考虑死区的水轮机调节系统非线性自抗扰控制

针对含死区环节和机械时滞的水轮机调节系统，提出了一种改进状态误差反馈控制律的自抗扰控制方法。首先，考虑电液随动系统传动过程中存在的间隙特性，建立含非线性死区环节和机械时滞的水轮机调节系统数学模型。其次，通过坐标变换将具有死区和时延特性的状态空间方程转化为可控标准化数学模型。然后，引入PID积分环节，设计新型的自抗扰控制器，消除状态误差反馈控制律处理误差信号过程中出现的抖振现象。最终，基于Lyapunov稳定性定理，分析系统误差方程，证明了扩张状态观测器的收敛性。仿真结果表明，所提控制器在不同运行工况下的控制效果均优于PID控制和传统自抗扰控制，验证了所设计控制器的有效性和优越性，具有良好的参考价值。

Nonlinear active disturbance rejection control of hydraulic turbine regulating system considering dead zone

An active disturbance rejection control method based on an improved state error feedback law is developed for a hydraulic turbine regulating system with a nonlinear dead zone and mechanical time delay. First, we develop a mathematical model for such systems considering the gap characteristics in the transmission process of its electro-hydraulic servo system, and transform the state space equation with the dead zone and time delay characteristics into a controllable standardized mathematical model through coordinate transformation. Then, a proportional integral derivative (PID) link is introduced to design a new active disturbance rejection controller that can eliminate the chatter in error signals processed by the state error feedback control law. Finally, we analyze the system error equation based on the Lyapunov stability theorem, and prove the convergence of the extended state observer. The simulation results show that this new controller has a better control effect than the PID control or the traditional active disturbance rejection control under various operating conditions, verifying its effectiveness, superiority and practical significance.