Calculation techniques for parameters of a digital PI controller in an electrical drive

Various methods of calculating parameters of a digital PI controller for a microcontroller system are considered. The adequacy of replacement of a PWM VSI, system of current measurement, and a digital controller by an equivalent inertial element for the calculation of miocrocontroller parameters is shown. The possibility of setting time reduction to one PWM period weithout overshoot and ringing with PI controller is shown.     

基于R_d阻尼型LCLLC滤波器的永磁同步发电机绕组谐波抑制

在永磁风力发电系统中,为了减轻机侧变流器产生的脉宽调制(PWM)高频脉冲波对定子绕组的绝缘损害,降低谐波电流造成的发电机损耗,在分析传统PI控制策略的基础上,提出了一种新的策略。将谐振控制器与二自由度(2DOF)PID控制器相结合,设计谐振二自由度PID(R-2DOF PID)控制器,并通过粒子群(PSO)算法优化控制器参数,获得较强的电流跟踪能力、稳定的控制和良好的谐波电流抑制效果。同时,在机侧变流器端设计Rd阻尼型(滤波器电容支路串联电阻)LCLLC滤波器衰减PWM高频脉冲中的高次谐波,与传统PI控制结合Rd阻尼型LCL滤波器的谐波抑制策略相比,提出的控制器不仅能抑制电流谐波,实现电流环的无差拍控制,而且能减小外界扰动带来的影响,增强控制器的动态稳定性。使用MATLAB/Simulink对永磁同步发电机进行仿真试验,仿真结果表明,LCLLC滤波器对于滤除PWM高频脉冲的谐波成分效果较好,R-2DOF PID控制器可对周期信号进行无误差跟踪,达到抑制谐波的目的。     

无源与有源结合电力滤波器阻尼谐波振荡的重复学习Boost变换控制

提出了一种基于恒频Boost变换技术的PWM逆变器重复学习控制策略.该控制策略中,逆变器被视为Boost变换器实现谐波域内单位功率因数整流控制的同时,重复迭代学习策略由每个学习周期内Boost变换控制所产生的系统谐波电流获取被补偿谐波电压源的模型知识,从而形成PWM逆变器参考电压.以负载为晶闸管整流器的工业电力系统为例,验证了无源与有源结合的混合滤波器应用该控制策略的补偿效果.仿真结果表明,该控制器具有高稳定性、强鲁棒性、低稳态误差、快速跟踪等特点,抑制谐波振荡非常有效.     

PWM整流器中优化变结构控制策略的设计

提出了PWM整流器的等效电路并在dq坐标系下进行了建模分析,对采用变结构的电流控制环和PI 电压控制环的双闭环的控制器进行了深入分析。针对变结构控制存在的不足,采用PID趋近率来减小变结构控制的抖振及到达滑模面的时间,在对PID趋近率设计进行理论分析的基础上提出了一种优化变结构控制策略。对该优化控制器的设计进行了详细的分析并进行了仿真与实验验证,结果表明所提出的优化变结构控制策略可以实现PWM整流器的单位功率因数运行,且输入电流畸变较小,在负载变化时可以保证系统的快速调节,动、静态调控特性较好。     

并联型有源滤波器直流电压的简单自适应控制

提出了一种基于二次性能指标的简单自适应控制算法,通过采用滞环电流控制产生了脉宽调制的开关信号,设计了并联型有源滤波器直流电压控制器。仿真结果表明,与常规的比例–积分控制相比,对并联型有源滤波器直流电压采用简单自适应控制可获得更好的动态性能,且负载变化时的鲁棒性更好。     

Control of a 3-phase 4-leg active power filter under non-ideal mains voltage condition

In this paper, instantaneous reactive power theory (IRP), also known as p–q theory based a new control algorithm is proposed for 3-phase 4-wire and 4-leg shunt active power filter (APF) to suppress harmonic currents, compensate reactive power and neutral line current and balance the load currents under unbalanced non-linear load and non-ideal mains voltage conditions. The APF is composed from 4-leg voltage source inverter (VSI) with a common DC-link capacitor and hysteresis–band PWM current controller. In order to show validity of the proposed control algorithm, compared conventional p–q and p–q–r theory, four different cases such as ideal and unbalanced and balanced-distorted and unbalanced-distorted mains voltage conditions are considered and then simulated. All simulations are performed by using Matlab-Simulink Power System Blockset. The performance of the 4-leg APF with the proposed control algorithm is found considerably effective and adequate to compensate harmonics, reactive power and neutral current and balance load currents under all non-ideal mains voltage scenarios.     

谐波电网电压下PWM整流器增强运行控制技术

在推导考虑5、7次谐波电网电压下脉宽调制(pulse width modulation,PWM)整流器瞬时有功和无功功率数学模型基础上,以实现输入电流无谐波或输入功率无波动为控制目标,提出两种谐波电压下PWM整流器增强运行控制方案,进而讨论不同控制目标下PWM整流器基波和谐波电流指令计算原则。为实现谐波电压下基波和谐波电流的准确控制,设计在基频同步旋转坐标系、5倍频同步旋转坐标和7倍频同步旋转坐标系下的多PI电流控制方案。最后通过1 kW PWM整流器的实验系统搭建和实验结果分析,验证理论分析的正确性以及多PI电流控制方案的有效性。     

并联型有源电力滤波器的重复学习Boost变换控制策略

将供电系统谐波电流的补偿应用戴维南定理等效为谐波电压源的补偿,由此提出了一种基于Boost变换技术的PWM逆变器重复学习控制策略.该控制策略一方面将逆变器视为PWM整流器,应用Boost控制方法,使系统谐波电流与等效谐波电压源形成近似单位功率因数;另一方面,采用内部模型控制将系统谐波电流直接转换形成常规PWM逆变器的控制电压,并且应用重复学习控制消除各种不确定性因素对控制品质的影响.仿真和实验结果证实该控制器适合于有源滤波器系统,并具有跟踪速度快,鲁棒性好、稳态误差小等特点.     

Grid Harmonic and Control Delay Compensation for Three-phase Grid-connected VSIs in Small Wind Turbine Systems

Voltage space vector pulse-width modulation(SVPWM) has been widely applied to control current in threephase vohage source inverters (VSI).However,as a voltage type modulator,SVPWM has certain drawbacks compared with current type modulators for grid-connected applications.For a grid-connected VSI,the performance of existing current controllers based on SVPWM is compromised by grid harmonics,control delay and system nonlinearities such as switching dead time.Moreover,unlike current type PWM,SVPWM does not inherently have over-current protection.A novel SVPWM-based current controller is proposed for three-phase grid-connected VSIs for small wind turbine applications.To overcome the drawbacks of SVPWM,a grid harmonic compensation method is proposed along with compensation for control delays.Both simulation and experimental results have established excellent steady-state response and fast dynamic response of the current controller.In addition,the DSP-based control system has both improved real-time control performance and fast response for over-current protection.     

应用于电动汽车充电站的PWM整流器控制方法

提出电压型PWM整流器应用于电动汽车充电站中的控制方法,包括控制器的设计和控制算法的改进。对滤波器为LCL结构的PWM整流器,本文推导了控制器PI参数的设计方法,并对其性能进行分析;提出一种通过施加恒定扰动来抑制起动瞬间网侧电流冲击的方法;并通过简单的计算,利用q轴电流给定不为零的方法来校正整流器的功率因数。仿真和实验证明所提出的方法正确可行。     

基于电压空间矢量的三电平PWM整流器研究

针对三相二极管箝位型三电平PWM整流器的拓扑结构,建立了基于d-q同步旋转坐标系统的解耦状态空间方程.采用双闭环控制策略,电压环跟踪负载有功功率,电流环实现指令电流跟踪控制.给出了电压环和电流环PI参数设计方法,采用电压空间矢量调制方式(SVPWM)进行了基于MATLAB/Simulink的仿真分析.结果表明,该三电平PWM整流器能实现良好的动态性能和稳态性能,并且使得电网侧电流波形为正弦、功率因数为1.     

A three‐phase,active power filter with a predictive‐instantaneous‐current PWM controller

One of the most emphasized problems to be solved in power systems in recent years is the line‐current harmonics problem. This is due to the use of diode rectifiers, PWM converters, nonlinear loads, and so on. To reduce or eliminate such current harmonics, an active power filter (APF), which is a sophisticated power electronic converter, has been studied and used in some practical applications. In this paper, we propose and discuss two new control methods for three‐phase shunt APFs: the sinusoidal line‐current control method and the instantaneous‐reactive‐power compensation control method. They are based on pulsewidth prediction control, or a predictive‐instantaneous‐current PWM control. Neither any instantaneous power information nor coordinate transformation is necessary for control. In the sinusoidal line‐current control scheme, the controller governs the switching devices of the APF by using the pulse width that is optimally predetermined at the beginning of every switching period with the sinusoidal current reference. The line currents flow sinusoidally and are in phase with the voltage accordingly. In the instantaneous‐reactive‐power compensation control, the control is performed so that the resultant circuit of the load and the APF is regarded as a time‐variant conductance circuit model. The APF with this control scheme can cancel effectively the instantaneous reactive component produced by the load though the controller is simple. This paper discusses the performance characteristics of the APFs when a three‐phase diode rectifier and an unbalanced load are connected to the line. The practicability of the proposed methods is verified by experiment. © 1999 Scripta Technica, Electr Eng Jpn, 130(3): 68–76, 2000     

基于状态反馈与重复控制的逆变器控制技术

针对PWM电压型逆变器提出了一种将带积分状态反馈与重复控制相结合的输出电压控制方案。状态反馈所需的变量为电容电压和电容电流。为避免采样、计算延时占用 PWM脉宽,以上反馈变量值均由状态观测器基于实测电容电压和负载电流值预测得到,使控制算法可以提前一拍进行,这样也避免了设置专门的电容电流传感器。由于积分控制的引入,改善了状态反馈控制的稳态精度,克服了早先提出的类似方案在加载时的电压跌落问题。居于控制系统最外层的重复控制器可以保证逆变器即使带非线性负载也能保持高度正弦的输出电压。实验表明该方案可同时实现高动态响应和高稳态波形精度,适用于UPS等需要高性能输出电压控制的场合。     

一种LCCL滤波器及其在半桥电力有源滤波器中的应用

提出一种新型高阶电力滤波器,将其命名为LCCL滤波器。与传统的LCL滤波器相比,LCCL滤波器通过在网侧电感支路并联一个小电容,使网侧电感与并联电容在开关频率处发生并联谐振。谐振使LCCL滤波器网侧支路在开关频率处呈现无穷大的阻抗,相比LCL滤波器可以更好地抑制开关频率附近电网电流纹波,减小电网电流THD。与LLCL滤波器相比,LCCL滤波器具有较好的抑制参数变化的能力,在考虑电网内阻抗时,拥有更好的高频纹波抑制性能。同时,可以更容易地进行基于电容电流反馈有源阻尼的控制器设计。LCCL滤波器作为电压源型逆变器(VSI)与电网的接口,可应用于PWM整流器、有源电力滤波器(APF)和通用电能质量控制器(UPQC)等多种场合。通过以半桥APF为例,讨论了LCCL滤波器的参数选择方法和控制器设计。最后,通过仿真和实验验证了LCCL滤波器的可行性。     

基于滑模控制的PWM整流器建模与仿真

为克服三相电压型脉宽调制(pulse width modulation,PWM)整流器启动性能差、负载扰动时直流电压波动大的缺点,针对采用常规PI控制的整流器对系统参数变化较为敏感的弊端,提出一种基于滑模变结构的电压环非线性控制方案。采用一种新颖的a-b坐标系下的开关表设计方法,不仅可以取得良好的滑模算法动态响应特性,而且有效降低了开关频率。在Matlab/Simulink环境下建立仿真模型,对滑模控制和PI控制方案进行仿真比较,结果表明,应用滑模变结构控制三相PWM整流器,不仅设计和实现简单,而且具有较好的鲁棒性和动态性能。     

基于复矢量调节器的低开关频率同步电机控制

为提高中压大功率变频器出力,需要降低器件的开关频率,这会导致脉宽调制(pulse width modulation,PWM)响应滞后,影响定子电流磁化分量和转矩分量间的动态解耦效果。受低开关频率制约,常规的比例积分(proportionalintegral,PI)及前馈补偿PI调节器难以满足系统要求。为改善这一问题,在对电励磁同步电机进行复矢量信号建模的基础上,充分考虑信号采样的延迟和开关器件在低开关频率下的惯性特性,结合经典的控制理论分析方法,设计了一种新颖的基于复矢量的电流调节器。该调节器能在低开关频率下实现对定子电流磁化分量和转矩分量的有效解耦,动稳态性能良好。Matlab仿真及DSP实验验证了该调节器的有效性与可行性。     

LCL滤波的三相并网逆变器电流双环控制策略

对于LCL滤波的三相并网型逆变器系统,电网电压畸变会增加网侧电流总谐波。针对该问题,分析了传统逆变侧电流单环控制策略无法有效抑制电网电压畸变对网侧电流的影响。为了增加网侧电流对电网电压畸变的抗扰性,提出了电流双环的控制策略。内环通过PI控制器实现对逆变侧电流的控制,外环通过PI+PR的控制方案完成对网侧电流的控制。通过推导系统的输出导纳的频率响应,分析了在提出方案下,网侧电流能够更有效地抑制网侧电压畸变的影响。仿真以及100kW样机的实验结果验证了该控制策略的有效性。     

Load current observer based feed-forward DC bus voltage control for active rectifiers

In this paper, load current observer based feedforward control of DC bus voltage for a three-phase active rectifier is presented. The paper focuses on: (1) design of conventional proportional-integral (PI) current controller with fastest possible response, (2) the digital current control loop time-delay compensation, (3) design of dc-link-load current observer for identifying the dc load current without using actual current sensors and (4) the feedforward control of dc bus voltage based on the designed current controller and dc link load current observer. A prototype is developed based on the proposed control scheme and expected results have been achieved.     

Operating performance of static series compensated three-phase self-excited induction generator

The performance of three-phase self-excited induction generator (SEIG) is investigated with static synchronous series compensator (SSSC) and static compensator (STATCOM) to feed static and dynamic loads. The employed compensators are three-phase, Insulated Gate Bipolar Transistor (IGBT) based, Pulse Width Modulation (PWM) operated, Current-Control Voltage Source Converter (CC-VSC). The proposed control techniques employ proportional-integral (PI) controller to generate the reference current. With the designed parameters and control, the SSSC is found effective to regulate load voltage during sudden change of the loads. The SSSC also provides stable operation with dynamic induction motor load and mitigates the unstable and oscillating behavior that is resulting during the operation of compensated SEIG with dynamic motor load. The presented results prove that both SEIG–SSSC and SEIG–STATCOM systems provide satisfactory performance.     

基于自适应参数预测的SPMSM非线性电压在线补偿策略

PWM电压源型逆变器驱动表贴式永磁同步电动机的输入电压在较低的转速下会存在非线性畸变,而且这种电压非线性畸变会随着运行条件,如温度、电流方向以及功率器件的非理想特性呈现非线性变化,并将导致电机电流畸变,影响永磁同步电动机控制性能的提高.本文分析了非线性电压畸变的产生机理,提出一种考虑表贴式永磁同步电动机电阻和电感参数不确定性的基于自适应参数预测的非线性电压在线补偿策略.实验结果表明,该方法可以有效改善PWM电压源逆变器驱动表贴式永磁同步电动机的输入电压性能,提高了电机电流的正弦度.