Model Predictive Control for Cascaded H-Bridge PV Inverter with Capacitor Voltage Balance

We designed an improved direct-current capacitor voltage balancing control model predictive control(MPC)for single-phase cascaded H-bridge multilevel photovoltaic(PV)inverters.Compared with conventional voltage balanc-ing control methods,the method proposed could make the PV strings of each submodule operate at their maximum power point by independent capacitor voltage control.Besides,the predicted and reference value of the grid-connected current was obtained according to the maximum power output of the maximum power point tracking.A cost function was con-structed to achieve the high-precision grid-connected control of the CHB inverter.Finally,the effectiveness of the proposed control method was verified through a semi-physical simulation platform with three submodules.

Research on Mixed Logic Dynamic Modeling and Finite Control Set Model Predictive Control of Multi-Inverter Parallel System

Parallel connection of multiple inverters is an important means to solve the expansion,reserve and protection of distributed power generation,such as photovoltaics.In view of the shortcomings of traditional droop control methods such as weak anti-interference ability,low tracking accuracy of inverter output voltage and serious circulation phenomenon,a finite control set model predictive control(FCS-MPC)strategy of microgrid multiinverter parallel system based on Mixed Logical Dynamical(MLD)modeling is proposed.Firstly,the MLD modeling method is introduced logical variables,combining discrete events and continuous events to form an overall differential equation,which makes the modeling more accurate.Then a predictive controller is designed based on the model,and constraints are added to the objective function,which can not only solve the real-time changes of the control system by online optimization,but also effectively obtain a higher tracking accuracy of the inverter output voltage and lower total harmonic distortion rate(Total Harmonics Distortion,THD);and suppress the circulating current between the inverters,to obtain a good dynamic response.Finally,the simulation is carried out onMATLAB/Simulink to verify the correctness of the model and the rationality of the proposed strategy.This paper aims to provide guidance for the design and optimal control of multi-inverter parallel systems.

Robust Dichotomy Solution-Based Model Predictive Control for the Grid-Connected Inverters with Disturbance Observer

This paper proposes a robust dichotomy-based model predictive control(DS-MPC)with a fixed switching frequency for the grid-connected inverter(GCI).The proposed fast dichotomy algorithm can select and deduce the optimal voltage vector dynamically through the space vector plane.Therefore,the proposed DS-MPC strategy could ensure dynamic performance and steady-state performance as well.Also,the current control robustness can be improved through DS-MPC with disturbance observer(DO)based on the extended Kalman filter(EKF).The novelty of this control is that the current control with fast dynamic response can be realized in the weak grid,even if the grid voltages are greatly distorted.Simulation and hardware experiments on the weak grid validate the effectiveness of the proposed DS-MPC with the EKF observer approach.

FCS-MPC Strategy for PV Grid-Connected Inverter Based on MLD Model

In the process of grid-connected photovoltaic power generation,there are high requirements for the quality of the power that the inverter breaks into the grid.In this work,to improve the power quality of the grid-connected inverter into the grid,and the output of the system can meet the grid-connected requirements more quickly and accurately,we exhibit an approach toward establishing a mixed logical dynamical(MLD)model where logic variables were introduced to switch dynamics of the single-phase photovoltaic inverters.Besides,based on the model,our recent efforts in studying the finite control set model predictive control(FCS-MPC)and devising the output current full state observer are exciting for several advantages,including effectively avoiding the problem of the mixed-integer quadratic programming(MIQP),lowering the THD value of the output current of the inverter circuit,improving the quality of the power that the inverter breaks into the grid,and realizing the current output and the grid voltage same frequency and phase to meet grid connection requirements.Finally,the effectiveness of the mentioned methods is verified by MATLAB/Simulink simulation.

Grid-connected inverter for wind power generation system

In wind power generation system the grid-connected inverter is an important section for energy conversion and transmission, of which the performance has a direct influence on the entire wind power generation system. The mathematical model of the grid-connected inverter is deduced firstly. Then, the space vector pulse width modulation （SVPWM） is analyzed. The power factor can be controlled close to unity, leading or lagging, which is realized based on H-type current controller and grid voltage vector-oriented control. The control strategy is verified by the simulation and experimental results with a good sinusoidal current, a small harmonic component and a fast dynamic response.

Coordination of multiple grid-connected inverters for harmonic compensation

For multiple grid-connected inverters with active filter function,it makes sense to regulate every unit to output maximum active power from photovoltaic arrays,as well as eliminate the harmonic due to the non-linear loads connected to the electric networks.Naturally,a centralized control coordination strategy was proposed for the purpose of high facility utilization,good harmonic compensation ability and unwanted overcompensation condition.Based on a vector decoupling control scheme and generalized instantaneous reactive power theory,the solution was to allocate the harmonic eliminating task for every inverter according to the instantaneous power margin of each.The grid current always keeps sinusoidal in spite of non-linear load change and output active power change for any inverter.The simulation results validate the efficacy of the proposed coordination strategy.

Topology for current-source grid-connected inverter with improved effciency and pulse width modulation control strategy

A novel topology of the current-source grid-connected inverter is proposed based on the immittance converter theory. A control strategy of sine-sine pulse width modulation （PWM） is studied. Compared with the traditional current-source inverter, the power frequency inductors and power frequency transformer are replaced with high frequency inductors and a high frequency transformer. Thus, the proposed inverter has advantages of small volume, low cost, low total harmonic distortion （THD）, low power losses, high power factor （PF） and simple control. Furthermore, grid voltage cannot influence output current of the grid-connected inverter and the current-source inverter with a high PF that approaches one has been realized. Finally, validity of the theory analysis and feasibility of the control scheme are shown by simulation and experimental results.

An Improved Repetitive Control Strategy for LCL Grid-Connected Inverter

This paper proposes a cascade repetitive control strategy based on odd internal mode,and combines it with proportional-integral(PI)control to establish a compound repetitive control system for improving the quality of grid connected current of LCL grid connected inverter.More specifically,the proposed method could effectively improve the control effect of grid-connected current of LCL inverter,restrain current harmonics and reduce the distortion rate of grid-connected current.Simulation experiment is conducted to verify the proposed repetitive control strategy,and the verification results show that,compared with traditional PI control,the proposed improved compound repetitive control strategy has a higher response speed,and the steady-state and dynamic performance have also been significantly improved.

Dual-loop Control Strategy for Grid-connected Inverter with LCL Filter

As to the concrete topology of three-phase LCL type grid-connected inverter with damping resistance, mathematical model was deduced in detail, using method of equivalent transformation to the structure diagram, damping resistance was virtualized, mathematical model under the DQ frame that can realize decoupling control was established, a dual-loop control strategy for grid-connected inverter with LCL filter was proposed, the system stability was analyzed and the design method of controller was given. The proposed method overcame the flaws of loss increase, efficiency reduce and cost increase which were caused by damping resistance in LCL type grid-connected inverter, the system efficiency and power supply quality of the output were improved. Feasibility and effectiveness of the new method were validated by simulation and experimental results.

Quasi-Z Source Inverter Control of PV Grid-Connected Based on Fuzzy PCI

The photovoltaic grid-connected inverter is an important interface between the photovoltaic power generation system and power grid.Its high-quality operation is directly related to the output power quality of the power grid.In order to further optimize the control effect of the quasi-Z source grid-connected photovoltaic inverter,a fuzzy proportional complex integral control(PCI)method is proposed for the current internal loop control.This method can eliminate the steady-state error,and has the characteristic of zero steady-state error adjustment for the AC disturbance signal of a specific frequency.The inductance-capacitance-inductance(LCL)filter is adopted in the grid-connected circuit,and the feedback capacitive current is taken as the control variable of the inner loop to form the active damping control method,which can not only effectively suppress the resonance of the LCL circuit,but also significantly inhibit the high-order harmonics in the grid-connected current.Finally,a system simulation model is built in MATLAB/Simulink to verify the superiority and effectiveness of the proposed method.

Modeling and simulation of induction motor drive system to investigate and mitigate of PWM inverter’s adverse effects

Modeling and simulation of induction motor drive system to investigate and mitigate the adverse effects of PWM inverter based on analysis, modeling and simulation are presented. The estimation of conducted disturbances and other adverse effects of PWM inverter by simulation offer a considerable gain from the economic point of view. For an accurate model of the motor drive system including mains, rectifier, inverter, motor and its long cables, the high frequency parasitic current paths are taken into account. The novel model and its parasitic values for three-phase induction motor system are presented. Finally a new solution for suppressing EMI, common mode voltage, leakage current, bearing current and shaft voltages is proposed and the results show the excellent performances of proposed solution including active and passive filters.

The improved PAC method for a three-phase PWM grid-connected inverter

In this paper, a vector regulating principle of the phase and amplitude control PAC method for three-phase grid-connected inverters is presented.To solve the problem of heavy inrush current and slow dynamic response when system starts up, the starting voltage prediction control and the current feed-forward control are proposed and used, which improve the dynamic performance of the system in the PAC.The experimental results carried out on a three-phase grid-connected inverter proved the validity of the proposed method.

A Simulation Research on the Grid-Connected Control Technology of Single-Phase Inverters Based on MATLAB

This paper primarily discusses the main circuit of single-phase inverter circuits.It begins by introducing the research context and the significance of the subject,then discusses the topology of grid-connected single-phase inverter circuits,continues by discussing the control strategy for grid-connected single-phase inverter circuits,realizes a sinusoidal pulse width modulation(SPWM)signal generation circuit and an inverse control algorithm program,and finally ensures good output waveform and fast dynamic response.In view of the hysteresis feature of the grid voltage’s synchronous signal sampling circuit,the acquisition function in digital signal processing(DSP)control chips is applied,and the reasons for the hysteresis phenomenon are thoroughly investigated.The reliability of the SPWM control algorithm is revealed through the results.

State Space Modeling and Implementation of a New Transformer Based Multilevel Inverter Topology with Reduced Switch Count

This paper presents a new transformer based multilevel inverter, with a novel pulse width modulation scheme to achieve seven-level inverter output voltage. The proposed inverter switching pattern consists of three fundamental frequency sinusoidal reference signals with an offset value, and one high frequency triangular carrier signal. This switching scheme has been implemented using an 8-bit Xilinx SPARTAN-3E field programmable gate array based controller. In addition, the state space model of the proposed inverter is developed. The significant features of the proposed topology are: reduction of the power switch count and the gate drive power supply unit, the provision of a galvanic isolation between load and sources by a centre tap transformer. An exhaustive comparison has been made of the existing multilevel inverter topologies and the proposed topology. The performances of the proposed topology with resistive, resistive-inductive loads are simulated in a MATLAB environment and validated experimentally on a laboratory prototype.

Mathematical modeling of elastic inverted pendulum control system

Inverted pendulums are important objects of theoretical investigation and experiment in the area of control theory and engineering. The researches concentrate on the rigid finite dimensional models which are described by ordinary differential equations (ODEs) .Complete rigidity is the approximation of practical models ; Elasticity should be introduced into mathematical models in the analysis of system dynamics and integration of highly precise controller. A new kind of inverted pendulum, elastic inverted pendulum was proposed, and elasticity was considered. Mathematical model was derived from Hamiltonian principle and variational methods, which were formulated by the coupling of partial differential equations (PDE) and ODE. Because of infinite dimensional, system analysis and control of elastic inverted pendulum is more sophisticated than the rigid one.

Inverted Modelling:An Effective Way to Support Motion Planning of Legged Mobile Robots

This paper presents an effective way to support motion planning of legged mobile robots—Inverted Modelling,based on the equivalent metamorphic mechanism concept.The difference from the previous research is that we herein invert the equivalent parallel mechanism.Assuming the leg mechanisms are hybrid links,the body of robot being considered as fixed platform,and ground as moving platform.The motion performance is transformed and measured in the body frame.Terrain and joint limits are used as input parameters to the model,resulting in the representation which is independent of terrains and particular poses in Inverted Modelling.Hence,it can universally be applied to any kind of legged robots as global motion performance framework.Several performance measurements using Inverted Modelling are presented and used in motion performance evaluation.According to the requirements of actual work like motion continuity and stability,motion planning of legged robot can be achieved using different measurements on different terrains.Two cases studies present the simulations of quadruped and hexapod robots walking on rugged roads.The results verify the correctness and effectiveness of the proposed method.

Model predictive flux control of permanent magnet synchronous motor driven by three-level inverter based on fine-division strategy

Aiming at the difficulty of setting the weight coefficient in the value function of model predictive torque control(MPTC)for permanent magnet synchronous motor(PMSM)driven by three-level inverter,a fine-division model predictive flux control(MPFC)method is proposed.First,establish a mathematical model between the motor torque and the stator flux linkage according to the mathematical equations of PMSM.Thus,the control of the motor torque and stator flux linkage in the MPTC is transformed into the control of a single stator flux linkage vector,omitting the cumbersome weight setting process in the traditional MPTC.The midpoint potential control strategy is proposed,which uses the characteristics of redundant small vectors to balance the midpoint potential.After that,a fine-division strategy is proposed,which effectively reduces the number of candidate vectors and the computational burden of the system.Finally,the proposed MPFC is compared with MPTC by simulation.The results show that the proposed fine-division MPFC effectively reduces the system calculation,and has the advantages of simple principle and better dynamic and steady-state control performance.The feasibility of the control strategy is verified.

Model predictive current control for PMSM driven by three-level inverter based on fractional sliding mode speed observer

Based on the fractional order theory and sliding mode control theory,a model prediction current control(MPCC)strategy based on fractional observer is proposed for the permanent magnet synchronous motor(PMSM)driven by three-level inverter.Compared with the traditional sliding mode speed observer,the observer is very simple and eases to implement.Moreover,the observer reduces the ripple of the motor speed in high frequency range in an efficient way.To reduce the stator current ripple and improve the control performance of the torque and speed,the MPCC strategy is put forward,which can make PMSM MPCC system have better control performance,stronger robustness and good dynamic performance.The simulation results validate the feasibility and effectiveness of the proposed scheme.

Control of GaN inverted pyramids growth on c-plane patterned sapphire substrates

Growth of gallium nitride(GaN)inverted pyramids on c-plane sapphire substrates is benefit for fabricating novel devices as it forms the semipolar facets.In this work,GaN inverted pyramids are directly grown on c-plane patterned sapphire substrates(PSS)by metal organic vapor phase epitaxy(MOVPE).The influences of growth conditions on the surface morphol-ogy are experimentally studied and explained by Wulff constructions.The competition of growth rate among{0001},{1011},and{1122}facets results in the various surface morphologies of GaN.A higher growth temperature of 985 ℃ and a lowerⅤ/Ⅲratio of 25 can expand the area of{}facets in GaN inverted pyramids.On the other hand,GaN inverted pyramids with almost pure{}facets are obtained by using a lower growth temperature of 930℃,a higherⅤ/Ⅲratio of 100,and PSS with pattern arrangement perpendicular to the substrate primary flat.

Modeling Walking with an Inverted Pendulum Not Constrained to the Sagittal Plane. Numerical Simulations and Asymptotic Expansions

Inverted pendulum models are commonly used to study the bio-mechanics of biped walkers. In its simplest form, the inverted pendulum consists of a point mass attached to two straight mass-less legs. Most works constrain the motion of the mass to the sagittal plane, i.e. the plane perpendicular to the ground that contains the direction toward the biped is walking. In this article, we remove this constrain to study the oscillations, the mass experiences in the direction perpendicular to the sagittal plane as the biped walks. While small, these lateral oscillations are unavoidable and of importance in the understanding of balance and stability of walkers, as well as walkers induced oscillations in pedestrian bridges.