CN113721453A - Control system and method of low-voltage high-power rectification module based on nonlinear PID control - Google Patents
Control system and method of low-voltage high-power rectification module based on nonlinear PID control Download PDFInfo
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Abstract
The invention discloses a control system and a control method of a low-voltage high-power rectifier module based on nonlinear PID control, and belongs to the technical field of rectifier control optimization. The invention aims at the problem that the control method for the low-voltage high-power rectifier module in the prior art cannot achieve an ideal control effect. The invention comprises a first nonlinear PID control module, a second nonlinear PID control module, a first current control module and a second current control module, wherein the first nonlinear PID control module is used for obtaining an active current specified value according to a reference input voltage and an actual input voltage; the second nonlinear PID control module is used for obtaining a current inner ring output value u according to the specified value of the reactive current and the reactive current; the compensation module is used for obtaining coupling compensation according to the reactive current and the active current; and the command synthesis module is used for obtaining a voltage command value according to the current inner loop output value, the active current designated value, the active current and the coupling compensation. The method is suitable for a high-precision model, has strong anti-interference capability, reduces disturbance time, and is suitable for a synchronous generator integrated system.
Description
Technical Field
The invention relates to the technical field of rectification control optimization, in particular to a control system and a method of a low-voltage high-power rectification module based on nonlinear PID control.
Background
The high-current direct-current power supply with the low voltage of more than 10000A is widely applied to the fields of ships, energy sources and industry, and as the degree of fusion of motor technology and power electronic technology is gradually increased, the integrated system for synchronous power generation is rapidly developed towards the direction of high power density, high reliability and high fault-tolerant capability, and in order to enable the integrated direct-current output system to be more suitable for complex and changeable application environments, a control strategy of the integrated direct-current output system needs to be researched in a focused manner. At present, in the prior art, control methods or systems such as PID control, finite time control or intelligent control are generally adopted for controlling a low-voltage high-power rectifier module, but an ideal control effect cannot be achieved.
Disclosure of Invention
In order to solve the problems, the invention provides a control system and a control method of a low-voltage high-power rectifier module based on nonlinear PID control, which are suitable for a high-precision model, have stronger anti-interference capability, reduce disturbance time and are suitable for a synchronous generator integrated system.
The invention provides a control system of a low-voltage high-power rectifier module based on nonlinear PID control, which comprises:
a first non-linear PID control module for controlling the output voltage according to the reference input voltage
And the actual input voltage UdcObtaining the specified value of the active current
A second non-linear PID control module for specifying a value according to the reactive current
And a reactive current iqObtaining a current inner ring output value u;
the compensation module is used for obtaining coupling compensation according to the reactive current and the active current;
the instruction synthesis module is used for specifying a value according to the current inner ring output value u and the active current
Active current idAnd the coupling compensation is performed to obtain a voltage command value
And
preferably, the first nonlinear PID control module includes:
a first tracking differentiator for obtaining a reference input voltage
Tracking signal and reference input voltage
A differential signal of the tracking signal of (1);
a second tracking differentiator for obtaining the actual input voltage UdcTracking signal and actual input voltage UdcA differential signal of the tracking signal of (1);
a first nonlinear combination module for inputting the reference voltage
Tracking signal, reference input voltage
Differential signal of the tracking signal, actual input voltage UdcTracking signal and actual input voltage UdcThe differential signals of the tracking signals are combined in a non-linear way to obtain the appointed value of the active current
Preferably, the first tracking differentiator is:
wherein the content of the first and second substances,
for the tracking output of the reference input voltage signal,
is the output of the reference input voltage signal differential.
Preferably, the second tracking differentiator is:
wherein the content of the first and second substances,
for the tracking output of the actual input voltage signal,
is the output of the actual input voltage signal differential.
Preferably, the first nonlinear combining module comprises:
the offset signal acquisition module is used for acquiring three offset signals according to the tracking signal of the reference input voltage, the differential signal of the tracking signal of the reference input voltage, the tracking signal of the actual input voltage and the differential signal of the tracking signal of the actual input voltage, wherein the three offset signals are as follows:
the combination module obtains the active current instruction according to the following formula
Preferably, the second nonlinear PID control module includes:
a third tracking differentiator for obtaining a specified value of the reactive current
Tracking signal and reactive current designation
A differential signal of the tracking signal of (1);
a fourth tracking differentiator for obtaining the reactive current iqTracking signal and reactive current iqA differential signal of the tracking signal of (1);
a second nonlinear combination module for assigning the reactive current to a value
Tracking signal, specified value of reactive current
Differential signal of the tracking signal, reactive current iqTracking signal and reactive current iqThe differential signals of the tracking signals are combined nonlinearly to obtain an inner loop current output value.
Preferably, the third tracking differentiator is:
wherein the content of the first and second substances,
a tracking signal specifying a value for the reactive current,
a differential signal of the tracking signal specifying a value for the reactive current.
Preferably, the fourth tracking differentiator is:
wherein the content of the first and second substances,
is a tracking signal for the reactive current,
is a differential signal of the tracking signal of the reactive current.
Preferably, the second nonlinear combining module includes:
a deviation signal acquisition module for specifying a value according to the reactive current
Tracking signal, specified value of reactive current
Differential signal of the tracking signal, reactive current iqTracking signal and reactive current iqThe three deviation signals are obtained as follows:
the combined module obtains the current inner ring output value according to the following formula:
the second aspect of the invention provides a control method of a low-voltage high-power rectifier module based on nonlinear PID control, which comprises the following steps:
obtaining an active current specified value according to the reference input voltage and the actual input voltage;
obtaining a current inner ring output value according to the specified value of the reactive current and the reactive current;
obtaining coupling compensation according to the reactive current and the active current;
and obtaining a voltage instruction value according to the current inner ring output value, the active current designated value, the active current and the coupling compensation.
As described above, the present invention has the following effects compared with the prior art:
1. the invention adopts a non-linear PID algorithm applied to the current inner ring and the voltage outer ring, effectively solves the contradiction between the overshoot and the rapidity of the system, can better complete the tracking of the voltage and the current of the system, simultaneously can effectively resist the load disturbance and improve the control precision of the system, and has stronger self-adaptability and robustness. The method and the device can estimate the system interference and can estimate each order of derivative of the interference, so that the estimation precision of the interference is higher, the disturbance time is reduced, the stabilization speed of the system is accelerated, and the method and the device are very suitable for an integrated system for synchronous power generation.
2. The nonlinear PID algorithm adopted by the invention adopts the control idea of disturbance feedforward compensation to realize reasonable extraction of disturbance information. Meanwhile, the disturbance information is compensated into the control system, and the disturbance is eliminated. The invention achieves the purpose of improving the robustness and the response speed of the system by combining feedforward and feedback, and is more suitable for a low-voltage large-current rectifying system of a PMSG.
3. The present invention rationalizes the reference input signal, converts the non-smooth reference input signal into a smooth signal, and fully utilizes the computer technology to generate a high quality differential signal. In naturally occurring control systems, the processing of the error signal must be non-linear. We can easily process the non-linear error signal with a computer.
Drawings
FIG. 1 is a schematic block diagram of a PID algorithm;
FIG. 2 is a schematic block diagram of a low-voltage high-power rectifier module control system based on a non-linear PID algorithm according to an embodiment of the invention;
FIG. 3 is a graph of a steady state voltage waveform of an embodiment of the present invention;
FIG. 4 is a steady state current waveform diagram of an embodiment of the present invention;
FIG. 5 is a waveform of phase A current according to an embodiment of the present invention;
fig. 6 is a waveform diagram of ac side power factor according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
In a specific embodiment, the present invention provides a control system of a low-voltage high-power rectifier module based on nonlinear PID control, as shown in fig. 2, comprising a first nonlinear PID control module, a second nonlinear PID control module, a compensation module and a command synthesis module.
The nonlinear PID algorithm is an improvement of PID control by utilizing nonlinear characteristics, has the characteristics of improving the robustness and adaptability of a controller, can be suitable for a high-precision model, utilizes a tracking differentiator with a nonlinear characteristic structure to generate proportional, integral and differential signals required by the controller, and generates the output of the controller by nonlinear combination of the signals. The nonlinear PID algorithm is independent of system parameters in the design process, and has strong anti-interference capability;
as shown in fig. 1, the nonlinear PID control module is composed of two tracking differentiators and a nonlinear combination, wherein the tracking differentiator (I) is used to arrange an ideal transition process for the reference input v (t) of the system and extract the differentiated signal of the reference input signal; the tracking differentiator (II) is used for filtering the original system output y (t) and obtaining a differentiated signal thereof; based on the signals v obtained by the two tracking differentiators1、v2And y1、y2Generating proportional and differential deviation signals e1And e2For deviation signal e2Integrating to obtain an integral deviation signal e0(ii) a According to the three deviation signals, nonlinear combination is applied to form output control quantity of a nonlinear PID controller;
the tracking differentiator (I) outputs two signals x from the input signal v (t)1And x2Wherein x is1Track v (t) and
thereby x is2As the approximate derivative of v (t).
If the system is:
Wherein x is1Is limited by
Next, the input signal v (t) is tracked fastest. x is the number of1When (r, t) is sufficiently close to v (t), there are
Can be approximately differentiated by v (t), x1(r, t) tracking v (t), x2(r, t) is a generalized function converging on the generalized function v (t), and equation (3) is referred to as a tracking differentiator derived from equation (2).
In the PID regulation principle, if the reference input v (t) is discontinuous or not microminiature, it is regarded as a generalized function, and the "D" in the PID can be a smooth function x approximating the generalized function v (t)1(t) is approximated, so that the "approximate differential" extracted for the non-differentiable function has a definite meaning.
The above conclusion holds true for the function f (x)1,x2) (or f (x)1,...,xn) In a specific form) is not more demanding as long as it is ensured that any solution of formula (1) satisfies xi(t) → 0(t → ∞), i ═ 1,2,. and n, and a concrete expression of the tracking differentiator is obtained.
Let the linear second-order system be
The 'fast optimal control' comprehensive system of the formula (4) is
To avoid flutter around the origin, changing the sign function sgn to a linear saturation function sat results in an effective second order tracking differentiator:
wherein
A and delta in the above formula are two parameters in the sat function.
However, when the tracking differentiator formula (6) is used for numerical calculation, since high-frequency flutter is easily generated when the tracking differentiator enters a 'steady state', changing sgn (x) into sat (x, d) cannot avoid the high-frequency flutter, and therefore, a second-order tracking differentiator is converted into a discrete form, as shown in a formula (8):
where h is the filter factor, r is the velocity factor, T is the tracking step, v (k) is the input signal of the system, x1(k) For tracking output of signals, x2(k) Is the output of the signal differentiation.
The fst function is calculated as:
x of the above formula1And x2The tracking differentiator is a state variable of the discrete tracking differentiator, parameters r and h are adjustable, h is a filtering factor, r is a speed factor reflecting the tracking speed and the tracking speed, the speed and the noise filtering action of the tracking differentiator are determined, sgn (x) is a sign function, a formula (8) synthesizes a most rapidly controlled comprehensive function according to an equal time zone method, and the tracking differentiator in the form has good effects on the aspects of tracking performance, differentiation quality, flutter elimination and the like.
The nonlinear combination specifically includes: suppose the outputs of the two tracking differentiators are v1，v2And y1，y2Then the three deviation signals are expressed as follows:
from the three deviation signals obtained in equation (10), the design nonlinear combination is expressed as follows:
u(t)＝Kpfal(e1,α1,δ1)+KIfal(e0,α0,δ0)+KDfal(e2,α2,δ2) (11)
wherein, K is described in the above formulaPIs a gain factor, K, of a proportional loop controllerIControl of gain factor, K, for integral elementDFor the differential loop controller gain coefficient, fal (e, a, δ) is a non-linear function, and the specific expression is:
wherein, α in the above formula is a parameter for determining the nonlinearity of fal (e, α, δ), and δ is a parameter for determining the size of the nonlinear interval of fal (e, α, δ).
In this embodiment, the first non-linear PID control module is used for controlling the first non-linear PID control module according to the reference input voltage
And the actual input voltage UdcObtaining the specified value of the active current
The tracking differentiator comprises a first tracking differentiator, a second tracking differentiator and a first nonlinear combination module;
the first tracking differentiator for obtaining a reference input voltage
Tracking signal and reference input voltage
A differential signal of the tracking signal of (1);
the acquisition method of the first tracking differentiator comprises the following steps:
the second-order tracking differentiator is constructed as follows:
wherein the content of the first and second substances,
is a tracking signal that is referenced to the input voltage,
a differential signal that is a tracking signal of a reference input voltage;
converting the second order tracking differentiator into discrete form:
where h is the filter factor, r is the velocity factor, T is the tracking step,
in order to be referenced to the input voltage,
for the tracking output of the reference input voltage signal,
is the output of the reference input voltage signal differential.
The specific calculation process of the fst function includes:
the second tracking differentiator is used for obtaining the actual input voltage UdcTracking signal and actual input voltage UdcA differential signal of the tracking signal of (1);
the acquisition method of the second tracking differentiator comprises the following steps:
the second-order tracking differentiator for constructing the second tracking differentiator in the embodiment is in the form of:
wherein the content of the first and second substances,
for the tracking signal of the actual input voltage,
a differential signal which is a tracking signal of the actual input voltage;
converting the second order tracking differentiator into discrete form:
where h is the filter factor, r is the velocity factor, T is the tracking step,
in order to be referenced to the input voltage,
for the tracking output of the actual input voltage signal,
is the output of the actual input voltage signal differential.
The specific calculation process of the fst function includes:
the first nonlinear combination module is used for inputting the reference voltage
Tracking signal, reference input voltage
Differential signal of the tracking signal, actual input voltage UdcTracking signal and actual input voltage UdcThe differential signals of the tracking signals are combined in a non-linear way to obtain the appointed value of the active current
The first nonlinear combining module includes:
the offset signal acquisition module is used for acquiring three offset signals according to the tracking signal of the reference input voltage, the differential signal of the tracking signal of the reference input voltage, the tracking signal of the actual input voltage and the differential signal of the tracking signal of the actual input voltage, wherein the three offset signals are as follows:
the combination module establishes nonlinear combination to further obtain an active current instruction
Control of the rectifier module of the present embodimentThe system includes a second non-linear PID control module to specify a value based on the reactive current
And a reactive current iqObtaining a current inner ring output value u;
the second nonlinear PID control module comprises a third tracking differentiator, a fourth tracking differentiator and a second nonlinear combination module;
a third tracking differentiator for obtaining a specified value of the reactive current
Tracking signal and reactive current designation
A differential signal of the tracking signal of (1);
the acquisition method of the third tracking differentiator comprises the following steps:
the second-order tracking differentiator is constructed as follows:
wherein the content of the first and second substances,
a tracking signal specifying a value for the reactive current,
a differential signal of the tracking signal specifying a value for the reactive current;
Converting the second-order tracking differentiator into a discrete form:
the specific calculation process of the fst function includes:
the fourth tracking differentiator is used for obtaining a reactive current iqTracking signal and reactive current iqA differential signal of the tracking signal of (1);
the acquisition method of the fourth tracking differentiator comprises the following steps:
constructing the second order form of the fourth tracking differentiator as follows:
wherein the content of the first and second substances,
a tracking signal of the reactive current is obtained,
a differential signal which is a tracking signal of the reactive current;
converting the second-order tracking differentiator into a discrete form:
the specific calculation process of the fst function includes:
the second non-lineA sex combination module for assigning the reactive current to a value
Tracking signal, specified value of reactive current
Differential signal of the tracking signal, reactive current iqTracking signal and reactive current iqThe differential signals of the tracking signals are combined nonlinearly to obtain an inner loop current output value.
The second nonlinear combining module includes:
a deviation signal acquisition module for specifying a value according to the reactive current
Tracking signal, specified value of reactive current
Differential signal of the tracking signal, reactive current iqTracking signal and reactive current iqThe three deviation signals are obtained as follows:
the combined module obtains the current inner ring output value according to the following formula:
u(t)＝Kpfal(e1,a1,δ1)+KIfal(e0,a0,δ0)+KDfal(e2,a2,δ2)。
the compensation module is used for obtaining coupling compensation according to reactive current and active current, and the embodiment adopts a coupling compensation term omega Lid，ωLiqAs a feed forward compensation.
And the instruction synthesis module is used for obtaining a voltage instruction value according to the current inner loop output value, the active current designated value, the active current and the coupling compensation.
Reference input voltage
And the actual input voltage UdcThe active current specified value is obtained through a first nonlinear PID control module
Active current idAnd active current specified value
The difference is adjusted by PI and then is coupled with a compensation term omega LiqAdding them to obtain a voltage command value
Specified value of reactive current
And a reactive current idObtaining a current inner ring output value u through a second nonlinear PID control module, wherein the current inner ring output value u and a coupling compensation term omega LidAdding them to obtain a voltage command value
The parameters that need to be determined by the nonlinear PID controller of the present invention include: tracking r and h of differentiators, delta, alpha and K in nonlinear combinationsp、KI、KDA total of 7 parameters.
The value of r determines the tracking speed of a tracking differentiator, the value of h determines the noise suppression capability, and in general, the larger the values of r and h are, the faster the tracking speed of the tracking differentiator is, and the better the filtering effect is, however, if the values of r and h are too large, the overshoot and vibration phenomena of a tracking signal can occur;
the relationship between bandwidths w and r satisfies the following equation:
further obtaining the minimum value r of r0＝w0 2/1.142After the minimum value of r is determined, an approximate value of r is determined through simulation analysis, generally, increasing the value of r can accelerate the tracking speed of the tracking differentiator, so that the speed of the output signal tracking the input signal is accelerated. The relationship between r and h of the tracking differentiator satisfies the following equation:
at present, no effective method exists for adjusting the parameters of the nonlinear combination, and the parameters need to be adjusted through simulation analysis. However, a number of simulation calculations show that the following rules exist: in a non-linear function, the value of α determines the quality of the control quantity, typically α ∈ (0.5,1), the value of δ is related to the sampling time, and the value of δ should be suitably small.
Parameter K in the present applicationp、KI、KDThe values of (A) are determined by adopting a trial and error method respectively, and the trial and error method comprises the following steps:
first, K is empirically determinedp、KI、KDSet to a constant value;
then, interference is added to the closed loop system and the output waveform of the transition process is observed. If the waveform is not ideal, K is repeatedly adjusted in the order of proportional, integral and differentialp、KI、KDFinally, a satisfactory output control amount is obtained.
The invention provides a control method of a low-voltage high-power rectifier module based on nonlinear PID control, which comprises the following steps:
obtaining an active current specified value according to the reference input voltage and the actual input voltage;
obtaining a current inner ring output value according to the specified value of the reactive current and the reactive current;
obtaining coupling compensation according to the reactive current and the active current;
and obtaining a voltage instruction value according to the current inner ring output value, the active current designated value, the active current and the coupling compensation.
The specific process of the method can be performed through the working process of each module in the control system of the low-voltage high-power rectification module based on the nonlinear PID control according to the specific embodiment of the present invention, and is not described herein again.
The invention adopts the control idea of 'disturbance feedforward compensation', reasonably refines system disturbance information by combining system input and system output, compensates the system disturbance information into a control system to realize disturbance offset, and achieves the purpose of improving the control performance of the system, in order to achieve the purpose that the invention has good control effect on a three-phase rectifier module, an integrated generator rectifier system simulation model is established by Simulink, Matlab is adopted for simulation, the simulation result is shown in figures 3-5, figures 3-5 are response curves of voltage, current and alternating-current side A-phase current output in the process of adopting a nonlinear PID control method, and as can be known from figures 3 and 4, a 0.3s system finishes the electrifying process to reach a steady state, and outputs given voltage and current values stably. As shown in fig. 5, the ac-side a-phase current waveform reaches a steady state after 0.3s, and unity power factor rectification is realized.
Fig. 6 is a power factor response curve of the ac side during the system using the non-linear PID algorithm, and it can be seen from the graph that the ac side power factor can be continuously stabilized at about 1 from the beginning.
In conclusion, the invention has scientific and reasonable structure and safe and convenient use, and the simulation proves that the contradiction between overshoot and rise time can be eliminated by using the control method, the load disturbance can be effectively resisted, and the control precision of the system is improved.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. The control system of the low-voltage high-power rectification module based on nonlinear PID control is characterized in that: the method comprises the following steps:
a first non-linear PID control module for controlling the output voltage according to the reference input voltage
And the actual input voltage UdcObtaining the specified value of the active current
A second non-linear PID control module for specifying a value according to the reactive current
And a reactive current iqObtaining a current inner ring output value u;
the compensation module is used for obtaining coupling compensation according to the reactive current and the active current;
the instruction synthesis module is used for specifying a value according to the current inner ring output value u and the active current
Active current idAnd the coupling compensation is performed to obtain a voltage command value
And
2. the control system of the low-voltage high-power rectifier module based on the nonlinear PID control as claimed in claim 1, wherein: the first nonlinear PID control module comprises:
a first tracking differentiator for obtaining a reference input voltage
Tracking signal and reference input voltage
A differential signal of the tracking signal of (1);
a second tracking differentiator for obtaining the actual input voltage UdcTracking signal and actual input voltage UdcA differential signal of the tracking signal of (1);
a first nonlinear combination module for inputting the reference voltage
Tracking signal, reference input voltage
Differential signal of the tracking signal, actual input voltage UdcTracking signal and actual input voltage UdcThe differential signals of the tracking signals are combined in a non-linear way to obtain the appointed value of the active current
3. The control system of the low-voltage high-power rectifier module based on the nonlinear PID control as claimed in claim 2, wherein: the first tracking differentiator is:
wherein the content of the first and second substances,
for the tracking output of the reference input voltage signal,
is the output of the reference input voltage signal differential.
4. The control system of the low-voltage high-power rectifier module based on the nonlinear PID control as claimed in claim 2, wherein: the second tracking differentiator is:
wherein the content of the first and second substances,
for the tracking output of the actual input voltage signal,
is the output of the actual input voltage signal differential.
5. The control system of the low-voltage high-power rectifier module based on the nonlinear PID control as claimed in claim 2, wherein: the first nonlinear combining module includes:
the offset signal acquisition module is used for acquiring three offset signals according to the tracking signal of the reference input voltage, the differential signal of the tracking signal of the reference input voltage, the tracking signal of the actual input voltage and the differential signal of the tracking signal of the actual input voltage, wherein the three offset signals are as follows:
the combination module obtains the active current instruction according to the following formula
6. The control system of the low-voltage high-power rectifier module based on the nonlinear PID control as claimed in claim 1, wherein: the second nonlinear PID control module comprises:
a third tracking differentiator for obtaining a specified value of the reactive current
Tracking signal and reactive current designation
A differential signal of the tracking signal of (1);
a fourth tracking differentiator for obtaining the reactive current iqTracking signal and reactive current iqA differential signal of the tracking signal of (1);
a second nonlinear combination module for assigning the reactive current to a value
Tracking signal, specified value of reactive current
Differential signal of the tracking signal, reactive current iqTracking signal and reactive current iqThe differential signals of the tracking signals are combined nonlinearly to obtain an inner loop current output value.
7. The control system of the low-voltage high-power rectifier module based on the nonlinear PID control as claimed in claim 6, wherein: the third tracking differentiator is:
wherein the content of the first and second substances,
a tracking signal specifying a value for the reactive current,
a differential signal of the tracking signal specifying a value for the reactive current.
8. The control system of the low-voltage high-power rectifier module based on the nonlinear PID control as claimed in claim 6, wherein: the fourth tracking differentiator is:
wherein the content of the first and second substances,
is a tracking signal for the reactive current,
is a differential signal of the tracking signal of the reactive current.
9. The control system of the low-voltage high-power rectifier module based on the nonlinear PID control as claimed in claim 6, wherein: the second nonlinear combining module includes:
a deviation signal acquisition module for specifying a value according to the reactive current
Tracking signal, specified value of reactive current
Differential signal of the tracking signal, reactive current iqTracking signal and reactive current ofiqThe three deviation signals are obtained as follows:
the combined module obtains the current inner ring output value according to the following formula:
10. the control method of the low-voltage high-power rectification module based on the nonlinear PID control is characterized by comprising the following steps: the method comprises the following steps:
obtaining an active current specified value according to the reference input voltage and the actual input voltage;
obtaining a current inner ring output value according to the specified value of the reactive current and the reactive current;
obtaining coupling compensation according to the reactive current and the active current;
and obtaining a voltage instruction value according to the current inner ring output value, the active current designated value, the active current and the coupling compensation.
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| US20120287687A1 (en) * | 2011-05-13 | 2012-11-15 | Shu-Chia Lin | Power converter module |
| US20190288611A1 (en) * | 2018-03-13 | 2019-09-19 | Shanghai Jiao Tong University | Nonlinear control method for micro-grid inverter with anti-disturbance |
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