canal operating control.
By studying the modeling approach about canal operating, the state-space equation on canal operating control system is established, and the open-channel hydraulic problem can be transformed into a control theory problem. Applying optimal control theory and optimal estimate theory to canal system, the thesis works out the optimal controller. By simulating operation of canal control system under several typical initial conditions, the validity of established theory and design method on canal operating control are tested. It deeply analyze the theory of H∞ control and gets the theory in canal control and the results of computer simulation show that ,the robust controlled is superior to the optimal controller in respect of preventing disturbances of system.
Lastly, the robust excitation controller is designed in line with the H∞ optimal control theory is suggested. But it has many disadvantages, such as the high order of the controller, complicated and difficulty to apply in engineer This paper formulates a no iterative methodology for designing robust exciting controller for the system.
研究了渠道运行控制系统数学模型的建模方法，建立起渠道运行控制状态空间方程，将明渠水力学的问题转化为控制论问题。将最优控制理论应用到渠道系统运行管理中设计出最优控制器，并对不同的初始条件进行模拟仿真，验证所建立的渠道运行控制理论和设计方法是可行的。对H~∞控制理论进行了深入的分析并将其用于渠道控制中，仿真结果表明该控制器在抑制干扰方面明显优于最优控制器。
最后，针对基于H~∞最优控制理论设计出的控制器阶数高，结构复杂，实现较困难等特点，提出了一种基于非迭代算法的鲁棒控制器的设计方法。
In this thesis, the necessity of automatic control of canal operation is discussed The canal operating has nonlinear , time lag and can't establish accurately mathematical model. By studying the canal operating control problem with robust control theory, the thesis set up a theory framework for the design and research of canal operating control.
By studying the modeling approach about canal operating, the state-space equation on canal operating control system is established, and the open-channel hydraulic problem can be transformed into a control theory problem. Applying optimal control theory and optimal estimate theory to canal system, the thesis works out the optimal controller. By simulating operation of canal control system under several typical initial conditions, the validity of established theory and design method on canal operating control are tested. It deeply analyze the theory of H∞ control and gets the theory in canal control and the results of computer simulation show that ,the robust controlled is superior to the optimal controller in respect of preventing disturbances of system.
Lastly, the robust excitation controller is designed in line with the H∞ optimal control theory is suggested. But it has many disadvantages, such as the high order of the controller, complicated and difficulty to apply in engineer This paper formulates a no iterative methodology for designing robust exciting controller for the system.
引文
[1] 冯纯伯，田玉平，祈欣，鲁棒控制系统设计[M]，东南大学出版社，1995．12．
[2] 吉明，姚绪梁，鲁棒控制系统[M]，哈尔滨工程大学出版社，2002．10．
[3] 王德进，H_2和H_∞优化控制理论[M]，哈尔滨工业大学出版社，2001．3
[4] 王长德，灌溉渠道水力自动控制闸门运行的稳定问题[J]，武汉水利电力学院学报，1982．4．
[5] 王长德，韦直林，张礼卫，上游常水位自动控制渠道明渠非恒定流动态边界条件[J]，水利学报，No．2，1995．2，46-51，57．
[6] 王长德，张礼卫，下游常水位水力自动控制渠道运行动态过程及数学模型的研究[J]，水利学报，No．11，1997．11．
[7] 王长德，柯善青，冯晓波，P+PR控制器用于比威尔算法[J]，武汉水利电力大学学报，Vol．33，No 2，Apr．2000，11-15．
[8] 李宗健，江亦贞，王长德，水力自动闸门[M]，北京：水利电力出版社，1987．8，179-180．
[9] 阮新建，渠道运行现代控制理论模型研究，武汉水利电力大学博士论文，2002．4．
[10] 柳树票，多渠段串联渠系渠侧出流及串联倒虹吸渠系P+PR控制，武汉水利电力大学硕士论文，2001．4．
[11] 柯善青，供水渠道等体积运行的动态过程及其数学模型的研究[M]，武汉水利电力大学硕士学位论文，2000 3．
[12] 薛定宇，反馈控制系统设计与分析——MATLAB语言应用[M]，清华大学出版社，2000．4
[13] 李海涛，邓樱，MATLAB6.1基础及应用技巧[M]，国防工业出版社，2002．3．
[14] 赵文峰，控制系统设计与仿真[M]，西安电子科技大学出版社，2002．3．
[15] 徐正凡，水力学(上册)[M]，高等教育出版社，1986．10，393-403．
[16] 徐正凡，水力学(下册)[M]，高等教育出版社，1986．10，73-95，179-187，255-343．
[17] 美国内务部垦务局编，渠系自动化手册(第一册)[M]，庞进武，高占义等译，北京：中国水利电力出版社，1996年5月．
[18] 美国内务部垦务局编，渠系自动化手册(第二册)[M]，长江水利委员会译，1998年6月．
[19] 周克敏，J．C．Doyle K Glover，鲁棒与最优控制[M]，国防工业出版社，2002．7．
[20] 武汉水利电力学院编著，水力计算手册[M]，水利出版社，1980．2．
[21] 李明思，朱凤书，渠系调控的过渡过程[J]，灌溉排水，Vol 17，1998．3，49-54．
[22] J．Lewin(英国)，水工闸门的控制[J]，水利水电快报，No．2，1996，15-17，26．
[23] 科巴斯(Helmut Kobus西德)主编，清华大学水利系泥沙研究室译，水力模拟[M]，北京：清华大学出版社，1988．5．
[24] 张绍芳，堰闸水力设计[M]，北京：水利电力出版社，1987．2，242-249．
[25] 美国陆军工程兵团编著，王诘昭，张元禧等译，水力设计准则[M]，北京：水利出版社，1982．9．
[26] 武汉水利电力大学农水系水工教研室编，水工建筑物(农田水利工程)上册[M]，人民教育出版社，77．2，319-351
[27] 庞国仲，自动控制原理[M]，合肥：中国科技大学出版社，1993．1．
[28] 蒋大明，戴胜华，自动控制原理[M]，北京：清华大学出版社，2003．3．
[29] 谢克明，现代控制理论基础[M]，北京工业大学出版社，2000．2．
[30] 段广仁，线性系统理论[M]，哈尔滨工业大学出版社，1996．11．
[31] G.Corriga, S.Sanna, G.Usai, Sub-optimal constant volume control for open-channel networks[J], Appl.Math.Modelling, 1983, 262-267.
[32] G. Corriga, S.Sanna, G.Usai, Estimation of uncertainty in an open-channel network mathematical model. Appl. Math. Modelling(1989), 651-657
[33] J.M.Reddy, Evaluation of optimal constant-volume for irrigation canals. Appl. Math. Modelling(1990), 450-458
[34] Carla Seatzu, Design and robustess analysis of decentralized constant volume-control for open-channels.Appl.Math.Modelling(1990), 479-500.
[35] Prabhata K. Swamee, Sluice-Gate Discharge Equations[J], Journal of Irrigation and Drainage Engineering, Vol. 118, No. 1 Jan/Feb, 1992, 56-60.
[36] Fubo Liu, Jan Feyen, and Jean Berlamont, Downstream Control Algorithm for Irrigation Channels[J], Journal of Irrigation and Drainage Engineering, Vol.120,
No.3, May/June, 1994, 468-481.
[37] Fubo Liu, Jan Feyen, and Jean Berlamont, Downstream Control of Multireach Canal System[J], Journal of Irrigation and Drainage Engineering, Vol. 121, No.2, Mar/Apr, 1995, 179-190.
[38] Pierre-Olivier Malaterre, David C. Rogers and Jan Schuurmans, Classification of Canal Control Algorithms[J], Journal of Irrigation and Drainage Engineering, Vol. 124, No. 1, January/February, 1998, 3-10.
[39] David C. Rogers and Jean Goussard, Canal Control Algorithms Currently in Use[J], Journal of Irrigation and Drainage Engineering, Vol. 124, No. 1, Jan/Feb, 1998, 11-15.
[40] A.J.Clemrnens, T.F.Kacerek, B.Grawitz and WShuurrnans, Test Case for Canal Control Algorithms[J], Journal of Irrigation and Drainage Engineering, Vol.124, No.1, Jan/Feb, 1998, 23-30.
[41] C.M.Burt, R.S.Mills, R.D.Khalsa, and V.Ruiz, Improved Proportional Integral (PI) Logic For Canal Automation[J], Journal of Irrigation and Drainage Engineering, Vol. 124, No. 1, Jan/Feb, 1998, 53-57.
[42] Changde Wang, , AJ.Clemmens and W.E Hart, Dynamic response of automatic water-level controller Ⅰ: theory[J], Journal of Irrigation and Drainage Engineering, ASCE, Vol. 116, No.6, 1990;
[43] Fubo Liu, Jan Feyen, Pierre-Olivier Malaterre, Jean-Pierre Brume and Pascal Kosuth, Development And Evaluation of Canal Automation Algorithm CLIS[J], Journal of Irrigation and Drainage Engineering, Vol. 124, No. 1, Jan/Feb, 1998, 40-46.
[44] A.J.Clemmens, G.Sloan, J.Schuurmans, Canal-Control Needs." Example[J], Journal of Irrigation and Drainage Engineering, Vol. 130, No.6, Nov/Dee, 1994, 1067-1085.
[45] C.M.Burt, G.Gartrell, Irrigation-Canal-Simulation Modal Usage[J], Journal of Irrigation and Drainage Engineering, Vol. 119, No.4, Jul/Aug, 1993, 631-655.
[46] Flavio G.de Albuquerque, and John WLabadie, Optimal Nonlinear Predictive Control for Canal Operation[J], Journal of Irrigation and Drainage Engineering, Vol. 123, No. 1, Jan/Feb, 1997, 45-54
[47] E.Bautista, A.J.Clernmens, T. Strelkoff, Comparison of Numerical Procedures for
Gate Stroking[J], Journal of Irrigation and Drainage Engineering, Vol. 123, No.2, March/April, 1997, 129-136.
[48] Jose Rodellar, Manuel Gomez, and luis Bonet, Control Method for On-Demand Oiperation of Open-Channel Flow[J], Journal of Irrigation and Drainage Engineering, Vol. 119, No.2, Mar/Apt, 1993, 225-241.
[49] ASCE Task Committee On Irrigation Canal System Hydraulic Modeling, Unsteady-Flow Modeling of Irrigation Canals[J], Journal of Irrigation and Drainage Engineering, Vol. 119, No.4, Jul/Aug, 1993, 615-629.
[50] V.M.Ruiz-Carmona, A.J.Clemmens, J.Schuurmans, Canal Control Algorithm Formulations[J], Journal of Irrigation and Drainage Engineering, Vol. 124, No. 1, Jan/Feb, 1998, 31-39.
[51] Pravi Shrestha, Johannes J.Devries, Interactive Computer-Aided Design of Inverted Siphons[J], Journal of Irrigation and Drainage Engineering, Vol. 117, No.2, Mar/Apr, 1991, 233-254.
[2] 吉明，姚绪梁，鲁棒控制系统[M]，哈尔滨工程大学出版社，2002．10．
[3] 王德进，H_2和H_∞优化控制理论[M]，哈尔滨工业大学出版社，2001．3
[4] 王长德，灌溉渠道水力自动控制闸门运行的稳定问题[J]，武汉水利电力学院学报，1982．4．
[5] 王长德，韦直林，张礼卫，上游常水位自动控制渠道明渠非恒定流动态边界条件[J]，水利学报，No．2，1995．2，46-51，57．
[6] 王长德，张礼卫，下游常水位水力自动控制渠道运行动态过程及数学模型的研究[J]，水利学报，No．11，1997．11．
[7] 王长德，柯善青，冯晓波，P+PR控制器用于比威尔算法[J]，武汉水利电力大学学报，Vol．33，No 2，Apr．2000，11-15．
[8] 李宗健，江亦贞，王长德，水力自动闸门[M]，北京：水利电力出版社，1987．8，179-180．
[9] 阮新建，渠道运行现代控制理论模型研究，武汉水利电力大学博士论文，2002．4．
[10] 柳树票，多渠段串联渠系渠侧出流及串联倒虹吸渠系P+PR控制，武汉水利电力大学硕士论文，2001．4．
[11] 柯善青，供水渠道等体积运行的动态过程及其数学模型的研究[M]，武汉水利电力大学硕士学位论文，2000 3．
[12] 薛定宇，反馈控制系统设计与分析——MATLAB语言应用[M]，清华大学出版社，2000．4
[13] 李海涛，邓樱，MATLAB6.1基础及应用技巧[M]，国防工业出版社，2002．3．
[14] 赵文峰，控制系统设计与仿真[M]，西安电子科技大学出版社，2002．3．
[15] 徐正凡，水力学(上册)[M]，高等教育出版社，1986．10，393-403．
[16] 徐正凡，水力学(下册)[M]，高等教育出版社，1986．10，73-95，179-187，255-343．
[17] 美国内务部垦务局编，渠系自动化手册(第一册)[M]，庞进武，高占义等译，北京：中国水利电力出版社，1996年5月．
[18] 美国内务部垦务局编，渠系自动化手册(第二册)[M]，长江水利委员会译，1998年6月．
[19] 周克敏，J．C．Doyle K Glover，鲁棒与最优控制[M]，国防工业出版社，2002．7．
[20] 武汉水利电力学院编著，水力计算手册[M]，水利出版社，1980．2．
[21] 李明思，朱凤书，渠系调控的过渡过程[J]，灌溉排水，Vol 17，1998．3，49-54．
[22] J．Lewin(英国)，水工闸门的控制[J]，水利水电快报，No．2，1996，15-17，26．
[23] 科巴斯(Helmut Kobus西德)主编，清华大学水利系泥沙研究室译，水力模拟[M]，北京：清华大学出版社，1988．5．
[24] 张绍芳，堰闸水力设计[M]，北京：水利电力出版社，1987．2，242-249．
[25] 美国陆军工程兵团编著，王诘昭，张元禧等译，水力设计准则[M]，北京：水利出版社，1982．9．
[26] 武汉水利电力大学农水系水工教研室编，水工建筑物(农田水利工程)上册[M]，人民教育出版社，77．2，319-351
[27] 庞国仲，自动控制原理[M]，合肥：中国科技大学出版社，1993．1．
[28] 蒋大明，戴胜华，自动控制原理[M]，北京：清华大学出版社，2003．3．
[29] 谢克明，现代控制理论基础[M]，北京工业大学出版社，2000．2．
[30] 段广仁，线性系统理论[M]，哈尔滨工业大学出版社，1996．11．
[31] G.Corriga, S.Sanna, G.Usai, Sub-optimal constant volume control for open-channel networks[J], Appl.Math.Modelling, 1983, 262-267.
[32] G. Corriga, S.Sanna, G.Usai, Estimation of uncertainty in an open-channel network mathematical model. Appl. Math. Modelling(1989), 651-657
[33] J.M.Reddy, Evaluation of optimal constant-volume for irrigation canals. Appl. Math. Modelling(1990), 450-458
[34] Carla Seatzu, Design and robustess analysis of decentralized constant volume-control for open-channels.Appl.Math.Modelling(1990), 479-500.
[35] Prabhata K. Swamee, Sluice-Gate Discharge Equations[J], Journal of Irrigation and Drainage Engineering, Vol. 118, No. 1 Jan/Feb, 1992, 56-60.
[36] Fubo Liu, Jan Feyen, and Jean Berlamont, Downstream Control Algorithm for Irrigation Channels[J], Journal of Irrigation and Drainage Engineering, Vol.120,
No.3, May/June, 1994, 468-481.
[37] Fubo Liu, Jan Feyen, and Jean Berlamont, Downstream Control of Multireach Canal System[J], Journal of Irrigation and Drainage Engineering, Vol. 121, No.2, Mar/Apr, 1995, 179-190.
[38] Pierre-Olivier Malaterre, David C. Rogers and Jan Schuurmans, Classification of Canal Control Algorithms[J], Journal of Irrigation and Drainage Engineering, Vol. 124, No. 1, January/February, 1998, 3-10.
[39] David C. Rogers and Jean Goussard, Canal Control Algorithms Currently in Use[J], Journal of Irrigation and Drainage Engineering, Vol. 124, No. 1, Jan/Feb, 1998, 11-15.
[40] A.J.Clemrnens, T.F.Kacerek, B.Grawitz and WShuurrnans, Test Case for Canal Control Algorithms[J], Journal of Irrigation and Drainage Engineering, Vol.124, No.1, Jan/Feb, 1998, 23-30.
[41] C.M.Burt, R.S.Mills, R.D.Khalsa, and V.Ruiz, Improved Proportional Integral (PI) Logic For Canal Automation[J], Journal of Irrigation and Drainage Engineering, Vol. 124, No. 1, Jan/Feb, 1998, 53-57.
[42] Changde Wang, , AJ.Clemmens and W.E Hart, Dynamic response of automatic water-level controller Ⅰ: theory[J], Journal of Irrigation and Drainage Engineering, ASCE, Vol. 116, No.6, 1990;
[43] Fubo Liu, Jan Feyen, Pierre-Olivier Malaterre, Jean-Pierre Brume and Pascal Kosuth, Development And Evaluation of Canal Automation Algorithm CLIS[J], Journal of Irrigation and Drainage Engineering, Vol. 124, No. 1, Jan/Feb, 1998, 40-46.
[44] A.J.Clemmens, G.Sloan, J.Schuurmans, Canal-Control Needs." Example[J], Journal of Irrigation and Drainage Engineering, Vol. 130, No.6, Nov/Dee, 1994, 1067-1085.
[45] C.M.Burt, G.Gartrell, Irrigation-Canal-Simulation Modal Usage[J], Journal of Irrigation and Drainage Engineering, Vol. 119, No.4, Jul/Aug, 1993, 631-655.
[46] Flavio G.de Albuquerque, and John WLabadie, Optimal Nonlinear Predictive Control for Canal Operation[J], Journal of Irrigation and Drainage Engineering, Vol. 123, No. 1, Jan/Feb, 1997, 45-54
[47] E.Bautista, A.J.Clernmens, T. Strelkoff, Comparison of Numerical Procedures for
Gate Stroking[J], Journal of Irrigation and Drainage Engineering, Vol. 123, No.2, March/April, 1997, 129-136.
[48] Jose Rodellar, Manuel Gomez, and luis Bonet, Control Method for On-Demand Oiperation of Open-Channel Flow[J], Journal of Irrigation and Drainage Engineering, Vol. 119, No.2, Mar/Apt, 1993, 225-241.
[49] ASCE Task Committee On Irrigation Canal System Hydraulic Modeling, Unsteady-Flow Modeling of Irrigation Canals[J], Journal of Irrigation and Drainage Engineering, Vol. 119, No.4, Jul/Aug, 1993, 615-629.
[50] V.M.Ruiz-Carmona, A.J.Clemmens, J.Schuurmans, Canal Control Algorithm Formulations[J], Journal of Irrigation and Drainage Engineering, Vol. 124, No. 1, Jan/Feb, 1998, 31-39.
[51] Pravi Shrestha, Johannes J.Devries, Interactive Computer-Aided Design of Inverted Siphons[J], Journal of Irrigation and Drainage Engineering, Vol. 117, No.2, Mar/Apr, 1991, 233-254.