CN113395021B - Buck converter-based brushless direct current motor low-power-consumption driving system and method - Google Patents

Buck converter-based brushless direct current motor low-power-consumption driving system and method Download PDF

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CN113395021B
CN113395021B CN202110787890.5A CN202110787890A CN113395021B CN 113395021 B CN113395021 B CN 113395021B CN 202110787890 A CN202110787890 A CN 202110787890A CN 113395021 B CN113395021 B CN 113395021B
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buck converter
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CN113395021A (en
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张海峰
田鸽
李海涛
郑世强
吕施仪
吴昊
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Beihang University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
    • 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
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple

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Abstract

The invention discloses a brushless direct current motor low-power-consumption driving system and method based on a Buck converter. Adding a self-adaptive notch filter in a current loop feedback channel to reduce distortion caused by inverse potential nonideal in direct current bus current and remove alternating current components in feedback quantity; and respectively controlling the direct current component and the alternating current component of the output voltage of the Buck converter by using a composite structure of a PI (proportional-integral) controller and a repetitive controller in a forward channel of a voltage loop, wherein the repetitive controller is used for eliminating disturbance caused by non-ideal back electromotive force to the output voltage of the Buck converter. The direct current bus voltage in the low-power-consumption driving system can well track the required reference signal, the control performance of the motor current is enhanced, the operation efficiency of the brushless direct current motor can be improved, and the system power consumption is reduced.

Description

Buck converter-based brushless direct current motor low-power-consumption driving system and method
Technical Field
The invention relates to the field of motor control, in particular to a low-power-consumption driving system and method of a brushless direct current motor based on a Buck converter.
Background
The brushless direct current motor can improve the operation efficiency of equipment, saves energy, has wider speed regulation range, good low-speed performance, large starting torque, good linearity, high working efficiency and the like, and is widely applied to household appliances such as air conditioners, refrigerators, washing machines, fans and the like and industrial application. With the development and application of motor technology, power electronic technology, digital control technology, control theory and sensor technology, the general control technology of brushless dc motors has become mature. The brushless direct current motor generally adopts a classical PI controller to carry out double closed-loop control on the rotating speed and the current, so as to realize speed regulation or constant-speed and stable-speed control in a certain range.
The brushless direct current motor is driven by a three-phase inverter power unit, the current introduced into a stator winding is high-frequency current generated by a Pulse Width Modulation (PWM) technology, high-frequency components in the current can generate a high-frequency magnetic field, eddy current loss can be caused in a stator and a rotor, and meanwhile, the switching loss of a power switching device is increased. The high-frequency current component can cause motor torque pulsation and affect motor power consumption, which is also an important source of loss of the motor and a drive control system thereof. Through the front Buck converter, the driving system adjusts the direct-current bus voltage to control the motor by controlling the duty ratio of a power switching tube of the Buck converter, and the three-phase inverter only carries out phase change and does not carry out high-frequency modulation, so that the high-frequency component of the current can be effectively inhibited, and further the loss and the torque ripple generated by the high-frequency current are reduced. However, for most of the motors, the back electromotive force of the motor hardly reaches the ideal trapezoidal wave, but is between the trapezoidal wave and the sine wave, so that the current is distorted by the hysteresis introduced by the Buck converter in the high-speed stage, and the power consumption of the motor is increased. Therefore, the effective control of the Buck converter has important significance for improving the current and torque control performance and improving the motor driving efficiency.
Disclosure of Invention
The invention discloses a low-power-consumption driving system of a brushless direct current motor based on a Buck converter, which aims to reduce the power consumption of the brushless direct current motor in the high-speed operation process. According to the invention, the Buck converter is added in front of the traditional three-phase full-bridge circuit to reduce ripples in current, and the output voltage of the Buck converter is controlled by adopting the cascaded voltage controller and current controller, so that the high-precision control of the motor current is realized. In the invention, the control of the Buck converter comprises two parts: firstly, adding a self-adaptive notch filter in a current loop feedback channel to reduce distortion caused by counter electromotive force nonideal in direct current bus current and remove alternating current components in feedback quantity; and secondly, a composite structure of a PI controller and a repetitive controller is used in a forward channel of the voltage loop to respectively control the direct current component and the alternating current component, wherein the repetitive controller is used for eliminating disturbance caused by non-ideal back electromotive force to the output voltage of the Buck converter.
The technical scheme adopted by the invention is as follows: a low-power consumption drive system of a Buck converter-based brushless direct current motor comprises: the brushless direct current motor driving circuit comprises a Buck converter, a three-phase full-bridge circuit and a Hall sensor, wherein the three-phase full-bridge circuit is connected with the Buck converter; the Buck converter is respectively connected with a direct current bus current sampling module and a direct current bus voltage sampling module; the Hall sensor is sequentially connected with the rotating speed estimation module and the self-adaptive notch filter, the PI voltage controller and the PI current controller are connected in series, and the output of the PI current controller is connected to the PWM signal generator; the PI voltage controller is also connected with a repetitive controller in parallel;
the direct current bus current sampling module and the direct current bus voltage sampling module are used for detecting the direct current bus current and voltage;
the rotating speed estimation module is used for estimating the speed of the motor; the Hall sensor is used for detecting the position of the motor rotor; the repetitive controller is used for controlling the alternating current component of the direct current bus voltage; the adaptive notch filter is used for filtering distortion caused by non-ideal counter electromotive force in direct current bus current; the PWM signal generator is used for generating a pulse signal for driving the Buck converter; the PI voltage controller and the PI current controller are respectively used for controlling the direct current bus voltage and the direct current component of the current;
direct-current bus voltage reference value U of low-power-consumption driving system of brushless direct-current motor*Given by a speed controller, U*Feedback quantity U of DC bus voltageOThe error amount is regulated by a PI voltage controller and a repetitive controller to obtain a reference amount i of the direct current bus current*(ii) a Output signal i of direct current bus current sampling moduledcObtaining the feedback quantity i of the direct current bus current after the processing of the self-adaptive notch filterdc，i*And idcThe error amount of the DC bus is adjusted by generating a control signal of the Buck converter through the PI current controller and the PWM signal generatorO；
The rotating speed estimation module obtains the rotating speed of the motor through a Hall sensor arranged on a stator of the brushless direct current motor.
According to another aspect of the invention, a low-power consumption driving method for a brushless direct current motor based on a Buck converter is provided, which comprises the following steps:
step 1, a rotating speed estimation module obtains the rotating speed of a motor through a Hall sensor arranged on a stator of a brushless direct current motor;
step 2, detecting the current and the voltage of the direct current bus by a direct current bus current sampling module and a direct current bus voltage sampling module;
step 3, the DC bus voltage reference value U of the low-power consumption driving system of the brushless DC motor*Given by a speed controller, U*Feedback quantity U of DC bus voltageOThe error amount is regulated by a PI voltage controller and a repetitive controller to obtain a reference amount i of the direct current bus current*(ii) a Output signal i of direct current bus current sampling moduledcObtaining the feedback quantity i of the direct current bus current after the processing of the self-adaptive notch filterdc，i*And idcThe error amount of the DC bus is generated into a control signal of a Buck converter through a PI current controller and a PWM signal generator to regulate the DC bus voltage UO。
Further, the direct current bus current is controlled in the following manner:
resistance R at direct current bus position of direct current bus current sampling modulesSampling to obtain idc′，idc' feedback quantity i of direct current bus current obtained by adaptive notch filterdcAnd a reference amount i of DC bus current*The error amount of the Buck converter is regulated by a PI current controller, an output signal of the PI current controller controls a PWM signal generator to generate a control signal for driving the Buck converter, and the control signal of the Buck converter regulates the output voltage U of the Buck converterOThereby realizing the control of the direct current bus current.
Further, the design of the adaptive notch filter comprises the following steps:
(1) determining a transfer function of the adaptive notch filter: establishing a transfer function for a quadratic notch filter
Figure BDA0003159711340000031
Wherein ω is0The trap frequency of the adaptive trap is Zeta, the trap width of the adaptive trap and s is a Laplace operator;
(2) determining a notch frequency ω of an adaptive notch filter0: trapping distortion caused by counter-potential non-idealities in direct bus current, wherein the frequency of the distortion is electrical angular velocity omegaeN times of, the notch frequency omega is selected0＝Nωe；
(3) Determining a notch width of an adaptive notch filter: parameter ζ determines the notch response at notch frequency ω0The width of the neighborhood, i.e. the bandwidth of the trap, is calculated to attenuate to 0.707 times the amplitude to obtain the value of parameter ζ.
Further, the dc bus voltage is controlled as follows:
reference quantity U of DC bus voltage*And the DC bus voltage feedback quantity U obtained by sampling the DC bus voltageOThe error amount of the direct current bus is adjusted by a PI voltage controller and a repetitive controller to form a direct current bus current reference amount i*Thereby realizing the closed-loop control of the DC bus voltage.
Further, the design of the repetitive controller comprises the following steps:
(1) determining a transfer function of the repetitive controller:
Figure BDA0003159711340000032
wherein N is the number of sampling points, S (Z) is a compensation function, Q (Z) is a filter, and Z is a Z transform operator;
(2) determination of pure delay element z-N：
Figure BDA0003159711340000033
Wherein T isFor repeating controller input signal period, TsIs the sampling period in the discrete process of the controller;
(3) determining the filter q (z): in order to filter high-frequency components in the voltage signal and enable the system to realize gradual stabilization, taking Q (z) as a moving average low-pass filter with zero phase shift;
(4) determining a compensation function S (z): to ensure the stability of the system, i.e. that all poles of the closed loop transfer function of the system lie within the unit circle, s (z) is determined.
The beneficial effects brought by the invention can be embodied in the following aspects:
(1) the Buck converter is added in front of the traditional three-phase full-bridge circuit, so that the high-frequency component of current can be effectively inhibited, the current ripple can be reduced, the electromagnetic loss and high-frequency torque ripple generated by the ripple can be further inhibited, and the control performance of the motor can be improved;
(2) the self-adaptive notch filter is added in a feedback channel of current control, so that distortion caused by non-ideal counter potential can be effectively eliminated, the current control difficulty is reduced, and the dynamic response of current control is improved;
(3) a composite structure of a PI controller and a repetitive controller is adopted in a forward channel of voltage control, the direct current component and the alternating current component are controlled respectively, and the control precision is improved while the dynamic response of voltage is ensured.
(4) The DC bus voltage in the low-power-consumption driving system of the brushless DC motor based on the Buck converter can well track the required reference signal, the control performance of the motor current is enhanced, the operation efficiency of the brushless DC motor can be improved, and the system power consumption is reduced.
Drawings
FIG. 1 is a block diagram of a low-power-consumption driving system of a brushless direct current motor based on a Buck converter.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art based on the embodiments of the present invention belong to the protection scope of the present invention without creative efforts.
Fig. 1 is a control block diagram of a low-power consumption driving system of a Buck converter-based brushless direct current motor. As can be seen from fig. 1, the low-power-consumption driving system of the brushless dc motor based on the Buck converter of the present invention uses the cascaded voltage loop and current loop to control the output voltage of the Buck converter, thereby implementing high-precision control of the motor current. In the invention, the control of the Buck converter comprises two parts: firstly, adding a self-adaptive notch filter in a current loop feedback channel to reduce distortion caused by counter electromotive force nonideal in direct current bus current and remove alternating current components in feedback quantity; and secondly, a composite structure of a PI controller and a repetitive controller is used in a forward channel of the voltage loop to respectively control the direct current component and the alternating current component of the output voltage of the Buck converter, wherein the repetitive controller is used for eliminating disturbance of non-ideal back electromotive force to the output voltage of the Buck converter.
The invention discloses a Buck converter-based brushless direct current motor low-power-consumption driving system, which comprises the following specific implementation modes:
u in FIG. 1*For reference to DC bus voltage, UOIs a DC bus voltage i*For reference to the DC bus current idcIs a direct bus current idc' sampling the current, omega, for the DC buseIs the electrical angular velocity of the motor.
As shown in fig. 1, the low power consumption driving system of a brushless dc motor based on a Buck converter of the present invention comprises a Buck converter, a three-phase full bridge circuit, a dc bus current sampling module, a dc bus voltage sampling module, a hall sensor, a rotation speed estimation module, a PI voltage controller, a PI current controller, a PWM signal generator, an adaptive notch filter, and a repetitive controller;
the brushless direct current motor driving circuit comprises a Buck converter, a three-phase full-bridge circuit and a Hall sensor, wherein the three-phase full-bridge circuit is connected with the Buck converter; the Buck converter is respectively connected with a direct current bus current sampling module and a direct current bus voltage sampling module; the Hall sensor is sequentially connected with the rotating speed estimation module and the self-adaptive notch filter, and the PI voltage controller and the PI current controller are connected in series and output of the PI voltage controller and the PI current controller is connected to the PWM signal generator; the PI voltage controller is also connected with the repetitive controller in parallel;
the direct current bus current sampling module and the direct current bus voltage sampling module are used for detecting the direct current bus current and voltage; the rotating speed estimation module is used for estimating the speed of the motor; the Hall sensor is used for detecting the position of the motor rotor; the repetitive controller is used for controlling the alternating current component of the direct current bus voltage; the adaptive notch filter is used for filtering distortion caused by non-ideal counter electromotive force in direct current bus current; the PWM signal generator is used for generating a pulse signal for driving the Buck converter; the PI voltage controller and the PI current controller are respectively used for controlling the direct current bus voltage and the direct current component of the current.
Reference dc bus voltage U of the brushless dc motor in the low power consumption driving system of the brushless dc motor shown in fig. 1*Direct-current bus voltage reference value U of low-power-consumption driving system of brushless direct-current motor*Given by a speed controller, U*Feedback quantity U of DC bus voltageOThe error amount is regulated by a PI voltage controller and a repetitive controller to obtain a reference amount i of the direct current bus current*And the repetitive controller added to the forward channel of the DC bus voltage is used for eliminating disturbance caused by asymmetry of three-phase back electromotive force of the motor.
Wherein, the design of the repetitive controller comprises the following steps:
(1) determining a transfer function of the repetitive controller:
Figure BDA0003159711340000051
where N is the number of sample points, S (z) is a compensation function, and Q (z) is a filter;
(2) determination of pure delay element z-N：
Figure BDA0003159711340000052
Wherein T is the period of the input signal of the repetitive controller, the period is calculated according to the commutation frequency of the motor, and the calculation can be obtained
Figure BDA0003159711340000053
TsIs the sampling period in the discrete process of the controller;
(3) determination of Q (z): the simple delay and positive and negative feed-through in the repetitive controller often lead to system instability, resulting in amplification of many higher harmonics, and q (z) is taken as a moving average low-pass filter with zero phase shift for filtering high frequency components in the voltage signal to achieve gradual system stability, and usually q (z) is 0.25z +0.5+0.25z-1The method can be suitable for most situations;
(4) determining a compensation function S (z): to ensure the stability of the system, i.e. all poles of the closed loop transfer function of the system are located in the unit circle, s (z) compensates for phase and amplitude, and s (z) k is takenrzkTaking k through stability calculationr＝0.5，k＝30。
Resistance R at direct current bus position of direct current bus current sampling modulesSampling to obtain idc′，idc' feedback quantity i of direct current bus current obtained by adaptive notch filterdcReference i of DC bus current*The error amount of the Buck converter is regulated by a PI current controller, an output signal of the PI current controller controls a PWM signal generator to generate a control signal for driving the Buck converter, and the control signal of the Buck converter regulates the output voltage U of the Buck converterOThereby realizing the control of the direct current bus current.
The design of the adaptive notch filter comprises the following steps:
(1) determining a transfer function of the adaptive notch filter: establishing a transfer function for a second order notch filter
Figure BDA0003159711340000061
Wherein ω is0Zeta is the trap wave frequency of the adaptive trap wave device and the trap wave width of the adaptive trap wave device;
(2) determining a notch frequency omega of an adaptive notch filter0: trapping distortion caused by counter-potential non-idealities in direct bus current, wherein the frequency of the distortion is electrical angular velocity omegaeThe ratio of the total weight of the raw materials is 6 times,selection of notch frequency omega0＝6ωe(ii) a The output signal of a Hall sensor arranged on a brushless direct current motor stator is used for rotating speed estimation, and the rotating speed of the motor is obtained by a rotating speed estimation module;
(3) determining a notch width of an adaptive notch filter: parameter ζ determines the notch response at notch frequency ω0The width in the vicinity, i.e. the bandwidth of the trap, is calculated with attenuation to 0.707 times the amplitude, and the value of the available parameter ζ is 20.
Although the illustrative embodiments of the present invention have been described in order to facilitate those skilled in the art to understand the invention, it is to be understood that the invention is not limited in scope to the specific embodiments, but rather, it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and it is intended that all matter contained in the invention and created by the inventive concept be protected.

Claims (6)

1. A low-power consumption driving system of a brushless direct current motor based on a Buck converter is characterized by comprising: the brushless direct current motor driving circuit comprises a Buck converter, a three-phase full-bridge circuit and a Hall sensor, wherein the three-phase full-bridge circuit is connected with the Buck converter; the Buck converter is respectively connected with a direct current bus current sampling module and a direct current bus voltage sampling module; the Hall sensor is sequentially connected with the rotating speed estimation module and the self-adaptive notch filter, the PI voltage controller and the PI current controller are connected in series, and the output of the PI current controller is connected to the PWM signal generator; the PI voltage controller is also connected with a repetitive controller in parallel;
the direct current bus current sampling module and the direct current bus voltage sampling module are used for detecting the current and the voltage of the direct current bus;
the rotating speed estimation module is used for estimating the speed of the motor; the Hall sensor is used for detecting the position of the motor rotor; the repetitive controller is used for controlling the alternating current component of the direct current bus voltage; the adaptive notch filter is used for filtering distortion caused by non-ideal counter electromotive force in direct current bus current; the PWM signal generator is used for generating a pulse signal for driving the Buck converter; the PI voltage controller and the PI current controller are respectively used for controlling the direct current bus voltage and the direct current component of the current;
direct-current bus voltage reference value U of low-power-consumption driving system of brushless direct-current motor*The feedback quantity U of the DC bus voltage is given by a rotating speed controllerOAnd U*The error amount is regulated by a PI voltage controller and a repetitive controller to obtain a reference amount i of the direct current bus current*(ii) a Output signal i of direct current bus current sampling moduledcObtaining the feedback quantity i of the direct current bus current after the processing of the self-adaptive notch filterdcAnd i*The error amount of the DC bus is generated into a control signal of a Buck converter through a PI current controller and a PWM signal generator to regulate the DC bus voltage UO；
The rotating speed estimation module obtains the rotating speed of the motor through a Hall sensor arranged on a stator of the brushless direct current motor.
2. A low power consumption driving method of a Buck converter based brushless dc motor using the system of claim 1, comprising the steps of:
step 1, a rotating speed estimation module obtains the rotating speed of a motor through a Hall sensor arranged on a stator of a brushless direct current motor;
step 2, detecting the current and the voltage of the direct current bus by a direct current bus current sampling module and a direct current bus voltage sampling module;
step 3, the DC bus voltage reference value U of the low-power consumption driving system of the brushless DC motor*Given by a speed controller, U*Feedback quantity U of DC bus voltageOThe error amount of the direct current bus is regulated by a PI voltage controller and a repetitive controller to obtain a reference amount i of the direct current bus current*(ii) a Output signal i of direct current bus current sampling moduledcObtaining the feedback quantity i of the direct current bus current after the processing of the self-adaptive notch filterdcAnd i*The error amount of the DC bus is generated into a control signal of a Buck converter through a PI current controller and a PWM signal generator to regulate the DC bus voltage UO。
3. The low power consumption driving method of the Buck converter based brushless dc motor according to claim 2, wherein the dc bus current is controlled as follows:
resistance R at direct current bus position of direct current bus current sampling modulesSampling to obtain idc′，idc' feedback quantity i of direct current bus current obtained by adaptive notch filterdcReference i of the DC bus current*And idcThe error amount of the Buck converter is regulated by a PI current controller, an output signal of the PI current controller controls a PWM signal generator to generate a control signal for driving the Buck converter, and the control signal of the Buck converter regulates the output voltage U of the Buck converterOThereby realizing the control of the direct current bus current.
4. The Buck converter-based brushless direct current motor low-power-consumption driving method according to claim 2, wherein the design of the adaptive notch filter comprises the following steps:
(1) determining a transfer function of the adaptive notch filter: establishing a transfer function for a quadratic notch filter
Figure FDA0003159711330000021
Wherein ω is0The trap frequency of the adaptive trap is Zeta, the trap width of the adaptive trap and s is a Laplace operator;
(2) determining a notch frequency ω of an adaptive notch filter0: trapping distortion caused by counter-potential non-idealities in direct bus current, wherein the frequency of the distortion is electrical angular velocity omegaeN times of, the notch frequency omega is selected0＝Nωe；
(3) Determining a notch width of an adaptive notch filter: parameter ζ determines the notch response at notch frequency ω0The width of the neighborhood, i.e. the bandwidth of the trap, is calculated to attenuate to 0.707 times the amplitude to obtain the value of parameter ζ.
5. The Buck converter-based brushless direct current motor low-power-consumption driving method according to claim 2, wherein the direct current bus voltage is controlled in the following manner:
reference quantity U of DC bus voltage*And the DC bus voltage feedback quantity U obtained by sampling the DC bus voltageOThe error amount of the direct current bus is adjusted by a PI voltage controller and a repetitive controller to form a direct current bus current reference amount i*Thereby realizing the closed-loop control of the DC bus voltage.
6. The Buck converter-based brushless DC motor low-power-consumption driving method according to claim 2, wherein the design of the repetitive controller comprises the steps of:
(1) determining a transfer function of the repetitive controller:
Figure FDA0003159711330000022
wherein N is the number of sampling points, S (Z) is a compensation function, Q (Z) is a filter, and Z is a Z transform operator;
(2) determining a pure delay element z-N：
Figure FDA0003159711330000023
Wherein T is the period of the input signal of the repetitive controller, TsIs the sampling period in the discrete process of the controller;
(3) determining the filter q (z): in order to filter high-frequency components in the voltage signal and enable the system to realize gradual stabilization, Q (z) is taken as a moving average low-pass filter with zero phase shift;
(4) determining a compensation function S (z): to ensure the stability of the system, i.e. that all poles of the closed loop transfer function of the system lie within the unit circle, s (z) is determined.
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