【正文】 抑制控制器。研究結(jié)果表明所使用的設(shè)計(jì)方法可以應(yīng)用到勵(lì)磁、汽門(mén)以及FACTS之間的協(xié)調(diào)控制當(dāng)中。其次，作為綜合協(xié)調(diào)控制的例子，研究了勵(lì)磁汽門(mén)綜合控制的非線性魯棒控制問(wèn)題。然后對(duì)設(shè)計(jì)結(jié)果進(jìn)行了討論，指出所得控制器獨(dú)立于網(wǎng)絡(luò)結(jié)構(gòu)及參數(shù)，具有很強(qiáng)的魯棒性。（3）研究了汽門(mén)開(kāi)度的非線性魯棒控制問(wèn)題。針對(duì)帶勵(lì)磁控制的單機(jī)無(wú)窮大母線系統(tǒng)，分別在阻尼系數(shù)不能精確測(cè)量、以及系統(tǒng)兼有阻尼系數(shù)不能精確測(cè)量和受外部擾動(dòng)影響的情況下，首次使用自適應(yīng)backstepping 方法設(shè)計(jì)了非線性自適應(yīng)魯棒控制器及非線性L2增益干擾抑制控制器。最后指出得出的結(jié)果可應(yīng)用于電力系統(tǒng)的穩(wěn)定控制。主要工作概括如下：（1）研究了一類(lèi)具有嚴(yán)格反饋形式的非線性系統(tǒng)的自適應(yīng)魯棒控制問(wèn)題。從而使所設(shè)計(jì)的結(jié)果更具有實(shí)用性。主要FACTS控制的系統(tǒng)模型均未忽略其本身的動(dòng)態(tài)過(guò)程。所考慮的電力系統(tǒng)模型均為更貼近實(shí)際的非線性魯棒模型。簡(jiǎn)明的設(shè)計(jì)方法、優(yōu)良的設(shè)計(jì)策略使得所設(shè)計(jì)的相應(yīng)的控制方案更具廣泛的適用性。本文針對(duì)電力系統(tǒng)的非線性模型，采用backstepping方法，研究了電力系統(tǒng)勵(lì)磁、汽門(mén)以及各種FACTS控制等一系列穩(wěn)定控制問(wèn)題。近年來(lái)，隨著微型計(jì)算機(jī)和現(xiàn)代控制理論的不斷進(jìn)展，各種先進(jìn)的控制方法也在電力系統(tǒng)控制方面得到了廣泛應(yīng)用。電力系統(tǒng)一旦失去穩(wěn)定，其暫態(tài)過(guò)程極快，處理不當(dāng)可能很快波及全系統(tǒng)，往往造成大范圍、較長(zhǎng)時(shí)間停電，給國(guó)民經(jīng)濟(jì)和人民生活造成巨大損失和嚴(yán)重危害，在最嚴(yán)重的情況下，則可能使電力系統(tǒng)崩潰和瓦解。東北大學(xué)博士學(xué)位論文 摘 要電力系統(tǒng)非線性自適應(yīng)魯棒控制研究摘 要電力系統(tǒng)是一個(gè)強(qiáng)非線性、多維、動(dòng)態(tài)大系統(tǒng)。隨著大型電力系統(tǒng)互聯(lián)的發(fā)展以及各種新設(shè)備的使用，在使發(fā)電、輸電更經(jīng)濟(jì)、高效的同時(shí)，也增加了電力系統(tǒng)的規(guī)模和復(fù)雜性，從而暴露出很多威脅電力系統(tǒng)安全、經(jīng)濟(jì)、穩(wěn)定運(yùn)行的動(dòng)態(tài)問(wèn)題（如電力系統(tǒng)低頻振蕩、汽輪機(jī)和發(fā)電機(jī)的次同步扭轉(zhuǎn)振蕩）。在這些情況下，研究和實(shí)現(xiàn)相應(yīng)的穩(wěn)定控制措施，不但可以提高系統(tǒng)運(yùn)行的可靠性，而且可以因傳輸能力的提高而產(chǎn)生直接經(jīng)濟(jì)效益。它們?cè)谔岣唠娏ο到y(tǒng)性能的同時(shí)，也為解決上述問(wèn)題提供了各種各樣的途徑。本文工作是將先進(jìn)控制方法應(yīng)用到電力系統(tǒng)的進(jìn)一步嘗試，其最突出的特點(diǎn)是： 1．發(fā)展了backstepping設(shè)計(jì)方法，針對(duì)實(shí)際系統(tǒng)中常常存在的參數(shù)不確定性、未建模動(dòng)態(tài)以及未知干擾，在backstepping設(shè)計(jì)步驟中融合進(jìn)非線性L2增益干擾抑制理論，設(shè)計(jì)出使系統(tǒng)穩(wěn)定的非線性自適應(yīng)魯棒控制器。2．本文成功將上述結(jié)果推廣到單/多機(jī)電力系統(tǒng)勵(lì)磁、汽門(mén)以及各種主要的FACTS控制穩(wěn)定中。其中汽門(mén)開(kāi)度的全程控制，勵(lì)磁與汽門(mén)綜合控制的系統(tǒng)模型均使用了四階，包含兩個(gè)輸入。這種設(shè)計(jì)方法在以前的文獻(xiàn)中很少見(jiàn)到。通過(guò)理論分析及仿真證明所得控制器確實(shí)具有優(yōu)良的性能。將非線性L2增益干擾抑制理論融合到自適應(yīng)backstepping 方法設(shè)計(jì)步驟中，針對(duì)帶有常參數(shù)不確定性及外部擾動(dòng)的非線性系統(tǒng)，設(shè)計(jì)了非線性L2增益干擾抑制魯棒控制器。（2）研究了勵(lì)磁系統(tǒng)的自適應(yīng)魯棒控制問(wèn)題。然后對(duì)設(shè)計(jì)結(jié)果進(jìn)行了分析，討論了控制器的實(shí)現(xiàn)問(wèn)題。分別針對(duì)僅帶有常參數(shù)不確定性和同時(shí)帶有常參數(shù)不確定及外部擾動(dòng)的汽輪機(jī)調(diào)速系統(tǒng)，首次利用自適應(yīng)backstepping 方法設(shè)計(jì)了發(fā)電機(jī)汽門(mén)非線性魯棒控制器及非線性L2增益干擾抑制控制器。（4）研究了中間再熱汽輪發(fā)電機(jī)組汽門(mén)開(kāi)度的全程非線性控制問(wèn)題。兩個(gè)問(wèn)題都是在帶有常參數(shù)不確定及外部擾動(dòng)的四階魯棒模型的基礎(chǔ)上，利用自適應(yīng)backstepping 方法設(shè)計(jì)了非線性L2增益干擾抑制控制器。（5）研究了多機(jī)系統(tǒng)勵(lì)磁及汽門(mén)的非線性魯棒控制問(wèn)題。所得控制器是分散的，且獨(dú)立于網(wǎng)絡(luò)結(jié)構(gòu)及參數(shù)。（6）將研究結(jié)果應(yīng)用到電力系統(tǒng)FACTS控制當(dāng)中。指出該方法也可用于SVC的控制器設(shè)計(jì)當(dāng)中。In this dissertation, aiming at the nonlinear model of power systems, by means of the backstepping methods, a series of stability control problems are studied, including excitation control, steamvalve control, and main FACTS devices control, etc. The research work in this dissertation is a more attempt which advanced control methods are applied into power systems stability control. The outstanding characteristics of it are as follows:1. The backstepping design methods are developed. On the parameter uncertainties, unmodelling dynamics and unknown disturbances which exist in practical systems generally，integrating nonlinear L2 gain disturbances attenuation theory smoothly into backstepping design steps，then the nonlinear adaptive robust controller which can stabilize the system has been designed. The concise design method and excellent design strategy make the designed corresponding control scheme own extensive adaptability. 2. The above results have been extended to the stability control of power systems successfully, such as excitation, steam valve of single machine and multimachine systems, main FACTS devices, etc. The considered system models are all nonlinear robust models corresponding to reality, in which the system model of through control for steamvalve open and the integrated control for excitation and steamvalve are fourorder and have two inputs, and the selfdynamic behavior in system models of main FACTS are not ignored. The design methods are rarely founded in the existing references. They make the designed results to be more practical and deep theoretical analysis and simulation show validity and high performance of the controller. The main work is as follows:(1) Adaptive robust control problems for a class of nonlinear systems in strict parameter feedback are studied. In view of the system with constant parameter uncertainty and external disturbances, integrating nonlinear L2 gain disturbances attenuation theory smoothly into backstepping design steps, then nonlinear L2 gain disturbances attenuation controller are designed. Lastly, it is pointed out the drawn results can be applied into power systems stability control. (2) Under the condition that damping coefficient can not be measured accurately, and the condition both damping coefficient can not be measured accurately and system being perturbed by external disturbance, respectively, the nonlinear adaptive robust controller on single machineinfinite bus system with excitation control are designed using adaptive backstepping method for the first time. Then the design results are analyzed, where the realization of controller are discussed. (3) The adaptive robust control problems of steamvalve open are studied. Firstly, In view of single machineinfinite bus system with constant parameter uncertainty only and with constant parameter uncertainty and external disturbances, respectively, the nonlinear adaptive robust controller of steamvalve open are designed using adaptive backstepping methods for the first time. Then the design results are discussed, in which it is pointed out that the obtained controllers are independent of construction and parameters of network, and own strong robustness. (4) Steamvalve wholerange nonlinear control problems of reheattype turbine are studied. As the example of integrated control, then the nonlinear robust control problems of excitation and steamvalve coordinated control is studied also. These two problems are all based on the fourorder robust models with constant parameter uncertainty and external disturbances, then the nonlinear L2 gain disturbance attenuation controller are designed using adaptive backstepping methods. The study results show that the design methods can be applied into mutual coordinated control of excitation, steamvalve and FACTS. (5) The nonlinear robust problems of excitation and steamvalve in multimachine systems are studied. The nonlinear L2 gain disturbance attenuation controller on the control of excitation and steamvalve in multimachine systems with constant parameter uncertainty and external disturbances are designed using adaptive backstepping methods. The obtained controllers are decentralized and independent of construction and parameters of network, the stud