CN110365199A - The uncertain parameter disturbance restraining method of LCL filter gird-connected inverter - Google Patents
The uncertain parameter disturbance restraining method of LCL filter gird-connected inverter Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/12—Arrangements for reducing harmonics from ac input or output
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/12—Arrangements for reducing harmonics from ac input or output
- H02M1/123—Suppression of common mode voltage or current
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Abstract
The present invention is the uncertain parameter disturbance restraining method of LCL filter gird-connected inverter.LCL filter parameter is set, the LCL filter of three ranks is reduced to first-order system, establishes the transmission function of the control system based on traditional delay bounds；It is vertical it is expected the corresponding state equation of reference model, preliminary input expression formula is obtained according to the corresponding state equation of desired reference model；It introduces for estimating uncertain and interference filter, obtains the interference function in frequency domain；By carrying out Laplace transform to preliminary input expression formula, the filter and error feedback oscillator that independent design is completed in a frequency domain obtain the function expression between control system output and input and error, so that controller inhibits interference.The present invention is suitble to realize the method controlled using the inverter uncertain parameter of LCL filter under there are the power grid of various disturbances, realizes the inhibition to external disturbance and Parameters variation with relatively simple controls.
Description
Technical field
The present invention relates to LCL filter technical fields, are a kind of uncertain parameter interference of LCL filter gird-connected inverter
Suppressing method.
Background technique
The world today, as the scale of power grid is growing, existing many problems are also amplified and have obtained more next
More attention.The construction with higher of the power grid of imperial scale and operation expense, and be increasingly difficult to meet with
The requirement of high reliability and safety that China's rapid economic development causes client to propose.In addition, in today's society, environmental pollution
And scarcity of resources problem is more and extremely more urgent, the sustainable development idea that China carries forward vigorously gradually is rooted in the hearts of the people.
Therefore, the reproducible clean energy resource such as solar energy, wind energy, tide energy has obtained more and more attention.Based on this, in order to follow
The development in epoch meets China's rapid economic development bring reasonable demand, distributed power generation and generation of electricity by new energy two ways
More and more concerns are obtained.Distributed generation system can be divided into off-network power generation and be generated electricity by way of merging two or more grid systems according to the different occasions of application
System.Compared to traditional centralized forms of electricity generation, distributed generation system is not centered in power station, but reasonable distribution
The place of demand electricity in region, for example distribution power is installed in resident region, it can rationally and effectively supplement centralization
Generate electricity network, better meets the common people for the stability of electricity consumption and the demand of safety.Accordingly, world today's parallel net type generates electricity
System (DPGS) has obtained the consistent attention of domestic and international experts and scholars.
As the permeability of new energy is higher and higher, traditional control strategy for inverter lacks inertia and damping, it is difficult to be
The stability of operation of power networks provides the necessary technical support.Distribution based on this, with the past few years based on renewable energy
The rapid growth of electricity generation system (DPGS), this gird-connected inverter are also exponentially increased.Common filter mainly has L-type filtering
Device and two kinds of LCL type filter.L, C, R component are combined, near harmonic source or public electric wire net node installing single tuning filters
Device can reach when the resonance frequency in the circuit constituted is identical with a certain higher harmonic current frequency and prevent the subharmonic
The purpose of power grid is flowed into, and carries out reactive power compensation.Wherein, LCL filter belongs to third-order system, the design of controller
Necessarily it is faced with greatly complexity.In this regard, LCL filter drop can be reached by the method for split capacitor and reasonable disposition parameter
Third-order system is reduced to first-order system, therefore greatly simplifies controller design by the effect of rank.It is noticeable
It is to also need that shock-dampening method is taken to inhibit resonance during this period, to ensure the stability of system.But reasonable disposition parameter
The premise for reaching depression of order purpose is the ideal ratio of satisfaction that system parameters can be stable, and in actual application, not only exist
Exist inevitably uncertain in the choosing value of device, and electric network impedance etc. also necessarily will appear wave with the variation of environment
Shape, so that destroying the effect of depression of order.
To solve this problem it is necessary to increase interference and uncertain inhibition control in control, that is, by tradition
Delay bounds optimize, and the control for the lump interference for inhibiting to be made of interference and parameter uncertainty is achieved the purpose that with this
Method.
Summary of the invention
The present invention is the grid-connected inverse of the LCL filter that realization uses split capacitor method in the uncertain situation of electrical network parameter
The Robust Current Control Method for becoming device, the present invention provides a kind of interference of the uncertain parameter of LCL filter gird-connected inverter to press down
Method processed, the present invention provides following technical schemes:
A kind of uncertain parameter disturbance restraining method of LCL filter gird-connected inverter, includes the following steps:
Step 1: the LCL filter of three ranks is reduced to first-order system, establishes and be based on time lag by setting LCL filter parameter
The transmission function of the control system of control；
Step 2: it according to the mathematical model of the control system based on delay bounds, determines set point tracking response, establishes the phase
It hopes the corresponding state equation of reference model, preliminary input expression formula is obtained according to the corresponding state equation of desired reference model；
Step 3: introducing for estimating uncertain and interference filter, and carry out independent design to it in a frequency domain,
Obtain the interference function in frequency domain；
Step 4: by carrying out Laplace transform to preliminary input expression formula, independent design is completed in a frequency domain
Filter and error feedback oscillator obtain the function expression between control system output and input and error, so that controller pair
Interference inhibit.
Preferably, the step 1 specifically:
Step 1: setting LCL filter parameter, so that L1/L2=C2/C1=R1/R2=λ, by the LCL filter letter of three ranks
First-order system is turned to, simplified control system transmission function indicates simplified control system transmission function by following formula:
In formula:For simplified control system transmission function, I12Electric current between capacitor, UinIndicate inverter side
Voltage；L1、L2To divide inductance, C1And C2For split capacitor, R1And R2For passive damping, λ is proportionality coefficient；
Preferably, the simplified first-order system is LCCL circuit structure, and original capacitor is split into C1And C2, feedback
Variable is changed to the electric current between parallel circuit by networking electric current.
Preferably, the step 2 specifically:
Step 1: establishing the corresponding state equation of expectation reference model according to first-order system, indicating the side by following formula
Journey:
Wherein,For state equation, F (t) represents system and does not know part, and D (t) represents system interference sections, X (t)
For state variable, U (t) is control input, and A is sytem matrix, and B is control matrix, and t is the time；
Step 2: establishing stable expectation reference model under the action of actually entering, the stabilization is indicated by following formula
The corresponding state equation of expectation reference model:
Wherein,For the stable corresponding state equation of expectation reference model, Am expectation state matrix；Bm expectation control
Matrix processed, XmIt (t) is desired state variable, Um(t) it is inputted for desired control；
Step 3: calculating the difference between expectation state and virtual condition, the difference is indicated by following formula:
E=Xm-X (3)
Wherein, difference of the E between expectation state and virtual condition, Xm and X respectively represent expectation state and virtual condition
When t meets t → ∞, E → 0, calculating difference vector indicates the difference value vector by following formula:
Wherein,For difference value vector, Am expectation state matrix；
Step 4: establishing equation according to formula (2) and (3), the equation is indicated by following formula:
AmXm(t)+BmUm(t)-AX (t)-BU (t)-F (t)-D (t)=Am·E (5)
Formula (5) are substituted into formula (4), following formula is obtained:
AmXm(t)+BmUm(t)-AX (t)-BU (t)-F (t)-D (t)=Am·(Xm-X) (6)
According to formula (6), preliminary input expression formula is obtained, preliminary input expression formula is indicated by following formula:
U (t)=B-1[AmX(t)+BmUm(t)-AX(t)-F(t)-D(t)] (7)
According to the corresponding state equation of desired reference model and difference value vector, interference and parameter uncertainty are unified in always
During soma is disturbed, the overall interference is indicated by following formula:
Ud(t)=F (t) (8)+D (t)
Wherein, UdIt (t) is overall interference.
Preferably, the step 3 specifically:
Step 1: in a frequency domain, overall interference is filtered, introduce for estimating uncertain and interference filtering
Device obtains filtered overall interference, indicates overall interference after the filtering by following formula:
Ude(t)=Ud(t)*Gf(t) (9)
Wherein, UdeIt (t) is filtered overall interference, GfIt (t) is low-pass filter；
Step 2: indicating total interference function in frequency domain by following formula:
Ud(s)=X (s)-[AX (s)+BU (s)] (10)
Wherein, Ud(s) for the state variable in frequency domain and input is controlled for total interference in frequency domain, X (s) and U (s), s is
Frequency domain.
Preferably, the low-pass filter includes uncertain and interference filter.
Preferably, the step 4 specifically:
Step 1: carry out Laplace transform to preliminary input expression formula, after Laplace transform with formula Ud(s)=X
(s)-[AX (s)+BU (s)] after simultaneous, following formula is obtained:
Wherein, GfIt (s) is the low-pass filter in frequency domain, UmIt (s) is the desired control matrix in frequency domain,
Step 2: inverter side voltage is converted, matrix parameter is chosen, inverter side voltage is indicated by following formula:
Wherein, x (s) is electric current between equivalent split capacitor, and u (s) is inverter side voltage, umIt (s) is desired inverter side
Voltage；amAnd bmExpected matrix and control matrix are respectively represented,
Work as am=-α, bm=α, the desirable system transmission function set indicate that the desirable system is transmitted by following formula
Function:
Wherein, xmIt is expected ssystem transfer function, α is the bandwidth of the transmission function of desirable system；
Step 3: obtaining the function representation between control system output and input and error according to desirable system transmission function
Formula indicates the expression formula by following formula:
Wherein, x (s) is that control system exports and input the function expression between error.
Preferably, low-pass filter is indicated by following formula:
The invention has the following advantages:
The present invention can realize the grid-connected of the LCL filter for using split capacitor method in the uncertain situation of electrical network parameter
The Robust Current Control Method of inverter.
Detailed description of the invention
Fig. 1 is the LCCL topological diagram being added after passive damping；
Fig. 2 is control system block diagram；
Fig. 3 is control system equivalent block diagram；
Fig. 4 is α=6000, waveform diagram when β=3000；
Fig. 5 is that networking current simulations contrast curve chart before and after harmonic wave is added；
Fig. 6 is the power network current stable state waveform under present invention control.
Specific embodiment
Below in conjunction with specific embodiment, describe the invention in detail.
Specific embodiment one:
According to flow chart shown in Fig. 1, the present invention provides a kind of uncertain parameter interference suppression of LCL filter gird-connected inverter
Method processed, includes the following steps:
Step 1: the LCL filter of three ranks is reduced to first-order system, establishes and be based on time lag by setting LCL filter parameter
The transmission function of the control system of control；
Step 2: it according to the mathematical model of the control system based on delay bounds, determines set point tracking response, establishes the phase
It hopes the corresponding state equation of reference model, preliminary input expression formula is obtained according to the corresponding state equation of desired reference model；
Step 3: introducing for estimating uncertain and interference filter, and carry out independent design to it in a frequency domain,
Obtain the interference function in frequency domain；
Step 4: by carrying out Laplace transform to preliminary input expression formula, independent design is completed in a frequency domain
Filter and error feedback oscillator obtain the function expression between control system output and input and error, so that controller pair
Interference inhibit.
The LCL filter of three ranks is reduced to first-order system first, key is to make L by the way that parameter is arranged1/L2=
C2/C1=R1/R2=λ, so that control system transmission function may be expressed as: after abbreviation
In formula: I12Indicate the electric current between two capacitors, UinIndicate inverter side voltage.L1、L2、C1And C2It represents in circuit
Inductance and capacitor are divided, R is set1And R2As passive damped series in capacitive branch, the purpose for avoiding resonance is reached.
In general, the state space equation of linear system can be indicated using following:
In formula: F (t) represents system and does not know part, and D (t) represents system interference sections, A, B, X (t), U (t) generation respectively
Table sytem matrix, control matrix, state variable and control input, t represent time, output matrix Y (t)=X (t).
A stable expectation reference model is established according to real system, and its corresponding state equation can be made such as following table
Show:
In formula, AmExpectation state matrix；BmDesired control matrix.
Enable the E (desired output and reality output) between expectation state and virtual condition under the action of actually entering u
Difference indicates as follows:
E=Xm-X (4)
Wherein, XmExpectation state and virtual condition are respectively represented with X.It is satisfaction with E → 0 when t → ∞, can enables:
Vector
Following expression can be obtained by (2), (3):
AmXm(t)+BmUm(t)-AX (t)-BU (t)-F (t)-D (t)=Am·E (5)
In formula, XmExpectation state variable, UmDesired control input.
Further bringing (4) into can obtain:
AmXm(t)+BmUm(t)-AX (t)-BU (t)-F (t)-D (t)=Am·(Xm-X) (6)
Preliminary input expression formula as available from the above equation:
U (t)=B-1[AmX(t)+BmUm(t)-AX(t)-F(t)-D(t)] (7)
In addition, because other are all known variables other than F (t) and D (t), it is possible to by interference and Parameter uncertainties
Property it is unified
In variable Ud(t) in=F (t)+D (t), U can be claimeddIt (t) is overall interference.
After input expression formula after normalization is carried out laplace transform, in a frequency domain, reached by filter same
The consistent interference of step and probabilistic purpose.Shown in the specific method is as follows:
Overall interference is filtered, overall interference U after can must filteringde(t) it is
Ude(t)=Ud(t)*Gf(t) (8)
Wherein, GfIt (t) is suitable low-pass filter (uncertain and interference filter), lump interference volume in a frequency domain may be used
It indicates are as follows:
Ud(s)=X (s)-AX (s)+BU (s)] (9)
X (s) and U (s) is the expression of state variable and control input in a frequency domain, wherein behalf frequency domain.Further, will
The expression formula of input quantity carries out Laplace transform and can be obtained with after above formula (9) simultaneous:
Basic control rate as above indicates, wherein GfIt (s) further can for the expression of low-pass filter in a frequency domain
To be equivalent to electric current i between split capacitor12Actual state variable x and practical control input u (that is, inverter side voltage) conversion
Into above formula and after choosing suitable matrix parameter, it can be obtained:
Wherein, x (s) is electric current between equivalent split capacitor, and u (s) is inverter side voltage, um(s) desired inversion is indicated
Side voltage.amAnd bmExpected matrix and control matrix are respectively represented, low-pass filter is enabled to be expressed asWherein β generation
Table filter bandwidht can further release u (s):
Wherein, the control law of e can Approximate Equivalent be PI control.Enable am=-α, bm=α, the desirable system that can be set
Transmission function are as follows:
Wherein, α is the bandwidth of the transmission function of desirable system, is finally obtained between control system output and input and error
Relationship are as follows:
Wherein,
By above formula, it is known that, the bandwidth by controlling two filters can achieve the purpose for inhibiting lump interference.Wherein,
ude(s) overall interference after filtered in a frequency domain is represented.
Specific embodiment two:
The LCL filter of three ranks, by the way that parameter is rationally arranged, is reduced to first-order system, is based on by step 1 in conjunction with Fig. 1
This establishes the mathematical model for the control system improved by traditional delay bounds.Circuit structure at this time becomes LCCL, will
Filter capacitor C originally is split into C1 and C2, and feedback variable is changed to the electric current i12 between parallel circuit by networking electric current.In order to just
In analysis, L=L1+L2, L might as well be defined1=λ L, L2=(1- λ) L, C=C1+C2,
Step 2 determines set point tracking response by reference model, it is expected that the corresponding state equation of reference model can be with table
It is shown as:Wherein, Xm(t)、Um(t)、Am、BmRespectively represent expectation state variable, expectation
Control input, expectation state matrix and desired control matrix.
Step 3 is introduced for estimating uncertain and interference filter Gf(t), independence and in a frequency domain is carried out to it
Design obtains the control function on basis with this.
Step 4, by Laplace transform, to all time-varying parts all concentrate on the time-varying system in a signal into
Row analysis and design.The filter and error feedback oscillator completed by independent design in a frequency domain, Lai Dacheng controller is to dry
The inhibiting effect and robustness disturbed, control system are as shown in Figure 2 and Figure 3.This control system consists of three parts: reference model,
Error feedback coefficient and filter.After the derivation of equation as shown in Figure 2, wherein α is to design expectational model and propose,
It is the desired closed-loop bandwidth of low-pass filter between output and input；β is related with the low-pass filter of the Ude of design, and L is
Total inductance.
Step 5 is experimental verification this method by emulation, as shown in Figures 4 to 6.Wherein, Fig. 4 is debugging figure, upper half
Part figure indexing is 5A/ lattice, and lower half component is 5A/ lattice and 311V/ lattice, it can be seen that is going α=6000, the feelings of β=1000
Under condition, control electric current can be very good tracking to constant current and steady-state error very little.Fig. 5 is the electricity being added after changing mains by harmonics
Stream emulation, wherein i '2For desired electrical networking electric current off the net, corresponding THD=1.79%；i2To introduce after harmonic wave the electric current that networks,
Corresponding THD=1.82%, the two are not much different.Fig. 6 is the networking of the UDE structure that designs herein when reference current is 10A
Electric current, corresponding, corresponding α, β take 11000,1600 respectively, equivalent inductance L=5mH.
The above is only the preferred implementation side of the uncertain parameter disturbance restraining method of LCL filter gird-connected inverter
The protection scope of formula, the uncertain parameter disturbance restraining method of LCL filter gird-connected inverter is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under the thinking all belong to the scope of protection of the present invention.It should be pointed out that for those skilled in the art
For member, several improvements and changes without departing from the principles of the present invention, such modifications and variations also should be regarded as the present invention
Protection scope.
Claims (8)
1. a kind of uncertain parameter disturbance restraining method of LCL filter gird-connected inverter, it is characterized in that: including the following steps:
Step 1: the LCL filter of three ranks is reduced to first-order system, establishes and be based on delay bounds by setting LCL filter parameter
Control system transmission function；
Step 2: according to the mathematical model of the control system based on delay bounds, determining set point tracking response, establishes expectation ginseng
The corresponding state equation of model is examined, preliminary input expression formula is obtained according to the corresponding state equation of desired reference model；
Step 3: it introduces for estimating uncertain and interference filter, and independent design is carried out to it in a frequency domain, obtain
Interference function in frequency domain；
Step 4: by carrying out Laplace transform to preliminary input expression formula, the filtering that independent design is completed in a frequency domain
Device and error feedback oscillator obtain the function expression between control system output and input and error, so that controller is to interference
Carry out inhibit.
2. a kind of uncertain parameter disturbance restraining method of LCL filter gird-connected inverter according to claim 1, special
Sign is:
The step 1 specifically: setting LCL filter parameter, so that L1/L2=C2/C1=R1/R2=λ filters the LCL of three ranks
Wave device is reduced to first-order system, and simplified control system transmission function indicates simplified control system transmission function by following formula:
In formula:For simplified control system transmission function, I12Electric current between capacitor, UinIndicate inverter side electricity
Pressure；L1、L2To divide inductance, C1And C2For split capacitor, R1And R2For passive damping, λ is proportionality coefficient.
3. a kind of uncertain parameter disturbance restraining method of LCL filter gird-connected inverter according to claim 2, special
Sign is: the simplified first-order system is LCCL circuit structure, and original capacitor is split into C1And C2, feedback variable is by networking
Electric current is changed to the electric current between parallel circuit.
4. a kind of uncertain parameter disturbance restraining method of LCL filter gird-connected inverter according to claim 1, special
Sign is: the step 2 specifically:
Step 1: establishing the corresponding state equation of expectation reference model according to first-order system, indicating the equation by following formula:
Wherein,For state equation, F (t) represents system and does not know part, and D (t) represents system interference sections, and X (t) is shape
State variable, U (t) are control input, and A is sytem matrix, and B is control matrix, and t is the time；
Step 2: establishing stable expectation reference model under the action of actually entering, the stable phase is indicated by following formula
Hope the corresponding state equation of reference model:
Wherein,For the stable corresponding state equation of expectation reference model, Am expectation state matrix；Bm desired control square
Battle array, XmIt (t) is desired state variable, Um(t) it is inputted for desired control；
Step 3: calculating the difference between expectation state and virtual condition, the difference is indicated by following formula:
E=Xm-X (3)
Wherein, difference of the E between expectation state and virtual condition, Xm and X respectively represent expectation state and virtual condition
When t meets t → ∞, E → 0, calculating difference vector indicates the difference value vector by following formula:
Wherein,For difference value vector, Am expectation state matrix；
Step 4: establishing equation according to formula (2) and (3), the equation is indicated by following formula:
AmXm(t)+BmUm(t)-AX (t)-BU (t)-F (t)-D (t)=Am·E (5)
Formula (5) are substituted into formula (4), following formula is obtained:
AmXm(t)+BmUm(t)-AX (t)-BU (t)-F (t)-D (t)=Am·(Xm-X) (6)
According to formula (6), preliminary input expression formula is obtained, preliminary input expression formula is indicated by following formula:
U (t)=B-1[AmX(t)+BmUm(t)-AX(t)-F(t)-D(t)] (7)
According to the corresponding state equation of desired reference model and difference value vector, interference and parameter uncertainty are unified in total soma
In disturbing, the overall interference is indicated by following formula:
Ud(t)=F (t) (8)+D (t)
Wherein, UdIt (t) is overall interference.
5. a kind of uncertain parameter disturbance restraining method of LCL filter gird-connected inverter according to claim 1, special
Sign is:
The step 3 specifically:
Step 1: in a frequency domain, overall interference is filtered, introduces for estimating uncertain and interference filter, obtain
To filtered overall interference, overall interference after the filtering is indicated by following formula:
Ude(t)=Ud(t)*Gf(t) (9)
Wherein, UdeIt (t) is filtered overall interference, GfIt (t) is low-pass filter；
Step 2: indicating total interference function in frequency domain by following formula:
Ud(s)=X (s)-[AX (s)+BU (s)] (10)
Wherein, UdIt (s) is state variable and control input in frequency domain for total interference in frequency domain, X (s) and U (s), s is frequency domain.
6. a kind of uncertain parameter disturbance restraining method of LCL filter gird-connected inverter according to claim 5, special
Sign is: the low-pass filter includes uncertain filter and interference filter.
7. a kind of uncertain parameter disturbance restraining method of LCL filter gird-connected inverter according to claim 1, special
Sign is: the step 4 specifically:
Step 1: carry out Laplace transform to preliminary input expression formula, after Laplace transform with formula Ud(s)=X (s)-
After [AX (s)+BU (s)] simultaneous, following formula is obtained:
Wherein, GfIt (s) is the low-pass filter in frequency domain, UmIt (s) is the desired control matrix in frequency domain,
Step 2: inverter side voltage is converted, matrix parameter is chosen, inverter side voltage is indicated by following formula:
Wherein, x (s) is electric current between equivalent split capacitor, and u (s) is inverter side voltage, umIt (s) is desired inverter side voltage；
amAnd bmExpected matrix and control matrix are respectively represented,
Work as am=-α, bm=α, the desirable system transmission function set indicate that the desirable system transmits letter by following formula
Number:
Wherein, xmIt is expected ssystem transfer function, α is the bandwidth of the transmission function of desirable system；
Step 3: obtaining the function expression between control system output and input and error according to desirable system transmission function, leading to
Crossing following formula indicates the expression formula:
Wherein, x (s) is that control system exports and input the function expression between error.
8. a kind of uncertain parameter disturbance restraining method of LCL filter gird-connected inverter according to claim, special
Sign is: low-pass filter is indicated by following formula:
Wherein, β represents filter bandwidht.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112035787A (en) * | 2020-08-31 | 2020-12-04 | 成都航空职业技术学院 | Noise estimation method based on UDE estimator |
| CN113890432A (en) * | 2021-09-17 | 2022-01-04 | 南京航空航天大学 | Three-stage generator voltage regulation method based on uncertain interference estimator control |
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2019
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112035787A (en) * | 2020-08-31 | 2020-12-04 | 成都航空职业技术学院 | Noise estimation method based on UDE estimator |
| CN112035787B (en) * | 2020-08-31 | 2023-02-28 | 成都航空职业技术学院 | Noise estimation method based on UDE estimator |
| CN113890432A (en) * | 2021-09-17 | 2022-01-04 | 南京航空航天大学 | Three-stage generator voltage regulation method based on uncertain interference estimator control |
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