Robust Finite-Time Terminal Sliding Mode Control for a Francis Hydroturbine Governing System

Fengjiao Wu,Zhengzhong Wang,Junling Ding

doi:10.1155/2016/2518734

Abstract

The robust finite-time control for a Francis hydroturbine governing system is investigated in this paper. Firstly, the mathematical model of a Francis hydroturbine governing system is presented and the nonlinear vibration characteristics are analyzed. Then, on the basis of finite-time control theory and terminal sliding mode scheme, a new robust finite-time terminal sliding mode control method is proposed for nonlinear vibration control of the hydroturbine governing system. Furthermore, the designed controller has good robustness which could resist external random disturbances. Numerical simulations are employed to verify the effectiveness and superiority of the designed finite-time sliding mode control scheme. The approach proposed in this paper is simple and also provides a reference for relevant hydropower systems.

Highlights

In the last two decades, the world’s total energy demand has dramatically increased
In order to illustrate the superiority of the designed finite-time terminal sliding mode control (FTSMC) in this paper, the existing sliding mode control (ESMC) method in [30] is performed
Compared with the conventional terminal sliding mode control algorithms, it is obvious that the new method promoted in this paper can resist external random disturbances, which will be of great significance and very suitable for the stability control of hydroturbine governing system

Summary

Introduction

In the last two decades, the world’s total energy demand has dramatically increased. Renewable energy has got more and more attention [1]. In any case, the tracking error will not converge to zero within a finite time [22, 23] That is, both finite-time control in improving the transition process and sliding mode control in inhibiting external disturbances have potential advantages. Some finite-time sliding mode control techniques for nonlinear systems have been proposed [25,26,27]. To the best of our knowledge, there is very little literature combining finite-time stability theory with sliding mode control for HGS. Could finite-time control of nonlinear HGS be implemented via sliding mode? Simulation results indicate the designed finite-time sliding mode control scheme works well compared with the existing method.

Nonlinear Modeling of Hydroturbine Governing System

Designing of Finite-Time Terminal Sliding Mode Controller

Numerical Simulations

Conclusions