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KI
C ( s) K P (4)
s
For: C(S): factional controller ; G(S): The controller
object; R(s): Signal on the system; Y(s) is the output signal of
Fig. 4. Magnitude and phase frequency characteristics L() of PI for the system; K p , K i : respectively, proportional coefficient
varied
controller ; : is real number.
From Fig. 1 it can be seen the slope of the factional
II. DESIGN FACTIONAL PROPORTIONAL
proportional integral PI controller, ratio tg is smaller than
the slope of the proportional integral PI thus speed stability INTEGRAL PI FOR THE CONTROL SYSTEM USES 3-
and responsiveness of the volume factional proportional PHASE PWM INVERTER
integral PI controller ratio better than proportional integral Structured control system PWM Rectifier voltage
PI ratio. From boundary-phase frequency characteristics () oriented vector (VOV) using the PI controller integral as fig.
(Fig. 4) may also see the stability of the factional proportional 7. Features of the control method is based on power line signal
integral PI ratio higher than normal PI. processing on two coordinate system static coordinate system
and rotating coordinate system d - q. The current value
measured in three-phase system is converted to a static
coordinate system - , then is transformed into the
coordinate system d q.
udc ( s ) K
(11)
P( s) ( RL Cs 1)
Where K s RL (12)
U dcr
The system uses two-loop method including current loop
and voltage loop as a control method, normally when
designing integral control system for two-loops system, many
researchers use solely one controller for these two control
loops. Despite of simple and convenient calculations, this
method reveals drawback that the designed parameters are not
optimal. Hence, a controller designed for each loop
individually is calculated and designed in this paper.
Based on the schematic of the three-phase PWM rectifier
Fig. 7. structural control oriented PWM rectifier voltage oriented vector VOV shown in Figure 7, the two-loop block diagram of the
controller is shown in Figure 9
We chose d axis coincides with the U L vector voltage
U Ld U L and U Lq 0 and we Assume R 0 voltage
equation simplified as Equation (7)
diLd (a) (b)
L U sd LiLd U Ld
dt (5) Fig. 9. voltage loop (a) and current loop (b) of the three-phase PWM rectifier
U sq LiLd 0 system using the vector oriented control of the proportional integral
controller
*
Which set the current amount iq* 0 , the amount set id Where: C(s) is the transfer function of the proportional
is taken from the output of DC voltage regulation. Design integral controller of the voltage loop, B(s) is the transfer
fractional controllers rate for system integration Structural function of the proportional integral controller of the current
diagram of the circuit rectifier 3-phase PWM as shown in Fig. loop, GI (s ) is the transfer function of the current loop.
8.
A. Design the fractional order PI controller for voltage
loop.
We have:
Ki
C (s) K p 1 ) (13)
1 s
K
GC ( s ) (14)
( RL Cs 1)
Fig. 8. Schematic circuit structure 3-phase PWM Rectifier
Since the switching frequency of current loop is
From the diagram in Fig. 6 have relatively high, we consider current loop is the 1st order
system when designing the integral control for voltage loop,
dudc
C idc iL (6) where Ti is time constant.
dt 1
GI ( s ) (15)
idc S a ia Sb ib Sc ic (7) Ti s 1
u GK ( s ) C ( s).GI ( s ).GC ( s ) (16)
iL dc (8)
RL GS ( s ) GI ( s )GC ( s ) (17)
From equation (6) we can determine the active power (17) GK ( s ) C ( s )GS ( s ) (18)
2
dudc udc Defining the parameters of the fractional controller
P Cudc (9)
dt RL K p ; KI ;
Whit Udrc=Udc+Udc we have In fact, there are several methods to determine the
du du parameters of the fractional proportional integral
p Cudcr dc dc (10) PI controller, as technology for computing has not been
dt RL C
really developed. Scholars often use parameter identification
method, with which only one parameter changes while the
others are fixed in order to find the optimal value for changing
parameters, this process continues for the next parameters. Gk ( j ) C ( jc )Gs ( jc ) dB 1 (29)
However, this approach is only suitable for the systems with 1 dB
or two parameters which were determined. While, for the From equation (27) we have:
system having more than 3 parameters, this method gives D (30)
K i1
inaccurate results and waste of time and effort in detecting 1 1
sin D cos )
each parameter of the system. To overcome the disadvantages 2 2
of the traditional method from the structure of the system and
With D tan(tan 1 ( C ) m )
control requirements, an equation including 3 unknown Tc C 2
parameters of the fractional proportional integral PI From equation (28) we have:
controller is constructed in this paper. Then, it was solved to 1
determine these parameters and combined with practical 1 K i K p 1 sin 1
(a) (b)
Fig. 13. (a) current and voltage of three-phase PWM in rectifier mode when
load changes using IO- PI controller; (b) Current and voltage of 3-phase
PWM rectifier mode when the load changes
(a) (b)
Fig. 11. (a)Voltage and current of three-phase PWM in rectifier mode using
conventional IO-PI controller (b): Voltage and current of the three-phase
PWM rectifier mode (a) (b)
Fig. 14. (a) Current and voltage of three-phase PWM 3 in inverter mode
using IO-PI controller; (b) Current and voltage of 3-phase PWM inverter
mode