Adaptive Backstepping Nonsingular Fast Terminal Sliding Mode Control for Hydro-Turbine Governor Design

Abstract

To investigate a typical large-scale nonlinear hydropower system (HS) with a stochastic water flow, a novel nonlinear adaptive control scheme, which is created by the combination of a backstepping strategy, nonsingular fast terminal sliding mode surface and command filter, is proposed for the hydro-turbine governor design of a HS to not only improve the transient stability of the HS but also increase the energy conversion efficiency and improve the reliability and availability of the electricity supply. In contrast to previous research based on ideal hydro-turbine models with accurate parameters, an adaptive backstepping nonsingular fast terminal sliding mode control (ABNFTSMC) with command filtered (CF) is proposed in which virtual control inputs and error compensations are applied to overcome distribution characteristics resulting from energy losses, while guaranteeing finite-time convergence. In addition, to avoid the requirement of analytic differentiation in Lyapunov stability, a command filter method is used to generate certain compensating signals and their derivatives. In this paper, the Nazi Gorge hydropower station in China is used as our verification model of a hydropower plant with monitored data, where energy losses and random water flow disturbances are considered. Simulation results illustrate that the proposed control strategy for a hydro-turbine governor can significantly increase the stability, reliability, and system performance of a HS even in the presence of uncertainties.

Keywords

• hydropower system
• hydro-turbine governor
• adaptive backstepping nonsingular fast terminal sliding mode control
• command filter
• energy losses