水利学报2025，Vol.56Issue(4)：499-510,12.DOI:10.13243/j.cnki.slxb.20240261
基于线性二次最优的多级串联明渠前馈控制方法研究
A feedforward control method based on linear quadratic optimization for cascaded open channel
摘要
Abstract
Aiming at the difficulty of controlling cascaded open channels with long time lag and the need for fast and smooth control of water transfer channels in ice period,an improved optimal feedforward control method is pro-posed in this paper based on the linear quadratic regulator(LQR)with a linear prediction model.The feedforward-feedback compound rules and the hybrid feedforward control(HLQR)algorithm are presented and have been ap-plied to the last 10 channel pools of the Middle Route of the South-to-North Water Diversion Project for simulation and verification of its comprehensive control performance.Then the proposed HLQR is compared with no-feedfor-ward control and flow compensation feedforward control,and tested for its ability to resist interference for uncertain-ty in water intake flow.The simulation results indicate that,when multiple diversion offtakes experience simultane-ous flow changes,under the condition of determined water intake flow,the HLQR algorithm can reduce the devia-tion in water level(the maximum and cumulative deviation are reduced by 36.51％and 28.99％respectively)with fewer gate actions and smaller flow regulation,thereby enabling the channel system to reach a stable state faster(the stabilization time is shortened by 8.11％).Under uncertain water intake flow conditions,compared to a conventional control strategy,the HLQR algorithm has a stronger robustness to adapt to the stochastic flow of water intake.关键词
多级串联明渠/线性二次最优/前馈控制方法/前反馈混合控制/鲁棒性Key words
cascaded open channel/Linear Quadratic Regulator(LQR)/feedforward control method/forward-feedback hybrid control/robustness分类
水利科学引用本文复制引用
管光华,李枭华,毛中豪,罗玉峰,黄跃群,杨家亮..基于线性二次最优的多级串联明渠前馈控制方法研究[J].水利学报,2025,56(4):499-510,12.基金项目
国家重点研发计划项目(2022YFC3202500) （2022YFC3202500）
