基于DSP的三相PWM整流PI调节器设计

通过分析三相脉宽调制（PWM）整流器在a-b-c及d-q旋转坐标系下的数学模型,设计了具有前馈解耦控制的PWM整流器双闭环控制系统。根据系统对电流内环及电压外环的控制要求设计了电流比例积分（PI）调节器及电压PI调节器。最后对整个PWM整流器双闭环控制系统进行仿真,并采用以DSP为核心构建PWM整流器控制系统,仿真和实验结果验证了PI调节器设计的正确性。     

三相PWM整流器双闭环PI调节器的新型设计

通过分析三相脉宽调制（PWM）整流器在d-q旋转坐标系下的数学模型,设计了具有前馈解耦控制的PWM整流器双闭环控制系统。根据系统对电流内环的控制要求设计电流比例积分（PI）调节器,提出按闭环幅频特性峰值（Mr）最小准则来确定调节器参数的方法;根据系统对电压外环的控制要求,采用模最佳整定法来设计电压PI调节器。最后对整个PWM整流器双闭环控制系统进行仿真,仿真结果验证了PI调节器设计的正确性。     

三相电压型PWM整流器控制技术的发展

本文对三相电压型PWM整流器主要控制技术、原理、特点进行了系统的分析和综述。包括滞环PWM电流控制、固定开关频率的电流控制、预测电流控制、矢量控制、直接功率控制以及单周期控制;此外,文中评述了国内对电压型PWM整流器控制技术研究的主要贡献。在此基础上,对PWM整流器控制技术发展趋势进行了展望。     

三电平PWM整流器双闭环系统的设计与仿真

三电平PWM整流器多采用电压控制外环和电流控制内环组成的双闲环控制系统。电压外环的作用是根据直流电压Udc的大小决定三电平PWM整流器输出功率的大小和方向以及三相电流的给定信号。电流内环的作用是使整流器的实际输入电流能够跟踪电流给定,实现单位功率因数或功率因数可变。文中主要研究了三电平PWM整流器的系统设计,并进行了仿真。结果表明,所设计的双闭环系统具有良好的抗扰动性能,动态响应也得到了明显的改善。     

基于DSP控制的电压型PWM整流器

根据PWM整流电路的工作原理,分析了PWM整流控制方式,采用滞环电流控制方式,以TMS320F2812为控制器组建了电压型PWM整流器双闭环自动控制系统。实验结果表明,该系统具有良好的静态、动态性能。为设计PWM整流器提供了一定的理论依据。     

基于改进型PR调节器的三相PWM整流器控制

应用三相PWM整流器在两相静止坐标系下电流矢量αβ分量的可解耦控制,解决了传统的基于两相旋转坐标系下三相PWM整流器控制系统电流矢量dq分量无法解耦控制的问题,提高了系统的控制性能。且采用改进型PR调节器控制代替传统的PI调节器控制能够对指定频率的交流信号实现稳态无静差跟踪控制,有效抑制低次谐波和高次谐波;相比于传统PR调节器对于系统波动过于敏感的特点,改进型PR调节器在能够保持谐振频率处的敏感度和高增益的基础上,可以增强系统稳定性。对此系统进行Matlab/Simulink仿真分析,验证了该方法的可行性。     

单周期控制三相PWM整流器电压环小信号模型

介绍了一种基于单周期控制技术三相PWM整流器，它可以实现单位功率因数和低电流畸变。该整流器不需要乘法器，控制方法简单、可靠。为方便电压环的设计，文中根据特勒根定理推导出了电压环的小信号模型，由此小信号模型设计了电压调节器，最后对实际电路进行了仿真，仿真结果证明了设计的准确性。     

三相电压型PWM整流器研究

基于三相电压型PWM整流器的d-q模型,详细分析了PWM整流器的双闭环控制原理,采用电压空间矢量定向,实现了有功和无功的解耦控制,设计了双闭环电流、电压调节器PI参数,仿真结果表明该整流器能够获得单位功率因数的正弦输入电流和稳定的直流输出电压,能够实现能量的双向流动,具有良好的动、静态特性。     

分裂电容式三相PWM整流器的矢量控制策略研究

对分裂电容式三相电压型PWM整流器进行了建模分析。应用矢量控制原理，内环采用基于旋转坐标系下三电流环PI控制策略，并设计了直流电压控制和针对分裂电容系统的电压偏差补偿PI调节器的参数。实验结果表明，此控制策略可以得到较好的控制性能并有效抑制低次谐波。     

三相PWM整流器的前馈解耦控制与仿真研究

基于前馈解耦控制策略,研究了三相电压型PWM整流器的建模与控制问题。首先,在d-q旋转坐标系下建立了三相电压型PWM整流器的数学模型,给出了三相电压型PWM整流器的双闭环控制结构,按此方法确定了电压、电流PI调节器的设计方法。仿真结果表明该方法能使所设计的PWM整流器运行于单位功率因数,输出的直流电压稳定在期望值且具有快速的动态响应,满足了设计要求。     

PWM整流器的PI^λ D^μ控制策略

针对常规控制适用场所的局限性,提出了一种基于分数阶控制的PWM整流方法,该方法有别于以往的双闭环控制策略,电流内环控制使用分数阶控制器取代传统控制器。通过MATLAB/Simulink仿真与实验验证了该控制策略的控制效果明显好于传统控制方法。此外,其不仅可以应用在控制精度要求高、控制参数多的非线性系统中,而且具有较好的跟随性、鲁棒性和稳定性,能够准确的跟踪指令电流,并且得到的网测电流谐波很少,近似于正弦波。     

Digital control of three-phase PWM inverter with LC filter

A digital control algorithm for the three-phase sinusoidal voltage inverter with an output LC filter has been developed. To take the transient of the LC filter during the discretization time into consideration, a fourth-order matrix state equation of the current and the voltage on the d-q frame is discretized. Precise discrete equations for the inverter are introduced. Using these equations, a deadbeat controller consisting of a d-g current minor loop and a d-q voltage major loop, with precise decoupling of the d-q components, was developed. The voltage major loop controller assures the sinusoidal output voltage and stabilizes the system. A deadbeat controller is used because both the current minor loop and the voltage major loop can used one sampling response. The validity of these techniques is confirmed by simulation studies. This method is expected to be useful for direct digital control of large-capacity sinusoidal voltage inverters using low-switching-frequency devices     

三相电压型PWM整流器控制新技术的研究

根据电压型PWM整流器在同步旋转dq坐标系中建立的整流器电流控制数学模型,基于电流前馈解耦,解决了有功电流和无功电流互为耦合问题。为克服直流电压响应较慢、抗扰性较差的不足,提出了采用电流内环、基于滑模控制的电压外环电压型PWM整流器的新控制策略。由于采用滑模控制的电压外环,提高了整流器直流电压跟踪和电流跟踪能力,使系统具有响应快、稳定性好、抗负载扰动能力强的优点。文中给出了系统控制器的设计方法。通过正常负载及负载扰动情况下的计算机仿真,证明了新控制策略的可行性。     

Fast current control for low harmonic distortion at low switchingfrequency

The structure of the current control loop of an induction machine drive determines decisively the dynamic performance of the overall system. Fast current control is a prerequisite for dynamic decoupling between the torque and the flux commands. Standard solutions are well established for drives in the low- and medium-power ranges. The low switching frequency of high-power pulsewidth modulation inverters calls for a tradeoff in controller design between the low harmonic losses and torque ripple in the steady state on one hand, and fast dynamic response during the transients on the other. The problem is developed in detail. A variable-structure approach is proposed as the solution     

3C strategy for inverters in parallel operation achieving an equalcurrent distribution

A circular chain control (3C) strategy for inverters in parallel operation is presented in the paper. In the proposed inverter system, all the modules have the same circuit configuration, and each module includes an inner current loop and an outer voltage loop control. A proportional-integral controller is adopted as the inner current loop controller to expedite the dynamic response, while an H^∞ robust controller is adopted to reach the robustness of the multimodule inverter system and to reduce possible interactive effects among inverters. With the 3C strategy, the modules are in circular chain connection and each module has an inner current loop control to track the inductor current of its previous module, achieving an equal current distribution. Simulation results of two-module and a three-module inverter systems with different kinds of loads and with modular discrepancy have demonstrated the feasibility of the proposed control scheme. Hardware measurements are also presented to verify the theoretical discussion     

基于改进型重复控制的三轴转台解耦与控制

针对三轴转台伺服系统位置精度要求不断提高,提出了改进型重复控制与微分前馈控制相结合的复合控制作用于伺服系统的位置回路。根据某型三轴转台伺服系统的组成,分析并建立了电流环、速度环与位置环的模型,并于位置环设计了改进型重复控制器。设计时,考虑了三轴转台的三个框架转动时互相产生的耦合影响,并分析三个框架同时转动时三轴转台的内框快速性与稳定性。仿真结果表明,采用复合控制策略时三轴转台的位置控制响应快、精度高、抗干扰性强,满足系统性能指标。     

高压断路器三相永磁无刷直流电机机构控制算法研究

针对高压断路器三相永磁无刷直流电机机构,研究了不同控制策略下电机操动机构的运动特性.考虑高压断路器的分、合闸操作过程,建立了永磁无刷直流电机操动机构运动控制系统的仿真模型,采用数字式双闲环控制,内环为电流环,采用PI控制,外环为速度环,基于传统PID控制器、单神经元PID控制两种不同控制策略控制.通过对伺服控制系统的仿真分析得到了电机操动机构速度跟踪控制特性.结果表明,单神经元PID控制器能够较好的实现触头速度的跟踪控制,使其按理想运动特性曲线运动,是一种较理想、有效的控制方法.     

Adaptive output voltage tracking controller for uncertain DC/DC boost converter

This paper presents a cascade output voltage control strategy for an uncertain DC/DC boost converter adopting an adaptive current controller in its inner loop. Considering the non-linearity, load uncertainties and parameter uncertainties of the converter, the proposed controller is designed following the conventional cascade voltage controller design method. The proposed method makes the following three contributions. First, a coordinate transformation is introduced for the inner loop, enabling avoidance of the singularity problem caused by the estimates of uncertain parameters. Second, a slight modification to the adaptation law is performed to guarantee closed-loop stability in the presence of the time-varying component of the load current. Third, the outer-loop controller is devised such that its performance can be adjusted without any parameter information. The closed-loop performance is demonstrated through simulations and experiments using the DSP28335 with a 3 kW DC/DC boost converter.     

减重支持系统的实现

介绍了康复机器人减重支持系统的构成。利用直线执行器作为支持系统的主要部件,采用H桥驱动直线执行器。利用双闭环反馈控制作为该系统的控制器,其中电流控制器作为内环控制器,速度反馈控制器作为外环控制器,并均采用PID控制器来实现,PID参数采用遗传算法进行整定。同时,利用延迟采样的策略保证了电流控制器参数的正确性。从实际效果上看,双闭环反馈控制基本使减重支持系统达到了恒力输出的要求。     

Trajectory tracking control for a wheel mobile robot on rough and uneven ground

This paper investigates a dual closed-loop trajectory tracking control strategy for a non-holonomic wheeled mobile robot (WMR) with unknown external disturbances caused by rough and uneven ground. Firstly, a novel dynamic model without coupling is established by introducing a direct current motor model with uncertain parameters. Then a linear extended state observer (LESO) is presented to estimate unknown external disturbance of the WMR. And a dynamic controller based on sliding mode control method is provided in an inner loop to ensure exponential convergence of velocity error while compensating for observational error of the LESO. Considering that the robot’s center of mass and geometric center do not overlap, a kinematic controller is designed in an outer loop to make positional error asymptotically stabilized. Finally, experiments are given to verify performance of tracking and disturbance rejection of the WMR.