Revista Eletrônica de Potência (Brazilian Journal of Power Electronics)

Palavras Chaves: Fontes programáveis c.a., Inversores PWM, Sintonia de controlador repetitivo

Resumo

Esse trabalho objetiva o desenvolvimento de uma estratégia de controle, baseada no controlador repetitivo, para regulação de um inversor PWM com filtro LC de saída, cuja aplicação é uma fonte programável de potência c.a. Para sintonia do controlador, os conceitos de margens de estabilidade e faixa de passagem são utilizados. Simulações do tipo (Processor In the Loop) PIL, além de resultados experimentais, obtidos em um modelo de escala reduzida, são utilizados para validar a estratégia de controle proposta. Os resultados mostram que o controlador desenvolvido consegue rejeitar perturbações provocadas por correntes de carga distorcidas e atracar referências periódicas, evidenciando boa qualidade do controle, tanto em regime transitório, quanto regime permanente. As principais contribuições do trabalho são: (i) comparação da uso do controlador repetitivo e do PI, em aplicações em fontes programáveis c.a; (ii) aplicação de técnicas de sintonia de controladores clássicos em sistema com controlador repetitivo; (iii) apresentação dos resultados da técnica de controle repetitivo associada a controle PI com compensação de realimentações internas da planta, aplicada ao controle de uma fonte c.a. programável.

Title: Application Of A Repetitive Controller In A Single-phase Pwm Inverter With An Output Lc Filter Operating As A Programmmable Ac Source

Keywords: Programmable AC source, PWM inverter, Repetitive controller tuning

Abstract

In this work, a control strategy based on a repetitive controller for PWM voltage regulation in a frequency converter is developed, with application in a programmable AC power source. The controller tuning is developed with the use of stability and phase margin criterion. PIL (Processor-In-the-Loop) simulation, along with experimental results are presented, validating the approach adopted, showing that the disturbance of highly distorted load currents are rejected without compromise to the quality of the output voltage. The main contributions of the paper are: (i) comparison of the performance of the repetitive controller and the PI controller in applications of programmable power sources; (ii) application of standard tuning techniques to repetitive controllers; (iii) presentation of results of the performance of the repetitive controller associated with PI controller with compensation of the internal feedbacks of the plant.

[1] T. Kawabata, T. Miyashita, and Y. Yamamoto, “Digital control of three-phase pwm inverter with lc filter,” IEEE Transactions on Power Electronics, vol. 6, no. 1, pp. 62–72, Janeiro 1991. [2] A. Kawamura, T. Haneyoshi, and R. Hoft, “Deadbeat controlled pwm inverter with parameter estimation using only voltage sensor,” IEEE Transactions on Power Electronics, vol. 3, no. 2, pp. 118– 125, Abril 1988. [3] S. Buso, S. Fasolo, and P. Mattavelli, “Uninterruptible power supply multiloop control employing digital predictive voltage and current regulators,” IEEE Transactions on Industry Applications, vol. 37, no. 6, pp. 1846–1854, Novembro/Dezembro 2001. [4] P. Mattavelli, “An improved deadbeat control for ups using disturbance observers,” IEEE Transactions on Industrial Electronics, vol. 52, no. 1, pp. 206–212, Fevereiro 2005. [5] S. L. Jung, H.-S. Huang, M.-Y. Chang, and Y.-Y. Tzou, “Dsp- based multiple-loop control strategy for single-phase inverters used in ac power sources,” IEEE Power Electronics Specialists Conference, vol. 1, pp. 706–712, 1997. [6] M. J. Ryan, W. E. Brumsickle, and R. D. Lorenz, “Control topology options for single-phase ups inverters,” IEEE Transactions on Industry Applications, vol. 33, no. 2, pp. 493–501, Março/Abril 1997. [7] K. Zhou, D. Wang, B. Zhang, and Y. Wang, “Plug-in dual- modestructure repetitive controller for cvcf pwm inverters,” IEEE Transactions on Industrial Electronics, vol. 56, no. 3, pp. 784–791, Março 2009. [8] L. Cuiyan, Z. Dongchun, and Z. Xianyi, “Survey of repetitive control,” IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 1160–1166, Setembro/Outubro 2004. [9] B. Zhang, D. Wang, K. Zhou, and Y. Wang, “Linear phase lead compensation repetitive control of a cvcf pwm inverter,” IEEE Transactions on Industrial Electronics, vol. 55, no. 4, pp. 1595– 1602, Abril 2008. [10] Y. Ye, B. Zhang, K. Zhou, and Y. Wang, “High-performance cascadetype repetitive controller for cvcf pwm inverter: analysis and design,” IET Electric Power Applications, vol. 1, no. 1, pp. 112–118, Janeiro 2007. [11] Y.-Y. Tzou, R.-S. Ou, S.-L. Jung, and M.-Y. Chang, “High- performance programmable ac power source with low harmonic distortion using dsp-based repetitive control technique,” IEEE Transactions on Power Electronics, vol. 12, no. 4, pp. 715–725, Julho 1997. [12] A. García-Cerrada, O. Pinzón-Ardila, V. Feliu-Batlle, P. Roncero- Sánchez, and P. García-González, “Application of a repetitive controller for a three-phase active power filter,” IEEE Transactions on Power Electronics, vol. 22, no. 1, pp. 237–246, Janeiro 2007. [13] R. Griñó, R. Costa-Castelló, and E. Fossas, “Od-harmonic digital repetitive control of a single-phase current active filter,” IEEE Transactions on Power Electronics, vol. 19, no. 4, pp. 1060– 1068, Julho 2004. [14] R. Griñó, R. Cardoner, R. Costa-Castelló, and E. Fossas, “Digital repetitive control of a three-phase four-wire shunt active filter,” IEEE Transactions on Industrial Electronics, vol. 54, no. 3, pp. 1495–1503,Junho 2007. [15] R. Costa-Castelló, R. Griñó, R. C. Parpal, and E. Fossas, “Highperformance control of a single-phase shunt active filter,” IEEE Transactions on Control Systems Technology, vol. 17, no. 6, pp. 1318–1329, Novembro 2009. [16] J. Miret, M. Castilla, J. Matas, J. M. Guerrero, and J. C. Vasquez, “Selective harmonic-compensation control for single- phase active power filter with high harmonic rejection,” IEEE Transactions on Industrial Electronics, vol. 56, no. 8, pp. 3117– 3127, Agosto 2009. [17] P. Mattavelli and F. P. Marafão, “Repetitive-based control for selective harmonic compensation in active power filters,” IEEE Transactions on Industrial Electronics, vol. 51, no. 5, pp. 1018– 1024, Outubro 2004. [18] C. Wang, Y. Zou, Y. Zhang, Y. Xu, X. She, and F. Li, “Research on the single-phase pwm rectifier based on the repetitive control,” IEEE International Conference on Industrial Technology – ICIT, vol. 56, no. 8, pp. 1–7, Abril 2008. [19] K. Zhou and D. Wang, “Digital repetitive controlled three- phase pwm rectifier,” IEEE Transactions on Power Electronics, vol. 18, no. 1, pp. 309–316, Janeiro 2003. [20] G. Escobar, M. Hernández-Gómez, P. R. Martínez, and M. F. Martínez-Montejano, “A repetitive-based controller for a power factor precompensator,” IEEE Transactions on Circuits and Systems, vol. 54, no. 9, pp. 1968–1976, Setembro 2007. [21] J. Kasac, B. Novakovic, D. Majetic, and D. Brezak, “Passive internal model based repetitive control of robot manipulators,” IEEE International Conference on Control Applications, pp. 3253– 3258, Outubro 2006. [22] V. Feliu, I. Muñoz, P. L. Roncero, and J. J. López, “Repetitive control for single link flexible manipulators,” IEEE Conference on Robotics and Automation, pp. 4303–4308, Abril 2005. [23] K. Kalyanam and T.-C. Tsao, “Two-period repetitive and adaptive control for repeatable and nonrepeatable runout compensation in disk drive track following,” IEEE/ASME Transaction on Mechatronics, Abril 2011. [24] S.-W. Park, J. Jeong, H. S. Yang, Y.-P. Park, and N.-C. Park, “Repetitive controller design for minimum track misregistration in hard disk drives,” IEEE Transaction on Magnetics, vol. 41, no. 9, pp. 2522–2528, Setembro 2005. [25] B. A. Francis and W. M. Wonham, “The internal model principle of control theory,” Automatica, vol. 12, pp. 457–465, Setembro 1976. [26] R. Griñó and R. Costa-Castelló, “Digital repetitive plug-in controller for odd-harmonic periodic references and disturbances,” Automatica, vol. 41, no. 1, pp. 153–157, Agosto 2004. [27] K. Zhou, K.-S. Low, D. Wang, F.-L. Luo, B. Zhang, and Y. Wang, “Zero-phase odd-harmonic repetitive controller for a single- phase pwm inverter,” IEEE Transactions on Power Electronics, vol. 21, no. 1, pp. 193–201, Janeiro 2006. [28] J. L. Ramos, G. Escobar, P. R. Martinez, and P. Mattavelli, “Analog circuits to implement repetitive controllers for tracking and disturbance rejection of periodic signals,” IEEE Transactions on circuits and Systems, vol. 52, no. 8, pp. 466–470, Agosto 2005. [29] G. Escobar, P. R. Martinez, and J. Leyva-Ramos, “Analog circuits to implement repetitive controllers with feedforward for harmonic compensation,” IEEE Transactions on Industrial Electronics, vol. 54, no. 2, pp. 567–573, Fevereiro 2007. [30] K. J. Astrom and B. Wittenmark, Computer Controlled Systems: Theory and Design. Prentice Hall, 1996. [31] S. Buso and P. Matavelli, Digital Control in Power Electronics. Morgan and Claypool Publishers, 2006. [32] L298 Dual full-bridge driver, ST. [33] N. Mohan, T. M. Undeland, and W. P. Robins, Converters, applications and design: Power Electronics. Wiley, 2002. [34] MICHELS, Leandro ; STEFANELLO, Márcio ; GRÜNDLING, H. A. . Controlador repetitivo para inversores PWM com referência de frequência variável. Controle & Automação (Impresso), v. 20, p. 394-404, 2009. [35] OLM, J.M, RAMOS, G.A. e COSTA-CASTELLO, R. Stability analysis of digital repetitive control systems under time-varying sampling period. IET Control Theory and Applications, vol. 5, no. 1, pp. 29-37. 2011. [36] R. V. Tambara, F. H. Dupont, L. Della Flora, and H. A. Gründling, “Analysis of performance of an RMRAC controller in discrete-time via z transform and delta transform,” in IECON 2011 – 37th Annual Conference on IEEE Industrial Electronics Society, nov. 2011, pp. 492. [37] E. G. Carati, V. F. Montagner, and H. A. Gründling, “A single- phase AC Power source using robust model reference adaptive control,” in Industrial Electronics Society, 2000. IECON 2000. 26th Annual Conference of the IEEE, vol. 2, 2000, pp. 1428 –1432 vol.2. [38] C. Rech, H. Pinheiro, H. A. Gründling, H. L. Hey, and J. R. Pinheiro, “Comparison of digital control techniques with repetitive integral action for low cost PWM inverters,” Power Electronics, IEEE Transactions on, vol. 18, no. 1, pp. 401 – 410, Jan. 2003. [39] V. F. Montagner, E. G. Carati, and H. A. Gründling, “Design and analysis of a linear quadratic regulator with repetitive controller for AC power supplies,” in 2003 IEEE International Symposium on Industrial Electronics, ISIE-2003, vol. 3, Rio de Janeiro, Brazil, June 2003, pp. 109–114. [40] L. Della Flora and H. A. Gründling, “Time domain sinusoidal acceleration controller for an electrodynamic shaker,” Control Theory Applications, IET, vol. 2, no. 12, pp. 1044–1053, december 2008.