实例介绍
【实例简介】
A timely introduction to current research on PID and predictive control by one of the leading authors on the subject PID and Predictive Control of Electric Drives and Power Supplies using MATLAB/Simulink examines the classical control system strategies, such as PID control, feed-forward control and
PID AND PREDICTIVE CONTROL OF ELECTRICAL DRIVES AND POWER CONVERTERS USING MATLABISIMULINK① PID AND PREDICTIVE CONTROL OF ELECTRICAL DRIVES AND POWER CONVERTERS USING MATLABOISIMULINK① Liuping Wang, Shan Chai, Dae Yoo, Lu Gan and Ki Ng ◆EEE WILEY This edition first published 2015 o 2015 John Wiley sons Singapore Pte Ltd Registered office John Wiley sons Singapore Pte Ltd, I Fusionopolis Walk, #07-01 Solaris South Tower, Singapore 138628 For details of our global editorial offices, for customer services and for information about how to apply for permissiontoreusethecopyrightmaterialinthisbookpleaseseeourwebsiteatwww.wiley.com All Rights Reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except expressly permitted by law, without either the prior written permission of the Publisher, or authorization through payment of the appropriate photocopy fee to the Copyright Clearance Center. Requests for permission should be addressed to the Publisher, John Wiley Sons Singapore Pte Ltd, I Fusionopolis Walk, #07-01 Solaris South Tower,Singapore138628,tel:65-66438000,fax65-66438008,emailenquirywiley.com Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not be available in electronic books product names used in this book are trade names, service marks, trademarks or registered trademarks of theirS and Designations used by companies to distinguish their products are often claimed as trademarks. all brand name respective owners. The Publisher is not associated with any product or vendor mentioned in this book. This publication is designed to provide accurate and authoritative information in regard to the subject matter covered. It is sold on the understanding that the Publisher is not engaged in rendering professional services. If professional advice or other expert assistance is required, the services of a competent professional should be sought Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts in preparin this book, they make no representations or warranties with respect to the accuracy or completeness of the contents of this book and specifically disclaim any implied warranties of merchantability or fitness for a particular purpose. It is sold on the understanding that the publisher is not engaged in rendering professional services and neither the publisher nor the author shall be liable for damages arising herefrom. If professional advice or other exper assistance is required, the services of a competent professional should be sought MATLAB is a trademark of The Math Works, Inc. and is used with permission The Math Works does not warrant the accuracy of the text or exercises in this book. This book's use or discussion of MATlab@ software or related products does not constitute endorsement or sponsorship by The Math Works of a particular pedagogical approach or particular use of the MATLAB software Library of Congress Cataloging-in-Publication Data applied for Hardback ISBN: 9781118339442 Typeset in 9/lpt TimesTStd by Laserwords Private Limited, Chennai, India 12015 Contents About the authors XI reface Acknowledgment IX List of Symbols and acronyms Modeling of ac drives and power converter 1.1 Space Phasor Representation 1.1.1 Space vector for Magnetic Motive Force 1. 1. 2 Space vector Representation of Voltage equation 1.2 Model of surface mounted Pmsm 1. 2. 1 Representation in Stationary Reference(a-B) frame 4557 1. 2. 2 Representation in Synchronous Reference(d-g) frame 1.2.3 Electromagnetic To 8 Model of Interior Magnets PMSM 10 1.3.1 Complete Model of PMsM 1. 4 Per Unit model and pmsm parameters 1.4.1 Per Unit Model and Physical parameters 1.4.2 Experimental validation of PMsm model 12 1.5 Modeling of Induction motor 13 5.1 Space Vector Representation of Voltage equation of Induction Motor 1.5.2 Representation in Stationary a-B Reference frame 17 1.5.3 Representation in d-q Reference frame 17 1.5.4 Electromagnetic Torque of Induction Motor 19 1.5.5 Model parameters of Induction Motor and Model validation 19 1. 6 Modeling of power converter 21 1.6.1 Space Vector Representation of voltage Equation for Power Converter 2 1.6.2 Representation in a-B Reference frame 2 1.6.3 Representation in d-q Reference frame 23 1.6.4 Energy Balance equation 24 1. 7 Summ 25 1. 8 Further reading References Contents Control of Semiconductor Switches via PWM Technologies 27 2. 1 Topology of IGBT Inverter 2.2 Six-Step Operating Mode 2.3 Carrier Based PWM 31 2.3.1 Sinusoidal PwM 31 2.3.2 Carrier Based PwM with Zero-sequence injection 32 2.4 Space Vector PWM Simulation Study of the Effect of PWM 2.6 Summary 2.7 Further Reading 40 References 40 3 PID Control System Design for Electrical Drives and Power Converters 41 3.1 Overview of PID Control Systems Using Pole-assignment Design Techniques 3.1.1 PI Controller design 42 3.1.2 Selecting the Desired Closed-loop Performance 43 3.1.3 Overshoot in Reference response 3.1.4 PID Controller Design 3.1.5 Cascade Pld Control systems 48 3.2 Overview of pid control of pmsm 3. 2.1 Bridging the Sensor Measurements to Feedback Signals(See the lower part of Figure 3.6) 50 3. 2.2 Bridging the Control Signals to the Inputs to the PMsm (See the top part of Figure 3.6) 3.3 PI Controller Design for Torque Control of PMSM 52 3.3.1 Set-point Signals to the Current Control Loops 3.3.2 Decoupling of the Current Control Systems 3.3.3 PI Current Controller design 3.4 Velocity Control of Pmsm 3.4.1 Inner-Loop Proportional Control of q-axis Current 3.4.2 Cascade Feedback Control of velocity: P Plus PI 57 3.4.3 Simulation Example for P Plus PI Control System 59 3.4.4 Cascade Feedback Control of velocity: PI Plus Pl 61 3.4.5 Simulation Example for Pl Plus PI Control System 3.5 PID Controller design for Position Control of pmsm 3.6 Overview of pid control of Induction motor 3.6.1 Bridging the Sensor Measurements to Feedback signals 67 3.6.2 Bridging the Control signals to the Inputs to the Induction moto 67 3.7 PID Controller design for Induction motor 3.7.1 PI Control of Electromagnetic Torque of induction Motor 3.7.2 Cascade Control of velocity and position 70 3.7.3 Slip estimation 3.8 Overview of Pid control of power converter 74 3.8. 1 Bridging Sensor Measurements to Feedback signals 75 3.8.2 Bridging the Control Signals to the Inputs of the Power Converter 3.9 PI Current and Voltage controller design for Power Converter 76 3.9.1 P Control of d-axis Current 76 3.9.2 PI Control of q-axis Current 77 3.9.3 P/ Cascade Control of Output voltage 79 Contents 3.9.4 Simulation example 3.9.5 Phase locked loop 3.10 Summary 3. 11 Further Reading 83 References PID Control System Implementation 4.1 P and PI Controller Implementation in Current Control Systems 87 4.1.1 Voltage Operational Limits in Current Control Systems 4.1.2 Discretization of Current Controllers 4.1.3 Anti-windup mechanisms 92 4.2 Implementation of Current Controllers for PMSM 4.3 Implementation of Current Controllers for Induction Motors 4.3.1 Estimation of o, and 0 95 4.3.2 Estimation of vrd 4.3.3 The Implementation steps 97 4.4 Current Controller Implementation for Power Converter 4.4.1 Constraints on the Control variables 4.5 Implementation of Outer-loop PI Control System 98 4.5.1 Constraints in the Outer-loop 98 4.5.2 Over Current Protection for AC Machines 4.5.3 Implementation of Outer-loop PI Control of velocity 4.5.4 Over Current Protection for Power Converters 100 4.6 MATLAB Tutorial on Implementation of PI Controller 4.7 Summary 4.8 Further reading 103 References Tuning PID Control Systems with Experimental Validations 105 1 Sensitivity Functions in Feedback Control Systems 105 5.1.1 Two-degrees of Freedom Control System Structure 105 5.1.2 Sensitivity Functions 109 5.1.3 Disturbance Rejection and Noise Attenuation 5.2 Tuning Current-loop g-axis Proportional Controller(PMSm) 5.2.1 Performance Factor and Proportional gain 112 5.2.2 Complementary sensitivity function 112 5.2.3 Sensitivity and Input Sensitivity Functions 114 5.2.4 Effect of PWM Noise on Current Proportional control System 114 5.2.5 Effect of Current Sensor Noise and Bias 116 5.2.6 Experimental Case Study of Current Sensor Bias Using P Control 118 5.2.7 Experimental Case Study of Current Loop noise 119 5.3 Tuning Current-loop PI Controller(PMsm) 123 5.3.1 PI Controller Parameters in Relation to Performance Parameter y 123 5.3.2 Sensitivity in Relation to Performance parameter 124 5.3.3 Effect of PwM Error in Relation to y 126 5.3.4 Experimental Case Study of Current Loop oise Using Pl Control 126 5.4 Performance Robustness in Outer-loop Controllers 128 5.4.1 Sensitivity Functions for Outer-Loop Control System 5.4.2 Input Sensitivity Functions for the Outer-loop System 135 Contents 5.5 Analysis of Time-delay effects 5.5.1 PI Control of q-axis Current 137 5.5.2 P Control of q-axis Current 137 5.6 Tuning Cascade PI Control Systems for Induction Motor 138 5.6.1 Robustness of Cascade pl control system 140 5.6.2 Robustness Study Using nyquist Plot 143 5.7 Tuning PI Control Systems for Power Converter 147 5.7.1 Overview of the designs 147 5.7.2 Tuning the Current Controllers 149 5.7.3 Tuning Voltage Controller 150 5.7.4 Experimental evaluations 154 5.8 Tuning p plus pI Controllers for Power Converter 157 5.8.1 Design and Sensitivity Functions 157 5.8.2 Experimental Results 158 5.9 Robustness of Power Converter Control System Using PI Current Controllers 159 I Variation of Inductance Using PI Cu 160 5.9.2 Variation of Capacitance on Closed-loop Performance 163 5.10 Summary 167 5.10.1 Current Controllers 167 5.10.2 Velocity, Position and voltage controllers 168 5.10.3 Choice between p Current Control and pI Current Control 169 5.11 Further Reading 169 References 169 FCS Predictive Control in d-q Reference frame 171 6.1 States of IGBT Inverter and the Operational Constraints 172 6.2 FCS Predictive Control of pmsm 175 6.3 MATLAB Tutorial on Real-time Implementation of FCS-MPC 177 6.3.1 Simulation results 179 6.3.2 Experimental Results of FCS Control 181 6.4 Analysis of FCS-MPC System 182 6.4.1 Optimal Control System 182 6. 4.2 Feedback Controller gain 6.4.3 Constrained Optimal Control 6.5 Overview of FCS-mPC with Integral action 187 6.6 Derivation of -fcs Predictive Control algorithm 191 6.6.1 Optimal Control without Constraints 191 6.6.2 -FCS Predictive Controller with constraint 194 6.6.3 Implementation of I-FCS-MPC Algorithm 6.7 MATLAB Tutorial on Implementation of I-FCS Predictive Controller 197 6.7.1 Simulation results 6.8 I-FCS Predictive Control of Induction motor 201 6.8. 1 The Control Algorithm for an Induction Motor 202 6.8.2 Simulation results 204 6.8.3 Experimental Results 205 6.9 I-FCS Predictive Control of power Converter 6.9.1 I-FCS Predictive Control of a Power Converter 20 6.9.2 Simulation results 6.9.3 Experimental Results 214 【实例截图】
【核心代码】
A timely introduction to current research on PID and predictive control by one of the leading authors on the subject PID and Predictive Control of Electric Drives and Power Supplies using MATLAB/Simulink examines the classical control system strategies, such as PID control, feed-forward control and
PID AND PREDICTIVE CONTROL OF ELECTRICAL DRIVES AND POWER CONVERTERS USING MATLABISIMULINK① PID AND PREDICTIVE CONTROL OF ELECTRICAL DRIVES AND POWER CONVERTERS USING MATLABOISIMULINK① Liuping Wang, Shan Chai, Dae Yoo, Lu Gan and Ki Ng ◆EEE WILEY This edition first published 2015 o 2015 John Wiley sons Singapore Pte Ltd Registered office John Wiley sons Singapore Pte Ltd, I Fusionopolis Walk, #07-01 Solaris South Tower, Singapore 138628 For details of our global editorial offices, for customer services and for information about how to apply for permissiontoreusethecopyrightmaterialinthisbookpleaseseeourwebsiteatwww.wiley.com All Rights Reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except expressly permitted by law, without either the prior written permission of the Publisher, or authorization through payment of the appropriate photocopy fee to the Copyright Clearance Center. Requests for permission should be addressed to the Publisher, John Wiley Sons Singapore Pte Ltd, I Fusionopolis Walk, #07-01 Solaris South Tower,Singapore138628,tel:65-66438000,fax65-66438008,emailenquirywiley.com Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not be available in electronic books product names used in this book are trade names, service marks, trademarks or registered trademarks of theirS and Designations used by companies to distinguish their products are often claimed as trademarks. all brand name respective owners. The Publisher is not associated with any product or vendor mentioned in this book. This publication is designed to provide accurate and authoritative information in regard to the subject matter covered. It is sold on the understanding that the Publisher is not engaged in rendering professional services. If professional advice or other expert assistance is required, the services of a competent professional should be sought Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts in preparin this book, they make no representations or warranties with respect to the accuracy or completeness of the contents of this book and specifically disclaim any implied warranties of merchantability or fitness for a particular purpose. It is sold on the understanding that the publisher is not engaged in rendering professional services and neither the publisher nor the author shall be liable for damages arising herefrom. If professional advice or other exper assistance is required, the services of a competent professional should be sought MATLAB is a trademark of The Math Works, Inc. and is used with permission The Math Works does not warrant the accuracy of the text or exercises in this book. This book's use or discussion of MATlab@ software or related products does not constitute endorsement or sponsorship by The Math Works of a particular pedagogical approach or particular use of the MATLAB software Library of Congress Cataloging-in-Publication Data applied for Hardback ISBN: 9781118339442 Typeset in 9/lpt TimesTStd by Laserwords Private Limited, Chennai, India 12015 Contents About the authors XI reface Acknowledgment IX List of Symbols and acronyms Modeling of ac drives and power converter 1.1 Space Phasor Representation 1.1.1 Space vector for Magnetic Motive Force 1. 1. 2 Space vector Representation of Voltage equation 1.2 Model of surface mounted Pmsm 1. 2. 1 Representation in Stationary Reference(a-B) frame 4557 1. 2. 2 Representation in Synchronous Reference(d-g) frame 1.2.3 Electromagnetic To 8 Model of Interior Magnets PMSM 10 1.3.1 Complete Model of PMsM 1. 4 Per Unit model and pmsm parameters 1.4.1 Per Unit Model and Physical parameters 1.4.2 Experimental validation of PMsm model 12 1.5 Modeling of Induction motor 13 5.1 Space Vector Representation of Voltage equation of Induction Motor 1.5.2 Representation in Stationary a-B Reference frame 17 1.5.3 Representation in d-q Reference frame 17 1.5.4 Electromagnetic Torque of Induction Motor 19 1.5.5 Model parameters of Induction Motor and Model validation 19 1. 6 Modeling of power converter 21 1.6.1 Space Vector Representation of voltage Equation for Power Converter 2 1.6.2 Representation in a-B Reference frame 2 1.6.3 Representation in d-q Reference frame 23 1.6.4 Energy Balance equation 24 1. 7 Summ 25 1. 8 Further reading References Contents Control of Semiconductor Switches via PWM Technologies 27 2. 1 Topology of IGBT Inverter 2.2 Six-Step Operating Mode 2.3 Carrier Based PWM 31 2.3.1 Sinusoidal PwM 31 2.3.2 Carrier Based PwM with Zero-sequence injection 32 2.4 Space Vector PWM Simulation Study of the Effect of PWM 2.6 Summary 2.7 Further Reading 40 References 40 3 PID Control System Design for Electrical Drives and Power Converters 41 3.1 Overview of PID Control Systems Using Pole-assignment Design Techniques 3.1.1 PI Controller design 42 3.1.2 Selecting the Desired Closed-loop Performance 43 3.1.3 Overshoot in Reference response 3.1.4 PID Controller Design 3.1.5 Cascade Pld Control systems 48 3.2 Overview of pid control of pmsm 3. 2.1 Bridging the Sensor Measurements to Feedback Signals(See the lower part of Figure 3.6) 50 3. 2.2 Bridging the Control Signals to the Inputs to the PMsm (See the top part of Figure 3.6) 3.3 PI Controller Design for Torque Control of PMSM 52 3.3.1 Set-point Signals to the Current Control Loops 3.3.2 Decoupling of the Current Control Systems 3.3.3 PI Current Controller design 3.4 Velocity Control of Pmsm 3.4.1 Inner-Loop Proportional Control of q-axis Current 3.4.2 Cascade Feedback Control of velocity: P Plus PI 57 3.4.3 Simulation Example for P Plus PI Control System 59 3.4.4 Cascade Feedback Control of velocity: PI Plus Pl 61 3.4.5 Simulation Example for Pl Plus PI Control System 3.5 PID Controller design for Position Control of pmsm 3.6 Overview of pid control of Induction motor 3.6.1 Bridging the Sensor Measurements to Feedback signals 67 3.6.2 Bridging the Control signals to the Inputs to the Induction moto 67 3.7 PID Controller design for Induction motor 3.7.1 PI Control of Electromagnetic Torque of induction Motor 3.7.2 Cascade Control of velocity and position 70 3.7.3 Slip estimation 3.8 Overview of Pid control of power converter 74 3.8. 1 Bridging Sensor Measurements to Feedback signals 75 3.8.2 Bridging the Control Signals to the Inputs of the Power Converter 3.9 PI Current and Voltage controller design for Power Converter 76 3.9.1 P Control of d-axis Current 76 3.9.2 PI Control of q-axis Current 77 3.9.3 P/ Cascade Control of Output voltage 79 Contents 3.9.4 Simulation example 3.9.5 Phase locked loop 3.10 Summary 3. 11 Further Reading 83 References PID Control System Implementation 4.1 P and PI Controller Implementation in Current Control Systems 87 4.1.1 Voltage Operational Limits in Current Control Systems 4.1.2 Discretization of Current Controllers 4.1.3 Anti-windup mechanisms 92 4.2 Implementation of Current Controllers for PMSM 4.3 Implementation of Current Controllers for Induction Motors 4.3.1 Estimation of o, and 0 95 4.3.2 Estimation of vrd 4.3.3 The Implementation steps 97 4.4 Current Controller Implementation for Power Converter 4.4.1 Constraints on the Control variables 4.5 Implementation of Outer-loop PI Control System 98 4.5.1 Constraints in the Outer-loop 98 4.5.2 Over Current Protection for AC Machines 4.5.3 Implementation of Outer-loop PI Control of velocity 4.5.4 Over Current Protection for Power Converters 100 4.6 MATLAB Tutorial on Implementation of PI Controller 4.7 Summary 4.8 Further reading 103 References Tuning PID Control Systems with Experimental Validations 105 1 Sensitivity Functions in Feedback Control Systems 105 5.1.1 Two-degrees of Freedom Control System Structure 105 5.1.2 Sensitivity Functions 109 5.1.3 Disturbance Rejection and Noise Attenuation 5.2 Tuning Current-loop g-axis Proportional Controller(PMSm) 5.2.1 Performance Factor and Proportional gain 112 5.2.2 Complementary sensitivity function 112 5.2.3 Sensitivity and Input Sensitivity Functions 114 5.2.4 Effect of PWM Noise on Current Proportional control System 114 5.2.5 Effect of Current Sensor Noise and Bias 116 5.2.6 Experimental Case Study of Current Sensor Bias Using P Control 118 5.2.7 Experimental Case Study of Current Loop noise 119 5.3 Tuning Current-loop PI Controller(PMsm) 123 5.3.1 PI Controller Parameters in Relation to Performance Parameter y 123 5.3.2 Sensitivity in Relation to Performance parameter 124 5.3.3 Effect of PwM Error in Relation to y 126 5.3.4 Experimental Case Study of Current Loop oise Using Pl Control 126 5.4 Performance Robustness in Outer-loop Controllers 128 5.4.1 Sensitivity Functions for Outer-Loop Control System 5.4.2 Input Sensitivity Functions for the Outer-loop System 135 Contents 5.5 Analysis of Time-delay effects 5.5.1 PI Control of q-axis Current 137 5.5.2 P Control of q-axis Current 137 5.6 Tuning Cascade PI Control Systems for Induction Motor 138 5.6.1 Robustness of Cascade pl control system 140 5.6.2 Robustness Study Using nyquist Plot 143 5.7 Tuning PI Control Systems for Power Converter 147 5.7.1 Overview of the designs 147 5.7.2 Tuning the Current Controllers 149 5.7.3 Tuning Voltage Controller 150 5.7.4 Experimental evaluations 154 5.8 Tuning p plus pI Controllers for Power Converter 157 5.8.1 Design and Sensitivity Functions 157 5.8.2 Experimental Results 158 5.9 Robustness of Power Converter Control System Using PI Current Controllers 159 I Variation of Inductance Using PI Cu 160 5.9.2 Variation of Capacitance on Closed-loop Performance 163 5.10 Summary 167 5.10.1 Current Controllers 167 5.10.2 Velocity, Position and voltage controllers 168 5.10.3 Choice between p Current Control and pI Current Control 169 5.11 Further Reading 169 References 169 FCS Predictive Control in d-q Reference frame 171 6.1 States of IGBT Inverter and the Operational Constraints 172 6.2 FCS Predictive Control of pmsm 175 6.3 MATLAB Tutorial on Real-time Implementation of FCS-MPC 177 6.3.1 Simulation results 179 6.3.2 Experimental Results of FCS Control 181 6.4 Analysis of FCS-MPC System 182 6.4.1 Optimal Control System 182 6. 4.2 Feedback Controller gain 6.4.3 Constrained Optimal Control 6.5 Overview of FCS-mPC with Integral action 187 6.6 Derivation of -fcs Predictive Control algorithm 191 6.6.1 Optimal Control without Constraints 191 6.6.2 -FCS Predictive Controller with constraint 194 6.6.3 Implementation of I-FCS-MPC Algorithm 6.7 MATLAB Tutorial on Implementation of I-FCS Predictive Controller 197 6.7.1 Simulation results 6.8 I-FCS Predictive Control of Induction motor 201 6.8. 1 The Control Algorithm for an Induction Motor 202 6.8.2 Simulation results 204 6.8.3 Experimental Results 205 6.9 I-FCS Predictive Control of power Converter 6.9.1 I-FCS Predictive Control of a Power Converter 20 6.9.2 Simulation results 6.9.3 Experimental Results 214 【实例截图】
【核心代码】
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