A modified four-dimensional linear active disturbance rejection control(LADRC)strategy is proposed for a dual three-phase permanent magnet synchronous generator(DTP-PMSG)system to reduce cross-coupling between the d a...A modified four-dimensional linear active disturbance rejection control(LADRC)strategy is proposed for a dual three-phase permanent magnet synchronous generator(DTP-PMSG)system to reduce cross-coupling between the d and q axis currents in the d-q subspace and harmonic currents in the x-y subspace.In the d-q subspace,the proposed strategy uses a model-based LADRC to enhance the decoupling effect between the d and q axes and the disturbance rejection ability against parameter variation.In the x-y subspace,the 5th and 7th harmonic current suppression abilities are improved by using quasi-resonant units parallel to the extended state observer of the traditional LADRC.The proposed modified LADRC strategy improved both the steady-state performance and dynamic response of the DTP-PMSG system.The experimental results demonstrate that the proposed strategy is both feasible and effective.展开更多
Currently most of control methods are of one degree of freedom（1-DOF） control structure for the robot systems which are affected by unmeasurable harmonic disturbances,at the same time in order to obtain perfect dist...Currently most of control methods are of one degree of freedom（1-DOF） control structure for the robot systems which are affected by unmeasurable harmonic disturbances,at the same time in order to obtain perfect disturbance attenuation level,the controller gain must be increased.In practice,however,for robotic actuators,there are physical constraints that limit the amplitude of the available torques.This paper considers the problem of tracking control under input constraints for robot manipulators which are affected by unmeasurable harmonic disturbances.A new control scheme is proposed for the problem,which is composed of a parameter-dependent nonlinear observer and a tracking controller.The parameter-dependent nonlinear observer,designed based on the internal model principle,can achieve an estimation and compensation of a class of harmonic disturbances with unknown frequencies.The tracking controller,designed via adaptive control techniques,can make the systems asymptotically track the desired trajectories.In the control design,the continuous piecewise differentiable increasing function is used to limit control input amplitude,such that the control input saturation is avoided.The Lyapunov stability of closed loop systems is analyzed.To validate proposed control scheme,simulation results are provided for a two link horizontal robot manipulator.The simulation results show that the proposed control scheme ensures asymptotic tracking in presence of an uncertain external disturbance acting on the system.An important feature of the methodology consists of the fact that the designed controller is of 2-DOF control structure,namely,it has the ability to overcome the conflict between controller gain and robustness against external disturbances in the traditional 1 -DOF control structure framework.展开更多
This paper considers the boundary stabilization and parameter estimation of a one-dimensional wave equation in the case when one end is fixed and control and harmonic disturbance with uncertain amplitude are input at ...This paper considers the boundary stabilization and parameter estimation of a one-dimensional wave equation in the case when one end is fixed and control and harmonic disturbance with uncertain amplitude are input at another end. A high-gain adaptive regulator is designed in terms of measured collocated end velocity. The existence and uniqueness of the classical solution of the closed-loop system is proven. It is shown that the state of the system approaches the standstill as time goes to infinity and meanwhile , the estimated parameter converges to the unknown parameter.展开更多
为了提高统一电能质量调节器(Unified Power Quality Conditioner,UPQC)的经济性和实用性,提出一种改进型UPQC拓扑结构,该结构可在保证电能补偿效果的基础上,可大幅降低对变流器补偿容量和公共直流侧电压等级的要求.通过分析UPQC补偿原...为了提高统一电能质量调节器(Unified Power Quality Conditioner,UPQC)的经济性和实用性,提出一种改进型UPQC拓扑结构,该结构可在保证电能补偿效果的基础上,可大幅降低对变流器补偿容量和公共直流侧电压等级的要求.通过分析UPQC补偿原理和建立数学模型,对其串联变流器和并联变流器分别进行控制.为加快系统能量收敛,利用注入阻尼的方法,设计了串联变流器电流内环无源控制器,电压外环使用了自抗扰比例积分控制,增强了系统的抗扰动能力,以实现对电网侧畸变电压的补偿;并联变流器采用双闭环控制,与无源滤波器共同完成对负载谐波电流的补偿.最后在Matlab/Simulink环境下仿真,结果验证了所提拓扑结构和控制策略的可行性.展开更多
并联混合型有源电力滤波器(shunt hybrid active power filter,SHAPF)是抑制中高压配电系统谐波的有效方法,本文根据线性自抗扰控制技术(linear auto disturbance rejection control technique,LADRC),设计出了SHAPF的直流侧电压控制系...并联混合型有源电力滤波器(shunt hybrid active power filter,SHAPF)是抑制中高压配电系统谐波的有效方法,本文根据线性自抗扰控制技术(linear auto disturbance rejection control technique,LADRC),设计出了SHAPF的直流侧电压控制系统.基于LADRC的控制器能够估计出系统所有不确定因素和外部干扰等引起的总扰动并进行补偿,补偿性能良好,其算法简单,易于实现,具有一定的工程应用价值.仿真结果验证了基于LADRC的控制策略的有效性.展开更多
基金Supported by the National Science Fund for Distinguished Young Scholars under Grant 52025073 and the Zhenjiang Key Research Program under Grant GY2020011.
文摘A modified four-dimensional linear active disturbance rejection control(LADRC)strategy is proposed for a dual three-phase permanent magnet synchronous generator(DTP-PMSG)system to reduce cross-coupling between the d and q axis currents in the d-q subspace and harmonic currents in the x-y subspace.In the d-q subspace,the proposed strategy uses a model-based LADRC to enhance the decoupling effect between the d and q axes and the disturbance rejection ability against parameter variation.In the x-y subspace,the 5th and 7th harmonic current suppression abilities are improved by using quasi-resonant units parallel to the extended state observer of the traditional LADRC.The proposed modified LADRC strategy improved both the steady-state performance and dynamic response of the DTP-PMSG system.The experimental results demonstrate that the proposed strategy is both feasible and effective.
基金supported by National Natural Science Foundation of China(Grant No.60736022)
文摘Currently most of control methods are of one degree of freedom（1-DOF） control structure for the robot systems which are affected by unmeasurable harmonic disturbances,at the same time in order to obtain perfect disturbance attenuation level,the controller gain must be increased.In practice,however,for robotic actuators,there are physical constraints that limit the amplitude of the available torques.This paper considers the problem of tracking control under input constraints for robot manipulators which are affected by unmeasurable harmonic disturbances.A new control scheme is proposed for the problem,which is composed of a parameter-dependent nonlinear observer and a tracking controller.The parameter-dependent nonlinear observer,designed based on the internal model principle,can achieve an estimation and compensation of a class of harmonic disturbances with unknown frequencies.The tracking controller,designed via adaptive control techniques,can make the systems asymptotically track the desired trajectories.In the control design,the continuous piecewise differentiable increasing function is used to limit control input amplitude,such that the control input saturation is avoided.The Lyapunov stability of closed loop systems is analyzed.To validate proposed control scheme,simulation results are provided for a two link horizontal robot manipulator.The simulation results show that the proposed control scheme ensures asymptotic tracking in presence of an uncertain external disturbance acting on the system.An important feature of the methodology consists of the fact that the designed controller is of 2-DOF control structure,namely,it has the ability to overcome the conflict between controller gain and robustness against external disturbances in the traditional 1 -DOF control structure framework.
文摘This paper considers the boundary stabilization and parameter estimation of a one-dimensional wave equation in the case when one end is fixed and control and harmonic disturbance with uncertain amplitude are input at another end. A high-gain adaptive regulator is designed in terms of measured collocated end velocity. The existence and uniqueness of the classical solution of the closed-loop system is proven. It is shown that the state of the system approaches the standstill as time goes to infinity and meanwhile , the estimated parameter converges to the unknown parameter.
文摘为了提高统一电能质量调节器(Unified Power Quality Conditioner,UPQC)的经济性和实用性,提出一种改进型UPQC拓扑结构,该结构可在保证电能补偿效果的基础上,可大幅降低对变流器补偿容量和公共直流侧电压等级的要求.通过分析UPQC补偿原理和建立数学模型,对其串联变流器和并联变流器分别进行控制.为加快系统能量收敛,利用注入阻尼的方法,设计了串联变流器电流内环无源控制器,电压外环使用了自抗扰比例积分控制,增强了系统的抗扰动能力,以实现对电网侧畸变电压的补偿;并联变流器采用双闭环控制,与无源滤波器共同完成对负载谐波电流的补偿.最后在Matlab/Simulink环境下仿真,结果验证了所提拓扑结构和控制策略的可行性.
文摘并联混合型有源电力滤波器(shunt hybrid active power filter,SHAPF)是抑制中高压配电系统谐波的有效方法,本文根据线性自抗扰控制技术(linear auto disturbance rejection control technique,LADRC),设计出了SHAPF的直流侧电压控制系统.基于LADRC的控制器能够估计出系统所有不确定因素和外部干扰等引起的总扰动并进行补偿,补偿性能良好,其算法简单,易于实现,具有一定的工程应用价值.仿真结果验证了基于LADRC的控制策略的有效性.
