The design of iterative learning controller(ILC) requires to store the system input, output or control parameters of previous trials for generating the input of the current trial. In order to apply the iterative learn...The design of iterative learning controller(ILC) requires to store the system input, output or control parameters of previous trials for generating the input of the current trial. In order to apply the iterative learning controller for a real application and reduce the memory size for implementation, a current error based sampled-data proportional-derivative(PD) type iterative learning controller is proposed for control systems with initial resetting error, input disturbance and output measurement noise in this paper.The proposed iterative learning controller is simple and effective. The first contribution in this paper is to prove the learning error convergence via a rigorous technical analysis. It is shown that the learning error will converge to a residual set if a forgetting factor is introduced in the controller. All the theoretical results are also shown by computer simulations. The second main contribution is to realize the iterative learning controller by a digital circuit using a field programmable gate array(FPGA) chip applied to repetitive position tracking control of direct current(DC) motors. The feasibility and effectiveness of the proposed current error based sampleddata iterative learning controller are demonstrated by the experiment results. Finally, the relationship between learning performance and design parameters are also discussed extensively.展开更多
永磁同步电机电流环控制性能是决定驱动系统性能的核心因素。电流预测控制能够使永磁同步电机电流控制获得良好的动态响应,但是控制器电机模型参数与实际电机参数不一致会引起电流静差,导致系统效率降低,无法输出额定转矩,以及无法工作...永磁同步电机电流环控制性能是决定驱动系统性能的核心因素。电流预测控制能够使永磁同步电机电流控制获得良好的动态响应,但是控制器电机模型参数与实际电机参数不一致会引起电流静差,导致系统效率降低,无法输出额定转矩,以及无法工作在力矩控制模式等问题。该文根据永磁同步电机预测控制模型,详细分析了控制器电机模型参数误差对电流控制的影响,并提出了一种静差消除算法。这种方法主要适用于控制器中电机模型电感及磁链参数不准的情况,通过在d轴电流控制中加入误差积分作用,并根据q轴电流的响应,动态调整控制器电机模型磁链参数,消除了控制器电机模型参数不准引起的静差。通过仿真分析和在3.3 k W永磁同步电机驱动平台上的实验,验证了该算法的有效性。展开更多
为提高有源电力滤波器(active power filter,APF)的补偿性能和动态响应,提出一种基于多同步旋转坐标的谐波电流控制策略,采用通过与某指定次正序或负序谐波角速度同步的旋转坐标变换,将该指定次谐波变为直流量,实现指定次谐波的检测和P...为提高有源电力滤波器(active power filter,APF)的补偿性能和动态响应,提出一种基于多同步旋转坐标的谐波电流控制策略,采用通过与某指定次正序或负序谐波角速度同步的旋转坐标变换,将该指定次谐波变为直流量,实现指定次谐波的检测和PI控制,从而实现对某指定次谐波电流的无静差补偿。完整的谐波电流控制器由多个独立不同角速度的谐波电流控制器叠加组成。建立了APF在谐波旋转坐标系下的数学模型,提出一种简单的电流耦合解耦策略。对指定次谐波电流控制器进行分析,从理论上证明了与传统的电流环控制方法相比,指定次谐波控制可提高补偿精度,并利用零极点对消方法对控制器参数进行了设计。实验结果验证了所提控制策略的优越性。展开更多
首先介绍三相有源电力滤波器(active power filter,APF)在abc轴系下的连续时间数学模型,并采用后向差分的方法得到在??轴系下的离散化数学模型。对于电流内环,采用无差拍控制(deadbeat control,DBC)方法实现谐波电流的跟踪。为了解决DB...首先介绍三相有源电力滤波器(active power filter,APF)在abc轴系下的连续时间数学模型,并采用后向差分的方法得到在??轴系下的离散化数学模型。对于电流内环,采用无差拍控制(deadbeat control,DBC)方法实现谐波电流的跟踪。为了解决DBC的延时补偿问题,采用"两步预测"的方法预测给定电流。特别地,针对待补偿电流变化显著的时间区域提出一种电流跟踪误差补偿的方法消除网侧电流的"上凸"和"下凹"的现象。同时,采用电流校正算法抑制采样误差对电流产生的影响。最后,搭建三相APF的实验平台,验证所提出控制方法的有效性。展开更多
基金supported by National Science Council,Taiwan,China(No.NSC102-2221-E-211-011)National Nature Science Foundation of China(No.61374102)
文摘The design of iterative learning controller(ILC) requires to store the system input, output or control parameters of previous trials for generating the input of the current trial. In order to apply the iterative learning controller for a real application and reduce the memory size for implementation, a current error based sampled-data proportional-derivative(PD) type iterative learning controller is proposed for control systems with initial resetting error, input disturbance and output measurement noise in this paper.The proposed iterative learning controller is simple and effective. The first contribution in this paper is to prove the learning error convergence via a rigorous technical analysis. It is shown that the learning error will converge to a residual set if a forgetting factor is introduced in the controller. All the theoretical results are also shown by computer simulations. The second main contribution is to realize the iterative learning controller by a digital circuit using a field programmable gate array(FPGA) chip applied to repetitive position tracking control of direct current(DC) motors. The feasibility and effectiveness of the proposed current error based sampleddata iterative learning controller are demonstrated by the experiment results. Finally, the relationship between learning performance and design parameters are also discussed extensively.
文摘永磁同步电机电流环控制性能是决定驱动系统性能的核心因素。电流预测控制能够使永磁同步电机电流控制获得良好的动态响应,但是控制器电机模型参数与实际电机参数不一致会引起电流静差,导致系统效率降低,无法输出额定转矩,以及无法工作在力矩控制模式等问题。该文根据永磁同步电机预测控制模型,详细分析了控制器电机模型参数误差对电流控制的影响,并提出了一种静差消除算法。这种方法主要适用于控制器中电机模型电感及磁链参数不准的情况,通过在d轴电流控制中加入误差积分作用,并根据q轴电流的响应,动态调整控制器电机模型磁链参数,消除了控制器电机模型参数不准引起的静差。通过仿真分析和在3.3 k W永磁同步电机驱动平台上的实验,验证了该算法的有效性。
文摘为提高有源电力滤波器(active power filter,APF)的补偿性能和动态响应,提出一种基于多同步旋转坐标的谐波电流控制策略,采用通过与某指定次正序或负序谐波角速度同步的旋转坐标变换,将该指定次谐波变为直流量,实现指定次谐波的检测和PI控制,从而实现对某指定次谐波电流的无静差补偿。完整的谐波电流控制器由多个独立不同角速度的谐波电流控制器叠加组成。建立了APF在谐波旋转坐标系下的数学模型,提出一种简单的电流耦合解耦策略。对指定次谐波电流控制器进行分析,从理论上证明了与传统的电流环控制方法相比,指定次谐波控制可提高补偿精度,并利用零极点对消方法对控制器参数进行了设计。实验结果验证了所提控制策略的优越性。
文摘首先介绍三相有源电力滤波器(active power filter,APF)在abc轴系下的连续时间数学模型,并采用后向差分的方法得到在??轴系下的离散化数学模型。对于电流内环,采用无差拍控制(deadbeat control,DBC)方法实现谐波电流的跟踪。为了解决DBC的延时补偿问题,采用"两步预测"的方法预测给定电流。特别地,针对待补偿电流变化显著的时间区域提出一种电流跟踪误差补偿的方法消除网侧电流的"上凸"和"下凹"的现象。同时,采用电流校正算法抑制采样误差对电流产生的影响。最后,搭建三相APF的实验平台,验证所提出控制方法的有效性。
