为了实现直驱式永磁风力发电系统安全稳定并网,提出一种基于双补偿下垂与多重准比例谐振(multiple quasi proportional resonance,MQPR)相结合的并网控制策略。该策略源于传统下垂控制,在电压控制环节引入直流电压补偿量,能快速调节直...为了实现直驱式永磁风力发电系统安全稳定并网,提出一种基于双补偿下垂与多重准比例谐振(multiple quasi proportional resonance,MQPR)相结合的并网控制策略。该策略源于传统下垂控制,在电压控制环节引入直流电压补偿量,能快速调节直流母线电压达到稳定;在电流控制环节引入电容电流补偿量,能有效减小滤波电容造成的电流误差影响;同时,设计出MQPR控制器替代内环电流的PI控制器,可以滤除系统中多次谐波电流。通过建立仿真模型,与双闭环PI和传统下垂控制策略进行对比,验证所提控制策略的有效性。展开更多
补偿电流跟踪控制策略对有源电力滤波器(Active Power Filter,APF)的谐波治理能力有直接影响。在单相系统中,利用并联型APF进行谐波治理时,传统的电流比例积分(Proportional Integral,PI)控制方式具有较快的响应速度,但3次谐波电流不能...补偿电流跟踪控制策略对有源电力滤波器(Active Power Filter,APF)的谐波治理能力有直接影响。在单相系统中,利用并联型APF进行谐波治理时,传统的电流比例积分(Proportional Integral,PI)控制方式具有较快的响应速度,但3次谐波电流不能得到充分抑制。针对这一问题,文中采用准比例谐振(Quasi Proportional-resonant,QPR)控制策略对3次谐波电流进行跟踪控制。同时利用陷波滤波器对ip-iq谐波电流检测算法进行改进,提高谐波电流检测精度,消除数字低通滤波器输出侧直流信号中的低频波动问题。最后通过MATLAB/Simulink建立单相并联型APF谐波治理系统模型,验证了所提控制策略的可行性和有效性。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
有源电力滤波器(active power filter,APF)电流环控制要求补偿电流无误差地跟踪给定信号,传统的dq坐标系下P I控制很难消除稳态误差。采用并联的比例谐振(proportional resonant,PR)控制器,对不同频率的正弦分量进行跟踪控制,实现零稳...有源电力滤波器(active power filter,APF)电流环控制要求补偿电流无误差地跟踪给定信号,传统的dq坐标系下P I控制很难消除稳态误差。采用并联的比例谐振(proportional resonant,PR)控制器,对不同频率的正弦分量进行跟踪控制,实现零稳态误差跟踪。针对电网频率波动和三相不平衡问题,在坐标系下采用改进PR控制器实现电流跟踪控制。在详细分析PR控制器各参数对性能指标影响的基础上,总结参数的调试方法,并给出控制器离散化方法。通过仿真与实验对所提控制策略进行验证,APF投入后,电网电流畸变率下降,中线电流有效值减小,负载和频率波动时仍有较好的补偿效果。该结果表明,所提的改进PR控制策略可以有效地抑制谐波,较好地解决三相不平衡问题,对负载突变和频率波动均有良好的适应性。展开更多
文摘为了实现直驱式永磁风力发电系统安全稳定并网,提出一种基于双补偿下垂与多重准比例谐振(multiple quasi proportional resonance,MQPR)相结合的并网控制策略。该策略源于传统下垂控制,在电压控制环节引入直流电压补偿量,能快速调节直流母线电压达到稳定;在电流控制环节引入电容电流补偿量,能有效减小滤波电容造成的电流误差影响;同时,设计出MQPR控制器替代内环电流的PI控制器,可以滤除系统中多次谐波电流。通过建立仿真模型,与双闭环PI和传统下垂控制策略进行对比,验证所提控制策略的有效性。
文摘补偿电流跟踪控制策略对有源电力滤波器(Active Power Filter,APF)的谐波治理能力有直接影响。在单相系统中,利用并联型APF进行谐波治理时,传统的电流比例积分(Proportional Integral,PI)控制方式具有较快的响应速度,但3次谐波电流不能得到充分抑制。针对这一问题,文中采用准比例谐振(Quasi Proportional-resonant,QPR)控制策略对3次谐波电流进行跟踪控制。同时利用陷波滤波器对ip-iq谐波电流检测算法进行改进,提高谐波电流检测精度,消除数字低通滤波器输出侧直流信号中的低频波动问题。最后通过MATLAB/Simulink建立单相并联型APF谐波治理系统模型,验证了所提控制策略的可行性和有效性。
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.
文摘有源电力滤波器(active power filter,APF)电流环控制要求补偿电流无误差地跟踪给定信号,传统的dq坐标系下P I控制很难消除稳态误差。采用并联的比例谐振(proportional resonant,PR)控制器,对不同频率的正弦分量进行跟踪控制,实现零稳态误差跟踪。针对电网频率波动和三相不平衡问题,在坐标系下采用改进PR控制器实现电流跟踪控制。在详细分析PR控制器各参数对性能指标影响的基础上,总结参数的调试方法,并给出控制器离散化方法。通过仿真与实验对所提控制策略进行验证,APF投入后,电网电流畸变率下降,中线电流有效值减小,负载和频率波动时仍有较好的补偿效果。该结果表明,所提的改进PR控制策略可以有效地抑制谐波,较好地解决三相不平衡问题,对负载突变和频率波动均有良好的适应性。
