摘要
Abstract
To address the challenges of low precision in multi-point water level cooperative control and poor resistance to downstream disturbances in large-scale irrigation open-channel systems under varying operating conditions,this paper proposes an Improved Sliding Mode Predictive Control(ISMPC)method.Firstly,a linear discrete state-space model capturing the coupling of multiple canal pools is established based on the Saint-Venant equations.Secondly,a disturbance observer is introduced to online estimate and compensate for unknown disturbances.Finally,a coordinated control law for the multi-pool system is derived based on a predictive sliding surface,which regulates the upstream and downstream gate openings of different canal pools.Experimental results demonstrate that in a three-pool canal system,the ISMPC method reduces the average water level control error by 28.8％and 41.7％compared to the Linear Quadratic Integral(LQI)and Proportional-Integral-Derivative(PID)control methods,respectively,while the average flow tracking error is reduced by 83.1％and 55.1％.Under step changes in the target flow rate,the average flow control error of ISMPC is reduced by 31.3％and 52.1％compared to LQI and PID,respectively.Furthermore,in an eight-pool canal system,the performance indices of ISMPC also surpass those of the comparative algorithms,validating the effectiveness of the proposed control strategy.关键词
灌溉明渠/圣维南方程/滑模预测控制/干扰观测器/多点水力协同控制Key words
irrigation open channel/Saint-Venant equations/sliding mode predictive control/disturbance observer/multi-point hydraulic cooperative control分类
农业科技
