This letter presents a multi-frequency proportional-resonant （MFPR） current controller developed for PWM voltage source converter （VSC） under the unbalanced supply voltage conditions. The delta operator is used in...This letter presents a multi-frequency proportional-resonant （MFPR） current controller developed for PWM voltage source converter （VSC） under the unbalanced supply voltage conditions. The delta operator is used in place of the shift operator for the implementation of MFPR by using a low-cost fixed-point DSE The experimental results with an alternative control strategy validated the feasibility of the proposed MFPR current controller for the PWM VSC during voltage unbalance.展开更多
To address the problem of resonance in the control of a robot arm,a resonance suppression strategy is proposed for a single-joint humanoid robot arm based on the proportionalresonant(PR)controller.First,an arm joint m...To address the problem of resonance in the control of a robot arm,a resonance suppression strategy is proposed for a single-joint humanoid robot arm based on the proportionalresonant(PR)controller.First,an arm joint model of the humanoid robot is established.Then the influence of resonance frequency on the performance of the control system with the robot arm is analyzed.The voltage fluctuation of the drive motor caused by the changes in arm motion is recognized as the disturbance of the current loop.The PR controller has the characteristic of disturbance rejection at a specific frequency.The output fluctuation of the driving system caused by the change of arm motion state at the resonance frequency is suppressed.Therefore the output current of the inverter will not be affected by the vibration of the arm at the resonance frequency.Finally,the control system is verified by MATLAB/Simulink simulation.The simulation results demonstrate that the control strategy for the humanoid robot arm based on the PR controller can suppress the resonance of the arm effectively,improving the dynamic performance and system stability.展开更多
To design a high reliability multilevel grid-connected inverter,a high performance simulation methodology based on Saber is proposed.The simulation methodology with optimized simulation speed can simulate the factors ...To design a high reliability multilevel grid-connected inverter,a high performance simulation methodology based on Saber is proposed.The simulation methodology with optimized simulation speed can simulate the factors that have significant impacts on the stability and performance of the control system,such as digital delay,dead band,and the quantization error.The control algorithm in the simulation methodology is implemented using the C language,which facilitates the future porting to an actual system since most actual digital controllers are programmed in the C language.The modeling of the control system is focused mainly on diode-clamped three-level grid-connected inverters,and simulations for other topologies can be easily built based on this simulation.An example of designing a proportional-resonant (PR) controller with the aid of the simulation is introduced.The integer scaling effect in fixed-point digital signal processors (DSPs) on the control system is demonstrated and the performance of the controller is validated through experiments.展开更多
基金Project (No. 50577056) supported by the National Natural Science Foundation of China
文摘This letter presents a multi-frequency proportional-resonant （MFPR） current controller developed for PWM voltage source converter （VSC） under the unbalanced supply voltage conditions. The delta operator is used in place of the shift operator for the implementation of MFPR by using a low-cost fixed-point DSE The experimental results with an alternative control strategy validated the feasibility of the proposed MFPR current controller for the PWM VSC during voltage unbalance.
基金Supported by the National Key Technology Research and Development Program of China(2018YFC1707104)National Natural Science Foundation of China(62076152)+1 种基金Natural Science Foundation of Shandong Province(ZR2017MF045)Beijing Advanced Innovation Center for Intelligent Robots and Systems。
文摘To address the problem of resonance in the control of a robot arm,a resonance suppression strategy is proposed for a single-joint humanoid robot arm based on the proportionalresonant(PR)controller.First,an arm joint model of the humanoid robot is established.Then the influence of resonance frequency on the performance of the control system with the robot arm is analyzed.The voltage fluctuation of the drive motor caused by the changes in arm motion is recognized as the disturbance of the current loop.The PR controller has the characteristic of disturbance rejection at a specific frequency.The output fluctuation of the driving system caused by the change of arm motion state at the resonance frequency is suppressed.Therefore the output current of the inverter will not be affected by the vibration of the arm at the resonance frequency.Finally,the control system is verified by MATLAB/Simulink simulation.The simulation results demonstrate that the control strategy for the humanoid robot arm based on the PR controller can suppress the resonance of the arm effectively,improving the dynamic performance and system stability.
文摘To design a high reliability multilevel grid-connected inverter,a high performance simulation methodology based on Saber is proposed.The simulation methodology with optimized simulation speed can simulate the factors that have significant impacts on the stability and performance of the control system,such as digital delay,dead band,and the quantization error.The control algorithm in the simulation methodology is implemented using the C language,which facilitates the future porting to an actual system since most actual digital controllers are programmed in the C language.The modeling of the control system is focused mainly on diode-clamped three-level grid-connected inverters,and simulations for other topologies can be easily built based on this simulation.An example of designing a proportional-resonant (PR) controller with the aid of the simulation is introduced.The integer scaling effect in fixed-point digital signal processors (DSPs) on the control system is demonstrated and the performance of the controller is validated through experiments.
