基于伴随方程的输水渠道非线性预测控制研究.PDFVIP

基于伴随方程的输水渠道非线性预测控制研究 郭晓晨，陈文学，穆祥鹏，吴一红，刘之平 （中国水利水电科学研究院 水力学研究所，北京 100038） 摘要: 采用基于 Saint-Venant 伴随方程敏感性分析的输水渠道非线性优化控制算法，取渠道下游水位恒定作为控 制目标，渠道下游流量过程作为扰动输入，渠道上游闸门开度作为控制变量。算法具有非线性模型预测、变预测 时域滚动优化两个特征，因而具有优良的控制性能。应用 Preissmann 隐式差分格式数值求解 Saint-Venant 方程及 其伴随方程，进行非线性模型预测，并计算闸门开度的敏感度，采用拟牛顿优化算法进行动态滚动优化，求出渠 道上游闸门的开度变化过程。通过与文献中闸门行程算法计算结果的对比，证明了算法的有效性和鲁棒性，仿真 产生的水位波动小，渠首闸门对渠末流量变化的反应速度快。提出的优化控制算法可以应用到输水渠道的运行控 制中。 关键字： 水力学；非线性预测控制；敏感性分析；输水渠道 中图分类号: TV133 文献标识码: A Study on nonlinear predictive control of open-channel based on adjoint equation GUO Xiaochen，CHEN Wenxue，Mu Xiangpeng ，WU Yihong ，LIU Zhiping (China Institute of water Resources and Hydropower Research, Beijing 100038, China) Abstract: An optimal flow control methodology based on adjoint sensitivity analysis of Saint-Venant equations for open channel flows is adopted. The objective of the controller is to maintain the constant downstream water level at the pool under external perturbation. The off-take discharge is selected as the input variable, and gate opening is the control variable. The control algorithm has two characteristics as nonlinear model prediction and variable predictive horizon receding optimization. The Saint-Venant equations and their strong nonlinear adjoint equations were discretized by means of the implicit four-point finite-difference scheme. Firstly, the nonlinear modeling prediction is adopted, and then the sensitivity of the gate opening is calculated which is the gradient of the gate opening to the objective function, and finally the gate opening is obtained through an iterative minimization procedure. And the optimal model is solved by means of quasi-Newton method which has th