Specific-class harmonic repetitive controller and control method

Abstract

The invention discloses a specific-class harmonic repetitive controller and a control method. The controller comprises a repetitive control gain module, a positive feedback gain module, an addition ring, two subtraction rings and two time delay modules. In the method, the error-free tracking or elimination of nk+ / -m harmonic is realized by combining a forward path, a positive feedback path, a negative feedback path and a negative feedforward path, specific parameters in the positive feedback gain module are determined according to the frequency order of the harmonic to be tracked or eliminated, and the error elimination speed is regulated by the repetitive control gain module. The specific-class harmonic repetitive controller and the control method have the advantages that: the error-free tracking or elimination of the nk+ / -m harmonic can be realized, the error elimination speed is higher, fewer memory cells are required by digital realization, and a universal expression form is provided for a plurality of repetitive controllers; and the improved repetitive controller with a damping gain coefficient and a low-pass filter also can achieve improvements in stability and anti-jamming capability, and meet the requirements of actual application.

Description

technical field [0001] The invention proposes a specific type of harmonic repetition controller and a control method, which are used for error-free tracking or complete elimination of nk±m order harmonic signals, and belong to the field of industrial control repetition controllers. Background technique [0002] For many years, "periodic signal tracking and disturbance suppression compensation" has been the subject of many researchers' attention, 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 delay link to construct the fundamental period is 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). In practice, there are many repeated controllers. The inte...

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Problems solved by technology

However, in some practical applications, the harmonics that need to be tracked or eliminated are limited to a specific type of frequency. For example, the harmonic pollution caused by the three-phase rectifier load to the power system is mostly concentrated at 6k±1 (k=1, 2,...) sub-harmonic frequencies, and the harmonic pollution caused by single-phase rectifier loads to the power system is mostly concentrated at 4k±1 (k=1, 2,...) sub-harmonic frequencies (that is, odd harmonics wave frequency)

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