CN106849624A - The removing method and system of a kind of three phase rectifier harmonic wave based on Repetitive controller - Google Patents

The removing method and system of a kind of three phase rectifier harmonic wave based on Repetitive controller Download PDF

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CN106849624A
CN106849624A CN201710019163.8A CN201710019163A CN106849624A CN 106849624 A CN106849624 A CN 106849624A CN 201710019163 A CN201710019163 A CN 201710019163A CN 106849624 A CN106849624 A CN 106849624A
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module
phase
repetitive controller
link
compensator
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CN106849624B (en
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王孝洪
高孝君
黄氏秋江
郑仁峰
苏威霖
刘守松
田联房
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South China University of Technology SCUT
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/01—Arrangements for reducing harmonics or ripples
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0003—Details of control, feedback or regulation circuits
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/40—Arrangements for reducing harmonics

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Rectifiers (AREA)
  • Supply And Distribution Of Alternating Current (AREA)

Abstract

The invention discloses the removing method and system of a kind of three phase rectifier harmonic wave based on Repetitive controller, step：A PI controller models and the repetitive controller model with compensator and backfeed loop addition decay link are set up, compensator is PI controller models；Obtain PWM rectifier three-phase current, coordinate transform to electric current id、iq；By electric current idWith set-point id *A PI controller models and repetitive controller model are input into after subtraction, both export the first value, second value respectively；By electric current iqWith set-point iq *It is input into after subtraction to a PI controller models and repetitive controller model, both export the 3rd value, the 4th value respectively；First value, second value harmony wave disturbance superposition are produced into Ud；3rd value, the harmonious wave disturbance superposition of the 4th value are produced into Uq；By Ud、UqCoordinate transform is to Uα、Uβ；By Uα、UβCarry out impulse modulation and be sent to Three-Phase PWM Rectifier IGBT switching tubes.The present invention has good rejection ability to harmonic wave, can reduce the dependence to model.

Description

The removing method and system of a kind of three phase rectifier harmonic wave based on Repetitive controller
Technical field
The present invention relates to a kind of removing method of harmonic wave, more particularly to a kind of three phase rectifier harmonic wave based on Repetitive controller Removing method and system.
Background technology
With the high speed development of society, electric energy plays more and more important in industrial and agricultural production and people's daily life Effect, but power electronics current converter concurrently closely related with name of the country production and living, such as frequency converter, HF switch electricity The various current converters such as source, inverter bring substantial amounts of reactive power with serious harmonic wave in extensive to power network Pollution.With the development of Power Electronic Technique, the output of 1, DC side is approximately close to sine wave, power factor (PF) with current on line side Voltage stabilization, anti-disturbance ability are strong and can be arisen at the historic moment in the PWM rectifier of four quadrant running, and successfully substitution can not Control diode rectifier and phased silicon controlled rectifier, and as the focus of Power Electronic Technique research.
When Three-Phase PWM Rectifier is in inverter mode, on electric energy feedback to power network.As networking electric current, me should be met What state put into effect《Quality of power supply Utility grid harmonic standard》With international IEEE Std1547-2003 standards.Therefore, highly just The networking electric current of string is an important performance indexes.In theory, electric current loop using traditional PI controllers can realize electric current without Static difference is adjusted, and Three-Phase PWM Rectifier grid side phase current waveform should be the sine wave with power network phase voltage same-phase during stable state, so And, being influenceed by traditional control algorithm and power switch pipe switching characteristic and dead time effect, ac-side current stable state accuracy is not Height, the current waveform sine degree of acquisition is bad, harmonic wave is larger.Three-Phase PWM Rectifier is half-bridge circuit, will in the middle of control process Dead-time problem can be run into, this is that switching tube turns on and off process certain time delay, opens because the characteristic of switching tube is caused The logical time is shorter than turn-off time.In order to prevent same arm straight-through, it is necessary to opening and cut-off signals add Dead Time.Due to dead band When system switching Guan Douwei off states, and the time fix, can reduce control effect, increase current harmonic content and harmonic wave Frequency is the integral multiple of fundamental wave.
To obtain more preferably electric current, it is necessary to be improved to traditional PI controls.To reduce harmonic wave, usually used side Method is to use particular harmonic null method, but cannot eliminate all frequencies of fundamental frequency integral multiple.
The content of the invention
The first object of the present invention is the shortcoming and deficiency for overcoming prior art, there is provided a kind of based on Repetitive controller three The removing method of commutating phase harmonic wave, fundamental frequency integral multiple in the waveform of three phase network can be effectively suppressed by the method Unwanted harmonics component so that feed back to the current waveform of power network close to sine wave；And with easy to use, strong adaptability and The advantage of strong robustness so that change of the Control platform to controlled device is less sensitive, the industry for being suitable for bad environments shows , reduce the degree of dependence to model.The second object of the present invention is that a kind of three phase rectifier based on Repetitive controller of offer is humorous The elimination system of ripple, the unwanted harmonics of fundamental frequency integral multiple in the waveform of three phase network can be effectively suppressed by the system Component so that feed back to the current waveform of power network close to sine wave；It is excellent with easy to use, strong adaptability and strong robustness Point so that change of the Control platform to controlled device is less sensitive, is suitable for the industry spot of bad environments, reduces to model Degree of dependence.
The first object of the present invention is achieved through the following technical solutions：A kind of three phase rectifier harmonic wave based on Repetitive controller Removing method, step is as follows：
S1, first set up a PI controller models and with compensator and backfeed loop in add decay link weight Multiple controller model, compensator is the 2nd PI controller moulds with phase compensation and amplitude compensation in the repetitive controller model Type；
S2, the three-phase current i for obtaining Three-Phase PWM Rectifier ACa、ibAnd ic；
S3, by three-phase current ia、ibAnd icCoordinate transform obtains the orthogonal seat of d-q two-phases in d-q two-phase orthogonal coordinate systems Biphase current i under mark systemd、iq；
The given value of current value i of S4, acquisition three-phase current on dq axlesd *And iq *；
S5, by electric current idWith given value of current value id *The PI controls set up in step S1 are separately input into after subtraction In device model processed and repetitive controller model, the first value is exported after carrying out PI controls by a PI controller models, by repeatedly controlling Device model processed exports second value after carrying out Repetitive controller；By electric current iqWith given value of current value iq *It is separately input into after subtraction In the PI controller models and repetitive controller model set up in step S1, PI controls are carried out by a PI controller models Output the 3rd afterwards is worth, and the 4th value is exported after carrying out Repetitive controller by repetitive controller model；
The second value of S6, the first value that a PI controller models are exported and the output of repetitive controller model is folded Plus, in additive process, the harmonic disturbance that Three-Phase PWM Rectifier is produced is sealed in, and produces controlled quentity controlled variable Ud；By a PI controller moulds 3rd value of type output and the 4th value of repetitive controller model output are overlapped, in additive process, Three-Phase PWM Rectifier The harmonic disturbance of generation is sealed in, and produces controlled quentity controlled variable Uq；
S7, by two-phase controlled quentity controlled variable UdWith controlled quentity controlled variable UqIn by coordinate transform to alpha-beta two-phase rest frame, alpha-beta two is obtained Controlled quentity controlled variable U in phase coordinate systemαWith controlled quentity controlled variable Uβ；
S8, by controlled quentity controlled variable UαWith controlled quentity controlled variable UβSignal be sent to after impulse modulation treatment the IGBT of Three-Phase PWM Rectifier In switching tube.
Preferably, PI controller models and the weight with decay link is added in compensator and backfeed loop in the step S1 Multiple controller model is set up by by DSP.
Preferably, the repetitive controller model include add operation link, the first time delay process, the second time delay process and Compensator；One of input of add operation link as repetitive controller model input, the output of add operation link The first time delay process and the second time delay process are respectively sent to, the output of the second time delay process is sent to compensator；First time delay Link is in the backfeed loop of repetitive controller model, and decay link is added after which, and feedback signal is by the first time delay Another input of add operation link is sent to after link and decay link；
The compensator is made up of phase compensation link, amplitude compensation link and PI controlling units；Second time delay process Output after phase compensation link and amplitude compensation link by exporting to PI controlling units；The output of PI controlling units is used as repetition The output of controller model.
Further, discrete transfer function G (z) of the repetitive controller model is：
Wherein CPIThe discrete transfer function of compensator in (z) repetitive controller model；Q (z) is anti-to repeat controller model It is fed back to the corresponding attenuation of decay link added in road；The z-NIt is the time delay of N number of unit, is the first time delay process and second The time delay of time delay process,NIt is the sampling number in a cycle；zkIt is the phase compensation in compensator in repetition controller model, The phase compensation that i.e. phase compensation link is done, wherein k are a coefficient, take 1 or 2, krIt is compensator in repetition controller model In amplitude compensation, i.e., the amplitude compensation that amplitude compensation link is done in compensator；kpIt is the ratio of PI controlling units in compensator Example coefficient, kiIt is the integral coefficient of PI controlling units in compensator.
Preferably, it is characterised in that the decay link added in the repetitive controller model feedback loop declines for constant Subtract link or low pass filter decay link.
Preferably, by three-phase current i in the step S3a、ibAnd icCoordinate transform obtains the two-phase electricity under d-q coordinate systems Stream id、iqDetailed process it is as follows：
First by three-phase current ia、ibAnd icIn transforming to alpha-beta two-phase orthogonal coordinate system by Clark, alpha-beta two-phase is obtained Biphase current i under orthogonal coordinate systemα、iβ：
Then by biphase current iα、iβTransformed under d-q two-phase orthogonal coordinate systems by transformation matrix, obtaining d-q two-phases just Hand over the biphase current i under coordinate systemd、iq：
Preferably, pulse modulated mode is SVPWM (space vector impulse modulation) in the step S7.
The second object of the present invention is achieved through the following technical solutions：A kind of three phase rectifier harmonic wave based on Repetitive controller Elimination system, including the first coordinate transformation module, the first subtracter block, the second subtracter block, a PI controller modules, 2nd PI controller modules, the first repetitive controller module, the second repetitive controller module, first adder module, second add Summer block, the second coordinate transformation module and pulse modulation module；
First coordinate transformation module, for the three-phase current i that will be got from Three-Phase PWM Rectifier ACa、ib And icCoordinate transform obtains the biphase current i under d-q two-phase orthogonal coordinate systems in d-q two-phase orthogonal coordinate systemsd、iq；
First subtracter block, for by electric current idWith given value of current value id *Is separately input into after subtraction One PI controller modules and the first repetitive controller module；
The first PI controller modules, the result for receiving the output of the first subtracter block is carried out defeated after PI controls Go out the first value；
The first decay link is added in the first compensator module of the first repetitive controller modular belt and backfeed loop, is used In the result for receiving the output of the first subtracter block, second value is exported after carrying out Repetitive controller；The first compensator module bag Include first phase compensation tache, first amplitude compensation tache and the PI controlling units for communicating to connect successively；
The first adder module, for the first value, the first repetitive controller that export a PI controller modules The second value of module output and the harmonic disturbance for sealing in are overlapped computing, get controlled quentity controlled variable Ud；
Second subtracter block, for by electric current iqWith given value of current value iq *Is separately input into after subtraction Two PI controller modules and the second repetitive controller module；
The 2nd PI controller modules, the result for receiving the output of the second subtracter block is carried out defeated after PI controls Go out the 3rd value；
The second decay link is added in the second compensator module of the second repetitive controller modular belt and backfeed loop, is used In the result for receiving the output of the second subtracter block, the 4th value is exported after carrying out Repetitive controller；The second compensator module bag Include second phase compensation tache, the second amplitude compensation link and the 2nd PI controlling units for communicating to connect successively；
The second adder module, for the 3rd value, the second repetitive controller that export the 2nd PI controller modules 4th value of module output and the harmonic disturbance for sealing in are overlapped computing, get controlled quentity controlled variable Uq；
Second coordinate transformation module, the controlled quentity controlled variable U for receiving the output of first adder moduledAnd second adder The controlled quentity controlled variable U of module outputq, then by two-phase controlled quentity controlled variable UdWith controlled quentity controlled variable UqBy coordinate transform to alpha-beta two-phase rest frame In, obtain the controlled quentity controlled variable U in the phase coordinate system of alpha-beta twoαWith controlled quentity controlled variable Uβ；
The pulse modulation module, the U for receiving the second coordinate transformation module output control amountαWith controlled quentity controlled variable Uβ, carry out It is sent in the IGBT switching tubes of Three-Phase PWM Rectifier after impulse modulation treatment.
Preferably, first coordinate transformation module, the first subtracter block, the second subtracter block, PI controls Device module, the 2nd PI controller modules, the first repetitive controller module, the second repetitive controller module, first adder module, Second adder module, the second coordinate transformation module and pulse modulation module are realized by DSP inside programmings.
Preferably, the first duplicator control module is by the first add operation link, the first time delay process, the second time delay Link and the first compensator module are constituted；One of input of the first add operation link is used as the first repetitive controller module Input, the output of the first add operation link is sent to the first time delay process and the second time delay process, the second time delay process Output is sent to the first compensator module, and the first time delay process is in the backfeed loop of the first repetitive controller, in the first weight In the backfeed loop of multiple controller, the second decay link is added in after the 3rd time delay process, and feedback signal is by the first time delay ring Another input of the first add operation link is sent to after section and the first decay link, wherein the first time delay process add the One decay link is constant attenuation link or low pass filter decay link；
A PI controlling units in first compensator include the first differentiation element and first integral link；Second time delay ring The output of section after first phase compensation tache and first amplitude compensation tache by exporting to a PI controlling units；First PI is controlled The output of link processed as the first repetitive controller module output；
Discrete transfer function G ' (z) of the first repetitive controller module is：
Wherein C 'PIThe discrete transfer function of the first compensator module in (z) first repetitive controller module；Q ' (z) is the The corresponding attenuation of the first decay link, the z are added in one repetitive controller module feedback loop-NIt is prolonging for N number of unit When,NIt is the sampling number in a cycle, zk′For the phase in the first compensator module in the first repetitive controller module is mended Repay, i.e., the phase compensation that first phase compensation tache is done, wherein k ' are a coefficient, take 1 or 2；k′rIt is the first repetitive controller Amplitude compensation in module in the first compensator module, i.e., the amplitude compensation that first amplitude compensation tache is done, k 'pIt is the first benefit Repay the proportionality coefficient of a PI controlling units in device module, k 'iThe integration system of a PI controlling units in first compensator module Number；
The second duplicator control module by the second add operation link, the 3rd time delay process, the 4th time delay process and Second compensator module is constituted；One of input of the second add operation link is defeated as the second repetitive controller module Enter, the output of the second add operation link is sent to the 3rd time delay process and the 4th time delay process, the output of the 4th time delay process The second compensator module is sent to, the 3rd time delay process is in the backfeed loop of the second repetitive controller, repeats to control second In the backfeed loop of device processed, the second decay link is added in after the 3rd time delay process, feedback signal by the 3rd time delay process and Another input of the second add operation link is sent to after second decay link, wherein the second decay link is constant attenuation link Or low pass filter decay link；
The 2nd PI controlling units in second compensator module include the second differentiation element and second integral link；4th prolongs The output of Shi Huanjie is exported to the 2nd PI controlling units by after second phase compensation tache and the second amplitude compensation link；Second The output of PI controlling units as the second repetitive controller module output；
" (z) be the discrete transfer function G of the second repetitive controller module：
Wherein C "PIThe discrete transfer function of the second compensator module in (z) second repetitive controller module；Q " (z) is the Two repeat to add the corresponding attenuation of the second decay link, the z in controller module backfeed loop-NIt is prolonging for N number of unit When,NIt is the sampling number in a cycle, zk″For the phase in the second compensator module in the second repetitive controller module is mended Repay, wherein k and " for a coefficient, take 1 or 2；k″rIt is the amplitude compensation in the second compensator module in the second repetitive controller module, k″pIt is the proportionality coefficient of the 2nd PI controlling units in the second compensator module, k "i2nd PI control rings in second compensator module The integral coefficient of section.
The present invention has the following advantages and effect relative to prior art：
(1) present invention is, along with Repetitive controller, PI controls mutually to be tied with Repetitive controller on the basis of traditional PI controls Automatically controlling for Three-Phase PWM Rectifier AC is realized in conjunction；Added in band compensator and backfeed loop wherein in the Repetitive controller Decay link, compensator carries phase compensation, amplitude compensation and PI control functions, and over time, by this hair Bright Repetitive controller enables to the output error of system to go to zero, that is, cause that the output of Three-Phase PWM Rectifier AC infinitely connects Set-point is bordering on, therefore the present invention, after Repetitive controller is added, the steady-state behaviour of whole system is guaranteed, and has to current harmonics Good rejection ability, and the transmission function of Repetitive controller inner mould portion discretization is periodic function, therefore, it is possible to have The unwanted harmonics component of fundamental frequency integral multiple in the waveform of the suppression three phase network of effect so that feed back to the current waveform of power network Close to sine wave.In Repetitive controller of the present invention compensator by with phase supplement and amplitude compensation PI control realizations, when repeat control After internal model output is comprising instruction and disturbance information in system, compensator can make the output of control object, and ideally trace command is believed Number, there is easy to use, strong adaptability and strong robustness, and cause Control platform to the change of controlled device less Sensitivity, is suitable for the industry spot of bad environments, reduces the degree of dependence to model.PI parameter tunings have complete set simultaneously Theoretical system, simplifies the design of compensator to a certain extent.
(2) gain that the decay link that Repetitive controller of the present invention is added in the feedback loop can be directed to harmonic disturbance is carried out Certain decay, it is ensured that the stability of a system.
Brief description of the drawings
Fig. 1 is the control principle drawing of harmonic Elimination Method of the present invention.
Fig. 2 is the control principle drawing of repetitive controller model of the present invention.
Fig. 3 is the composition frame chart of harmonic cancellation system of the present invention.
Fig. 4 is traditional repetitive controller structure chart.
Fig. 5 is traditional compensator structure schematic diagram in existing repetitive controller.
Specific embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited In this.
Embodiment
Present embodiment discloses a kind of removing method of the three phase rectifier harmonic wave based on Repetitive controller, step is as follows：
S1, set up in dsp first a PI controller models and band compensator and backfeed loop in add decay ring The repetitive controller model of section, compensator is the 2nd PI controllers with phase compensation and amplitude compensation in repetitive controller model Model.
A PI controller models include differentiation element and integral element in the present embodiment.
As shown in figure 1, repetitive controller model includes add operation link 1, the first time delay process 2, the in the present embodiment Two time delay processes 3 and compensator；One of input of add operation link 1 as repetitive controller model input, addition The output of operation link 1 is respectively sent to the first time delay process 2 and the second time delay process 3, the output transmission of the second time delay process 3 To compensator；In first backfeed loop of the time delay process 2 in repetitive controller model, decay link 4 is added after which, instead Feedback signal is by being sent to another input of add operation link 1 after the first time delay process 2 and decay link 4；Wherein add Decay link for constant attenuation link or low pass filter decay link.In the present embodiment compensator by phase compensation link 5, Amplitude compensation link 6 and PI controlling units 7 are constituted, and PI controlling units 7 include differentiation element and integral element；Second time delay process 3 output is exported to PI controlling units 7 after passing sequentially through phase compensation link 5 and amplitude compensation link 6；PI controlling units 7 Export as the output of repetitive controller model.
Discrete transfer function G (z) of the present embodiment repetitive controller model is：
Wherein CPIThe discrete transfer function of compensator in (z) repetitive controller model；Q (z) is in repetition controller model The corresponding attenuation of decay link added in backfeed loop, when decay link is constant attenuation link, Q (z) is a constant, Q (z) takes 0.96 in the present embodiment；The z-NIt is the time delay of N number of unit, is correspondence the first time delay process and the second time delay process Time delay, N is the sampling number in a cycle；zkIt is the phase compensation in compensator in repetition controller model, i.e. phase is mended The phase compensation that link is done is repaid, wherein k is a coefficient, takes 1 or 2；krIt is the amplitude in compensator in repetition controller model Compensation, i.e., the amplitude compensation that amplitude compensation link is done in compensator；kpIt is the proportionality coefficient of PI controlling units in compensator, ki It is the integral coefficient of PI controlling units in compensator.K=2, k in the present embodimentp=8, ki=150.
S2, the three-phase current i for obtaining Three-Phase PWM Rectifier ACa、ibAnd ic；
S3, by three-phase current ia、ibAnd icCoordinate transform obtains the orthogonal seat of d-q two-phases in d-q two-phase orthogonal coordinate systems Biphase current i under mark systemd、iq；Detailed process is as follows：
First by three-phase current ia、ibAnd icIn transforming to alpha-beta two-phase orthogonal coordinate system by Clark respectively, alpha-beta is obtained Biphase current i under two-phase orthogonal coordinate systemα、iβ：
Then by biphase current iα、iβTransformed under d-q two-phase orthogonal coordinate systems by transformation matrix, obtaining d-q two-phases just Hand over the biphase current i under coordinate systemd、iq：
The given value of current value i of S4, acquisition three-phase current on dq axlesd *And iq *；
S5, as shown in figure 1, by electric current idWith given value of current value id *Foundation in step S1 is separately input into after subtraction A PI controller models and repetitive controller model in, export first after carrying out PI controls by a PI controller models Value, second value is exported by repetitive controller model after discrete transfer function G (z) carries out Repetitive controller；By electric current iqAnd electricity Stream set-point iq *The PI controller models and repetitive controller mould set up in step S1 are separately input into after subtraction In type, carry out computing, carried out exporting the 3rd value after PI controls by a PI controller models, by repetitive controller model by from Dissipating transmission function G (z) carries out the 4th value of output after Repetitive controller；
The second value of S6, the first value that a PI controller models are exported and the output of repetitive controller model is folded Plus, in additive process, the harmonic disturbance that Three-Phase PWM Rectifier is produced is sealed in, and produces controlled quentity controlled variable Ud；By a PI controller moulds 3rd value of type output and the 4th value of repetitive controller model output are overlapped, in additive process, Three-Phase PWM Rectifier The harmonic disturbance of generation is sealed in, and produces controlled quentity controlled variable Uq；
S7, by two-phase controlled quentity controlled variable UdWith controlled quentity controlled variable UqIn by coordinate transform to alpha-beta two-phase rest frame, alpha-beta two is obtained Controlled quentity controlled variable U in phase coordinate systemαWith controlled quentity controlled variable Uβ；
S8, by controlled quentity controlled variable UαWith controlled quentity controlled variable UβSignal be sent to after impulse modulation treatment the IGBT of Three-Phase PWM Rectifier In switching tube.The impulse modulation mode for being used in the present embodiment is SVPWM (space vector impulse modulation).
Non-linear, the harmonic wave of dead band back control object of the harmonic disturbance from switching tube that Three-Phase PWM Rectifier is produced Disturbance is equivalent to D (z) and is sealed in the output additive process of PI controller models output and repetitive controller model.
It is illustrated in figure 2 control principle when the present embodiment repetitive controller model is controlled for control object P (z) Figure.As shown in Figure 2, when making repetitive controller be input into R (Z)=0, the present embodiment repetitive controller model system can be derived The error of system is output as：
Wherein D (z) is the harmonic disturbance that Three-Phase PWM Rectifier is produced, and is that cyclical signal and frequency are fundamental frequency Integral multiple, P (z) is control object.
Discrete transfer function G (z) according to the present embodiment repetitive controller model can draw repetitive controller model system The error of system is output as：
Can be drawn from above formula, as t →+∞, z → 1, D (z) is generally sine wave discrete expression, now system E Z ()=0, that is, cause the output current i of Three-Phase PWM Rectifier ACdIt is infinitely close to given value of current value id *, electric current iqInfinitely Close to given value of current value iq *, therefore the present invention, after repetitive controller model is added, the steady-state behaviour of whole system is protected Card, there is good rejection ability to current harmonics.
By Fig. 2 control principle drawings it is known that the transmission function of repetitive controller model inner mould portion discretization is：
GC(z)=z-N/(1-z-N)；
From the foregoing, the transmission function of repetitive controller model inner mould portion discretization is periodic function, therefore The unwanted harmonics component of fundamental frequency integral multiple in the waveform of three phase network can effectively be suppressed so that feed back to the electricity of power network Flow waveform close to sine wave.
Other the present embodiment compensator works as Repetitive controller by the PI controller models realization with phase supplement and amplitude compensation After the output of middle internal model is comprising instruction and disturbance information, compensator can make the output of control object ideally trace command signal, There is easy to use, strong adaptability and strong robustness, and cause that change of the Control platform to controlled device is less quick Sense, is suitable for the industry spot of bad environments, reduces the degree of dependence to model.PI parameter tunings have complete set to manage simultaneously By system, the design of compensator is simplified to a certain extent.
The present embodiment also discloses a kind of elimination system of the three phase rectifier harmonic wave based on Repetitive controller, as shown in figure 3, bag Include the first coordinate transformation module 10, the first subtracter block 11, the second subtracter block 21, a PI controller modules, second PI controller modules, the first repetitive controller module, the second repetitive controller module, first adder module 30, the second addition Device module 31, the second coordinate transformation module 19 and pulse modulation module 20；
First coordinate transformation module 10, for the three-phase current i that will be got from Three-Phase PWM Rectifier ACa、 ibAnd icCoordinate transform respectively obtains the biphase current i under d-q two-phase orthogonal coordinate systems in d-q two-phase orthogonal coordinate systemsd、 iq；
First subtracter block 11, for by electric current idWith given value of current value id *It is separately input into after subtraction First PI controller modules and the first repetitive controller module；
The first PI controller modules, the result for receiving the output of the first subtracter block is carried out defeated after PI controls Go out the first value；
The first decay link is added in the first compensator module of the first repetitive controller modular belt and backfeed loop, is used In the result for receiving the output of the first subtracter block, second value is exported after carrying out Repetitive controller；The first compensator module bag Include first phase compensation tache 16, the PI controlling units 18 of first amplitude compensation tache 17 and for communicating to connect successively；
The first adder module 30, for the first value, the first Repetitive controller that export a PI controller modules The second value of device module output and the harmonic disturbance for sealing in are overlapped computing, get controlled quentity controlled variable Ud；
Second subtracter block 21, for by electric current iqWith given value of current value iq *It is separately input into after subtraction 2nd PI controller modules and the second repetitive controller module；
The 2nd PI controller modules, the result for receiving the output of the second subtracter block is carried out defeated after PI controls Go out the 3rd value；
The second decay link is added in the second compensator module of the second repetitive controller modular belt and backfeed loop, is used In the result for receiving the output of the second subtracter block, the 4th value is exported after carrying out Repetitive controller；The second compensator module bag Include second phase compensation tache 26, the second amplitude compensation link 27 and the 2nd PI controlling units 28 for communicating to connect successively；
The second adder module 31, for the 3rd value, the second Repetitive controller that export the 2nd PI controller modules 4th value of device module output and the harmonic disturbance for sealing in are overlapped computing, get controlled quentity controlled variable Uq；
Second coordinate transformation module 19, the controlled quentity controlled variable U for receiving the output of first adder moduledWith the second addition The controlled quentity controlled variable U of device module outputq, then by two-phase controlled quentity controlled variable UdWith controlled quentity controlled variable UqBy coordinate transform to alpha-beta two-phase static coordinate In system, the controlled quentity controlled variable U in the phase coordinate system of alpha-beta two is obtainedαWith controlled quentity controlled variable Uβ；
The pulse modulation module 20, the U for receiving the second coordinate transformation module output control amountαWith controlled quentity controlled variable Uβ, enter It is sent to after horizontal pulse modulation treatment in the IGBT switching tubes of Three-Phase PWM Rectifier.Pulse modulation module is sky in the present embodiment Between vector pulse-modulator (SVPWM).
Non-linear, the harmonic wave of dead band back control object of the harmonic disturbance from switching tube that Three-Phase PWM Rectifier is produced Disturbance is equivalent to D (z) and is sealed in the input of first adder module and second adder module respectively.As shown in Figure 3.
First coordinate transformation module 10, the first subtracter block 11, the second subtracter block 21, a PI in the present embodiment Controller module, the 2nd PI controller modules, the first repetitive controller module, the second repetitive controller module, first adder Module 30, second adder module 31, the second coordinate transformation module 19 and pulse modulation module 20 are by DSP inside programming realities It is existing.
As shown in Figure 3, in the present embodiment the first duplicator control module by the first add operation link 12, the first time delay Link 14, the second time delay process 15 and the first compensator module composition；The input of the first add operation link 12 is used as the first weight The input of multiple controller module, the output of the first add operation link 12 is sent to the first time delay process 14 and the second time delay process 15, the output of the second time delay process 15 is sent to the first compensator module, and the first time delay process 14 adds the first decay link 13 After export to add operation link, wherein first decay link 13 be constant attenuation link or low pass filter decay link；
First compensator module is by first phase compensation tache, first amplitude compensation tache and a PI controlling unit groups Into；A wherein PI controlling units include the first differentiation element and first integral link；The output of the second time delay process is by the Exported after one phase compensation link and first amplitude compensation tache to a PI controlling units；The output of the first PI controlling units is made It is the output of the first repetitive controller module；
Discrete transfer function G ' (z) of the first repetitive controller module is：
Wherein C 'PIThe discrete transfer function of the first compensator module in (z) first repetitive controller module；Q ' (z) is the The corresponding attenuation of the first decay link, the z are added in one repetitive controller module feedback loop-NIt is prolonging for N number of unit When,NIt is the sampling number in a cycle, zk′For the phase in the first compensator module in the first repetitive controller module is mended Repay, i.e., the phase compensation that first phase compensation tache is done, wherein k ' are a coefficient, take 1 or 2, k 'pIt is the first compensator module In a PI controlling units proportionality coefficient, k 'iIt is the integral coefficient of the 2nd PI controlling units in the first compensator module, k 'rFor Amplitude compensation in first repetitive controller module in the first compensator module, i.e., the amplitude that first amplitude compensation tache is done is mended Repay；
As shown in Figure 3, in the present embodiment the second duplicator control module by the second add operation link 22, the 3rd time delay Link 24, the 4th time delay process 25 and the second compensator module composition；One of input of the second add operation link 22 is made It is the input of the second repetitive controller module, the output of the second add operation link 22 is sent to the 3rd time delay process 24 and the 4th Time delay process 25, the output of the 4th time delay process 25 is sent to the second compensator module, and the 3rd time delay process 24 is in the second weight In the backfeed loop of multiple controller, in the backfeed loop of the second repetitive controller, the second decay link 23 is added in the 3rd time delay After link 24, feedback signal after the 3rd time delay process 24 and the second decay link 23 by being sent to the second add operation link Another input, it is therein second decay link 23 be constant attenuation link or low pass filter decay link；
Second compensator module is by second phase compensation tache, the second amplitude compensation link and the 2nd PI controlling unit groups Into；Wherein the 2nd PI controlling units include the second differentiation element and second integral link；The output of the 4th time delay process is by the Exported to the 2nd PI controlling units after two phase compensation tache and the second amplitude compensation link；The output of the 2nd PI controlling units is made It is the output of the second repetitive controller module；
" (z) be the discrete transfer function G of the second repetitive controller module：
Wherein C "PIThe discrete transfer function of the second compensator module in (z) second repetitive controller module；Q " (z) is the Two repeat to add the corresponding attenuation of the second decay link, the z in controller module backfeed loop-NIt is prolonging for N number of unit When,NIt is the sampling number in a cycle, zk″For the phase in the second compensator module in the second repetitive controller module is mended Repay, wherein k and " for a coefficient, take 1 or 2；k″rIt is the amplitude compensation in the second compensator module in the second repetitive controller module, k″pIt is the proportionality coefficient of the 2nd PI controlling units in the second compensator module, k "iIt is the 2nd PI controls in the second compensator module The integral coefficient of link.
The present embodiment adds Repetitive controller on the basis of traditional PI controls, to realize exchanging Three-Phase PWM Rectifier The three-phase current i of side outputa、ibAnd icAutomatically controlled.The internal model structure of traditional repetitive controller is illustrated in figure 4, its Gain to harmonic disturbance is infinitely great, and now system is in critical stable state, is unfavorable for the design of control system, also not Beneficial to the stable operation of system, the present embodiment is improved the backfeed loop for repeating controller module, in the feedback loop Add decay link.Repetitive controller module carries out certain decay by the gain that the link that decays can be directed to harmonic disturbance, Ensure the control effect of raising repetitive controller module while the stability of a system.
Traditional compensator of institute's band in repetitive controller is illustrated in figure 5, it is right that conventional compensation device C (z) is directed to control Set as P (z), directly determine the performance of repeated controlling system.When repetitive controller internal model output comprising instruction and After disturbance information, compensator is mainly makes the output of control object ideally trace command signal.In the case of preferable internal model, Take C (z)=P-1During (z) form, the existing best stability of system, and the stable state with most fast error convergence speed and minimum Error.But having several factors to govern C (z) cannot take P-1The form of (z), such as, and when P (z) includes the zero point outside unit circle, C (z) will include the limit outside unit circle, can so cause controller unstable.Under normal circumstances, the denominator order of P (z) is big In the order equal to molecule, this order molecule order that will also result in C (z) is more than denominator order so that controller cannot be realized. Secondly, accurate model P (z) is obtained, is also have certain difficulty in practical engineering application, it is special in particular for high frequency Property.
The present embodiment repetitive controller module institute band compensator module includes phase compensation, amplitude compensation and PI control work( Can, repetitive controller module causes that harmonic disturbance carries out error in the internal model of repetitive controller and folds by add operation link Plus, and by after the time delay of primitive period, phase compensation and an amplitude compensation, being fed through the PI controlling units of compensator, When the internal model output of repetitive controller module is comprising instruction and after disturbance information, compensator module can be make control object defeated Go out ideally trace command signal, the present embodiment replaces conventional compensation using the PI control modules supplemented with phase compensation and amplitude Device, has the advantages that easy to use, strong adaptability and strong robustness, and enable to change of the Control platform to controlled device Change is less sensitive, is suitable for the industry spot of bad environments, reduces the degree of dependence to model.PI parameter tunings have one simultaneously Set full theoretical system, simplifies the design of compensator to a certain extent.
When the time infinity is tended to, the system output errors of the present embodiment repetitive controller module are almost nil, therefore Using the present embodiment after repetitive controller module is added, the steady-state behaviour of whole system is guaranteed, and has very to current harmonics Good rejection ability, the transmission function of repetitive controller module inner mould portion discretization is periodic function in addition, therefore energy The unwanted harmonics component of fundamental frequency integral multiple in enough effective waveforms for suppressing three phase network so that feed back to the electric current of power network Waveform is close to sine wave.
Above-described embodiment is the present invention preferably implementation method, but embodiments of the present invention are not by above-described embodiment Limitation, it is other it is any without departing from Spirit Essence of the invention and the change, modification, replacement made under principle, combine, simplification, Equivalent substitute mode is should be, is included within protection scope of the present invention.

Claims (10)

1. a kind of removing method of the three phase rectifier harmonic wave based on Repetitive controller, it is characterised in that step is as follows：
S1, first set up a PI controller models and with compensator and backfeed loop in add decay link repetition control Device model processed, compensator is the 2nd PI controller models with phase compensation and amplitude compensation in the repetitive controller model；
S2, the three-phase current i for obtaining Three-Phase PWM Rectifier ACa、ibAnd ic；
S3, by three-phase current ia、ibAnd icCoordinate transform obtains d-q two-phase orthogonal coordinate systems in d-q two-phase orthogonal coordinate systems Under biphase current id、iq；
The given value of current value i of S4, acquisition three-phase current on dq axlesd *And iq *；
S5, by electric current idWith given value of current value id *The PI controllers set up in step S1 are separately input into after subtraction In model and repetitive controller model, the first value is exported after carrying out PI controls by a PI controller models, by repetitive controller Model exports second value after carrying out Repetitive controller；By electric current iqWith given value of current value iq *Step is separately input into after subtraction In the PI controller models and repetitive controller model set up in S1, carried out by a PI controller models defeated after PI controls Go out the 3rd value, the 4th value is exported after carrying out Repetitive controller by repetitive controller model；
The second value of S6, the first value that a PI controller models are exported and the output of repetitive controller model is overlapped, In additive process, the harmonic disturbance that Three-Phase PWM Rectifier is produced is sealed in, and produces controlled quentity controlled variable Ud；First PI controller models is defeated 4th value of the 3rd value and repetitive controller the model output for going out is overlapped, and in additive process, Three-Phase PWM Rectifier is produced Harmonic disturbance seal in, produce controlled quentity controlled variable Uq；
S7, by two-phase controlled quentity controlled variable UdWith controlled quentity controlled variable UqIn by coordinate transform to alpha-beta two-phase rest frame, alpha-beta two-phase seat is obtained Controlled quentity controlled variable U in mark systemαWith controlled quentity controlled variable Uβ；
S8, by controlled quentity controlled variable UαWith controlled quentity controlled variable UβSignal be sent to after impulse modulation treatment the IGBT switches of Three-Phase PWM Rectifier Guan Zhong.
2. the removing method of the three phase rectifier harmonic wave based on Repetitive controller according to claim 1, it is characterised in that described PI controller models and the repetitive controller model with addition decay link in compensator and backfeed loop are by passing through in step S1 DSP sets up.
3. the removing method of the three phase rectifier harmonic wave based on Repetitive controller according to claim 1, it is characterised in that described Repetitive controller model includes add operation link, the first time delay process, the second time delay process and compensator；Add operation link One of input as repetitive controller model input, the output of add operation link is respectively sent to the first time delay ring Section and the second time delay process, the output of the second time delay process are sent to compensator；First time delay process is in repetitive controller mould In the backfeed loop of type, decay link, feedback signal is added to be transmitted by after the first time delay process and decay link after which To another input of add operation link；
The compensator is made up of phase compensation link, amplitude compensation link and PI controlling units；The output of the second time delay process By being exported to PI controlling units after phase compensation link and amplitude compensation link；The output of PI controlling units is used as Repetitive controller The output of device model.
4. the removing method of the three phase rectifier harmonic wave based on Repetitive controller according to claim 3, it is characterised in that described Discrete transfer function G (z) of repetitive controller model is：
G ( z ) = z - N 1 - Q ( z ) z - N C P I ( z ) ;
C P I ( z ) = ( k p + k i 1 - z - 1 ) z k . k r ;
Wherein CPIThe discrete transfer function of compensator in (z) repetitive controller model；Q (z) feeds back to repeat controller model The corresponding attenuation of decay link added in road；The z-NIt is the time delay of N number of unit, is the first time delay process and the second time delay The time delay of link, N is the sampling number in a cycle；zkIt is the phase compensation in compensator in repetition controller model, i.e., The phase compensation that phase compensation link is done, wherein k are a coefficient, take 1 or 2, krFor in compensator in repetition controller model Amplitude compensation, i.e., the amplitude compensation that amplitude compensation link is done in compensator；kpIt is the ratio of PI controlling units in compensator Coefficient, kiIt is the integral coefficient of PI controlling units in compensator.
5. the removing method of the three phase rectifier harmonic wave based on Repetitive controller according to any one of claim 1 to 3, it is special Levy and be, the decay link added in the repetitive controller model feedback loop is that constant attenuation link or low pass filter decline Subtract link.
6. the removing method of the three phase rectifier harmonic wave based on Repetitive controller according to claim 1, it is characterised in that described By three-phase current i in step S3a、ibAnd icCoordinate transform obtains the biphase current i under d-q coordinate systemsd、iqDetailed process such as Under：
First by three-phase current ia、ibAnd icIn transforming to alpha-beta two-phase orthogonal coordinate system by Clark, alpha-beta two-phase is obtained orthogonal Biphase current i under coordinate systemα、iβ：
i α i β = 2 3 1 - 1 2 - 1 2 0 3 2 - 3 2 i a i b i c ;
Then by biphase current iα、iβTransformed under d-q two-phase orthogonal coordinate systems by transformation matrix, obtain the orthogonal seat of d-q two-phases Biphase current i under mark systemd、iq：
i d i q = c o s θ sin θ - s i n θ cos θ i α i β .
7. the removing method of the three phase rectifier harmonic wave based on Repetitive controller according to claim 1, it is characterised in that described Pulse modulated mode is space vector impulse modulation in step S7.
8. a kind of elimination system of the three phase rectifier harmonic wave based on Repetitive controller, it is characterised in that including the first coordinate transform mould Block, the first subtracter block, the second subtracter block, a PI controller modules, the 2nd PI controller modules, first repeat to control Device module processed, the second repetitive controller module, first adder module, second adder module, the second coordinate transformation module and Pulse modulation module；
First coordinate transformation module, for the three-phase current i that will be got from Three-Phase PWM Rectifier ACa、ibAnd ic Coordinate transform obtains the biphase current i under d-q two-phase orthogonal coordinate systems in d-q two-phase orthogonal coordinate systemsd、iq；
First subtracter block, for by electric current idWith given value of current value id *A PI is separately input into after subtraction Controller module and the first repetitive controller module；
The first PI controller modules, the result for receiving the output of the first subtracter block export after PI controls the One value；
The first decay link is added in the first compensator module of the first repetitive controller modular belt and backfeed loop, for connecing The result of the first subtracter block output is received, second value is exported after carrying out Repetitive controller；First compensator module include according to The first phase compensation tache of secondary communication connection, first amplitude compensation tache and a PI controlling units；
The first adder module, for the first value, the first repetitive controller module that export a PI controller modules The second value of output and the harmonic disturbance for sealing in are overlapped computing, get controlled quentity controlled variable Ud；
Second subtracter block, for by electric current iqWith given value of current value iq *The 2nd PI is separately input into after subtraction Controller module and the second repetitive controller module；
The 2nd PI controller modules, the result for receiving the output of the second subtracter block export after PI controls the Three values；
The second decay link is added in the second compensator module of the second repetitive controller modular belt and backfeed loop, for connecing The result of the second subtracter block output is received, the 4th value is exported after carrying out Repetitive controller；Second compensator module include according to The second phase compensation tache of secondary communication connection, the second amplitude compensation link and the 2nd PI controlling units；
The second adder module, for the 3rd value, the second repetitive controller module that export the 2nd PI controller modules 4th value of output and the harmonic disturbance for sealing in are overlapped computing, get controlled quentity controlled variable Uq；
Second coordinate transformation module, the controlled quentity controlled variable U for receiving the output of first adder moduledWith second adder module The controlled quentity controlled variable U of outputq, then by two-phase controlled quentity controlled variable UdWith controlled quentity controlled variable UqIn by coordinate transform to alpha-beta two-phase rest frame, Obtain the controlled quentity controlled variable U in the phase coordinate system of alpha-beta twoαWith controlled quentity controlled variable Uβ；
The pulse modulation module, the U for receiving the second coordinate transformation module output control amountαWith controlled quentity controlled variable Uβ, enter horizontal pulse It is sent to after modulation treatment in the IGBT switching tubes of Three-Phase PWM Rectifier.
9. the elimination system of the three phase rectifier harmonic wave based on Repetitive controller according to claim 8, it is characterised in that described First coordinate transformation module, the first subtracter block, the second subtracter block, a PI controller modules, the 2nd PI controllers Module, the first repetitive controller module, the second repetitive controller module, first adder module, second adder module, second Coordinate transformation module and pulse modulation module are realized by DSP inside programmings.
10. the elimination system of the three phase rectifier harmonic wave based on Repetitive controller according to claim 8 or claim 9, it is characterised in that The first duplicator control module is by the first add operation link, the first time delay process, the second time delay process and the first compensation Device module is constituted；One of input of the first add operation link as the first repetitive controller module input, first plus The output of method operation link is sent to the first time delay process and the second time delay process, and the output of the second time delay process is sent to first Compensator module, the first time delay process is in the backfeed loop of the first repetitive controller, in the feedback of the first repetitive controller In loop, the second decay link is added in after the 3rd time delay process, and feedback signal is by the first time delay process and the first decay ring Another input of the first add operation link is sent to after section, wherein the first decay link that the first time delay process is added is normal Number decay link or low pass filter decay link；
A PI controlling units in first compensator include the first differentiation element and first integral link；Second time delay process Output after first phase compensation tache and first amplitude compensation tache by exporting to a PI controlling units；First PI control rings The output of section as the first repetitive controller module output；
Discrete transfer function G ' (z) of the first repetitive controller module is：
G ′ ( z ) = z - N 1 - Q ′ ( z ) z - N C P I ′ ( z ) ;
C P I ′ ( z ) = ( k p ′ + k i ′ 1 - z - 1 ) z k ′ . k r ′ ;
Wherein C 'PIThe discrete transfer function of the first compensator module in (z) first repetitive controller module；Q ' (z) is the first weight The corresponding attenuation of the first decay link, the z are added in multiple controller module backfeed loop-NIt is the time delay of N number of unit, N is Sampling number in a cycle, zk′Be the phase compensation in the first compensator module in the first repetitive controller module, i.e., The phase compensation that one phase compensation link is done, wherein k ' are a coefficient, take 1 or 2；k′rFor in the first repetitive controller module Amplitude compensation in first compensator module, i.e., the amplitude compensation that first amplitude compensation tache is done, k 'pIt is the first compensator mould The proportionality coefficient of a PI controlling units, k ' in blockiIt is the integral coefficient of a PI controlling units in the first compensator module；
The second duplicator control module is by the second add operation link, the 3rd time delay process, the 4th time delay process and second Compensator module is constituted；One of input of the second add operation link as the second repetitive controller module input, The output of two add operation links is sent to the 3rd time delay process and the 4th time delay process, and the output of the 4th time delay process is sent to Second compensator module, the 3rd time delay process is in the backfeed loop of the second repetitive controller, in the second repetitive controller In backfeed loop, the second decay link is added in after the 3rd time delay process, and feedback signal declines by the 3rd time delay process and second Subtract another input that the second add operation link is sent to after link, wherein the second decay link is constant attenuation link or low pass Filter attenuation link；
The 2nd PI controlling units in second compensator module include the second differentiation element and second integral link；4th time delay ring The output of section is exported to the 2nd PI controlling units by after second phase compensation tache and the second amplitude compensation link；2nd PI is controlled The output of link processed as the second repetitive controller module output；
" (z) be the discrete transfer function G of the second repetitive controller module：
G ′ ′ ( z ) = z - N 1 - Q ′ ′ ( z ) z - N C P I ′ ′ ( z ) ;
C P I ′ ′ ( z ) = ( k p ′ ′ + k i ′ ′ 1 - z - 1 ) z k ′ ′ . k r ′ ′ ;
Wherein C "PIThe discrete transfer function of the second compensator module in (z) second repetitive controller module；Q " (z) is the second weight The corresponding attenuation of the second decay link, the z are added in multiple controller module backfeed loop-NIt is the time delay of N number of unit, N is Sampling number in a cycle, zk″It is the phase compensation in the second compensator module in the second repetitive controller module, wherein K " is a coefficient, takes 1 or 2；k″rIt is the amplitude compensation in the second compensator module in the second repetitive controller module, k "pIt is The proportionality coefficient of the 2nd PI controlling units, k in two compensator modules "iIt is the 2nd PI controlling units in the second compensator module Integral coefficient.
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