Fractional order multi-cycle 6k +/-1 harmonic repetitive controller design method and fractional order multi-cycle 6k +/-1 harmonic repetitive controller

Abstract

The invention discloses a fractional order multi-cycle 6k + / -1 harmonic repetitive controller design method and a controller. The fractional order multi-cycle 6k + / -1 harmonic repetitive controller design method can be used for implementing accurate control on a periodic signal which contains a plurality of irrelevant fundamental wave frequency components, wherein the cycle ratio of any two components is not an integral number. According to the invention, a conventional feedback controller is selected and designed for a control object to obtain a stable feedback control system; then designing a fractional order multi-cycle 6k + / -1 repetitive controller and inserting the fractional order multi-cycle 6k + / -1 repetitive controller into a stable feedback control loop, and particularly aiming at the inserted fractional order multi-cycle 6k + / -1 harmonic repetitive controller, providing a complete design scheme which comprises the following steps: providing a zero phase compensation method of the repetitive controller; the delay compensation module is used for compensating various delays contained in a conventional feedback control system; a selection range of the gain of the repetitive controller based on zero phase compensation is given, so that the stability of the system is ensured; a gain setting method is provided to realize rapid and consistent convergence of system control errors.

Description

technical field [0001] The invention belongs to the field of industrial control, and in particular relates to a design method and a controller for a fractional-order multi-period 6k±1 harmonic repetition controller, which are used for programmable AC power supplies, power converters and servo motors based on three-phase inverters A device containing a plurality of uncorrelated fundamental frequency components, etc., can precisely control the periodic signal, and the period ratio of any two components in these uncorrelated fundamental frequency components is not an integer. Background technique [0002] For a variety of power equipment and motor drive devices, the control performance of the control system for periodic signals largely determines the power quality and control accuracy output by the system. For example, a programmable AC power supply needs to accurately generate AC outputs of various frequencies and waveforms to simulate various types of power line interference ...

AI Technical Summary

Problems solved by technology

In practical applications, N i / 6 must be an integer to physically implement the corresponding delay unit z -Ni / 6 ; and, if the multi-period 6k±1 harmonic repetition controller is used to track or eliminate multi-period signals containing multiple uncorrelated fundamental frequency components (that is, the frequency ratio of any two fundamental components is non-integer) , it is impossible to make all N i / 6 (i=1,2,…) are all integers, i.e. cannot accurately track or cancel such multi-period signals

Images