Multi-inner module parallel-connection type repeat controller and control method

Abstract

The invention discloses a multi-inner module parallel-connection type repeat controller and a control method. The controller comprises n sub repeat controller module groups combined in parallel and an addition ring, wherein the ith (i is equal to 0 to n-1) sub repeat controller module group is used for realizing floating track and elimination on (+ / -nk+i) harmonic waves, and each sub repeat controller module group comprises a repeat control gain module, an index gain module, a time delay module and an addition ring. The control method comprises the step of respectively regulating repeat control gain factors in the sub repeat controller module groups corresponding to the harmonic waves according to the specific condition of the amplitude distribution of each harmonic wave, thereby realizing the purpose of rapid floating track or elimination of a system. In order to improve the stability and the anti-jamming capability of a control system, the invention also provides an improved multi-inner module parallel-connection type repeat controller added to a low-pass filter and a phase advancer so as to meet the requirement of actual application.

Description

technical field [0001] The present invention proposes a multi-internal-mode parallel repetitive controller and a control method, which are used to individually and flexibly adjust the gain coefficients of each harmonic according to the distribution law of the amplitude of each harmonic, thereby realizing fast and no static error of the system The purpose of tracking or elimination, belongs to the field of repetitive controllers of industrial control. Background technique [0002] Over the years, the tracking of periodic signals and disturbance suppression and compensation have been the focus of many researchers, and the repetitive control based on the internal model principle is a very effective control method. The general repetitive controller adopts the delay time τ as T o The positive feedback form of the delay link of To construct the fundamental period as T o The internal model of the periodic signal and embed it in the control loop, so that the static non-differenc...

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Problems solved by technology

The general repetitive controller adopts the delay time τ as T o The positive feedback form of the delay link of To construct the fundamental period as T o The internal model of the periodic signal and embed it in the control loop, so that the static non-difference tracking control or disturbance elimination can be implemented for this periodic signal (including the sine fundamental wave and its harmonics), but it cannot be based on the harmonics of each harmonic The law of the amplitude value distribution can individually and flexibly adjust the gain of each harmonic, and at the same time, the delay time of this type of repetitive controller from input to output is the fundamental period T o , its response speed is relatively slow, and in practice, repeating controllers mostly digitally -N / (1-z -N ) (where N=T o / T s is an integer, T s is the sampling time) to realize the internal model of the periodic signal, and the number of memory units occupied by it is at least N

However, in practical applications, the distribution of each harmonic amplitude that needs to be tracked or eliminated is not uniform. For example, most of the harmonic pollution caused by the three-phase rectifier load to the power system is concentrated in 6k±1 (k=1, 2,...) sub-harmonic frequencies, the harmonic amplitudes at other sub-harmonic frequencies are very small

If a general repetitive controller is used to eliminate such harmonics, the periodic disturbance will disappear very slowly, which often cannot meet the control performance requirements of the actual system.

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