CN110456645A - A kind of discrete repetitive control for inverter - Google Patents
A kind of discrete repetitive control for inverter Download PDFInfo
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- CN110456645A CN110456645A CN201910761405.XA CN201910761405A CN110456645A CN 110456645 A CN110456645 A CN 110456645A CN 201910761405 A CN201910761405 A CN 201910761405A CN 110456645 A CN110456645 A CN 110456645A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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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
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
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Abstract
The invention discloses a kind of discrete repetitive controls for inverter.Using equivalent interference second differnce compensation technique, the attraction rule with AF panel effect is constructed；According to rule is attracted, e/v signal conversion module is constructed, output signal is used for repetitive controller correction amount.Specific attitude conirol can first enter the expression of most step numbers needed for steady-state error band according to absolute attractable layer, steady-state error band and the tracking error of characterization system convergence process.The present invention is a kind of discrete repetitive controller that can be completely eliminated homogeneous harmonic wave and even-order harmonic, effectively inhibit fractional harmonic, mention high control precision.
Description
Technical field
The present invention relates to a kind of discrete repetitive control for inverter, this method is suitable for inverter, is also suitable
Periodic duty process in Industry Control.
Background technique
Repetitive controller is a kind of control technology with " period study " characteristic.This control technology uses delay time
For the 1/ (1-e of positive feedback form of the delay link of T-Ts) construct the periodic signal internal model that the period is T, and it is embedded into stabilization
Closed-loop system in, internal model output cumulative to input signal Cycle by Cycle will form control action, solve the period of reference signal
The inhibition problem of tracking or periodic jamming signals.At present have been widely used for motor servo system, electronic power inverter,
Hard disk/optical disk servo-system and other processes that rerun.
Computer Control Technology is used in Practical Project, control system is mostly realized with discrete-time manner.Discrete repetition
Controller design is there are mainly two types of approach: one is by obtaining to continuously repeating controller discretization；Another kind is direct needle
Controller design is carried out to discrete-time system.Take sampling period Ts, so that cycle reference signal is the integral multiple in sampling period,
Remember that the number of sampling points in each period is N, i.e. T=NTs.In this way, Discrete Periodic Signals internal model is 1/ (1-Z-N).Discrete repetition
Controller Domain Design uses this discrete internal model.
In practice using the adverser control technology under periodic reference signal, system is mostly to realize exist in a discrete pattern
Buffeting problem can not completely inhibit periodic interference signals.Problem, common method are buffeted for interrupted characteristic bring
It is exactly continuous treatment method, such as saturation function, hyperbolic tangent function and unit vector serialization function etc. replace symbol
Function, but processing can reduce the convergence rate and robustness of system in this way.In addition, while eliminating periodic disturbances, further
Inhibit the signals such as aperiodic interference or score m-Acetyl chlorophosphonazo, effectively reducing steady-state error circle is problem urgently to be resolved.
Summary of the invention
The present invention provides a kind of discrete repetitive controls for inverter.In order to inhibit inverter it is homogeneous/even
The influence of harmonic wave and score m-Acetyl chlorophosphonazo to system performance improves tracing control precision, compensates skill using equivalent interference second differnce
Art embeds it in novel tanh and attracts rule, designs discrete repetitive controller accordingly, so that closed-loop system has hyperbolic
Tangent, which attracts, restrains portrayed characteristic, thus inhibit inverter it is homogeneous/even-order harmonic and fractional harmonic.The present invention specifically gives absolutely
The tool of 3 indexs such as most step numbers needed for steady-state error band is first entered to attractable layer, steady-state error band and tracking error
Body expression formula, for instructing attitude conirol.
The present invention solve above-mentioned technical problem the technical solution adopted is that:
A kind of discrete repetitive control for inverter, for inhibit inverter it is homogeneous/between even-order harmonic and score
Harmonic wave, so that system output approaches given reference signal having in finite time, the present invention constructs following discrete novel hyperbolics
Tangent attracts rule:
Wherein, 0 < ρ < 1, ε >=0, δ > 0 are for adjusting the parameter for attracting speed；ek+1,ek
It is divided into k+1, the tracking error at k moment, and ek=rk-yk；
In attracting rule (1), tracking error ekDynamic behaviour it is as follows: 1) whenAnd when ε > 0, tracking error
Strictly monotone is restrained, it is no to buffet, alternately converged on without positive and negativeNeighborhood in；2) whenAnd ε >
When 0, tracking error is positive and negative alternately to converge on origin by stringent absolute convergence；3) work as ekWhen ≠ 0 and ε=0, tracking error will
Strictly monotone convergence, it is no to buffet, alternately converge on origin without positive and negative；4) work as ekWhen ≠ 0 and ε > 0, tracking error is from arbitrarily just
Initial value e0It begins to pass throughStep passes through origin for the first time；Wherein,For not less than smallest positive integral；
In order to improve the rejection ability that system interferes homogeneous, even and fractional harmonic, using two scales of equivalent interference
Divide compensation technique, discrete attraction rule (1) is modified to
Wherein, dk+1=wk+1-wk+1-NIndicate the k+1 moment it is equivalent interference, it can be achieved that homogeneous harmonic wave and even-order harmonic inhibition；For compensating (fractional) harmonic wave and other aperiodic interference between inverter；
It is according to attraction rule (4) discrete repetitive controller
Wherein, uk, uk-1, uk-N, uk-1-NRespectively kth, k-1, k-N, the control input signal at k-1-N moment；yk,yk-1,
yk-1-N,yk-N,yk+1-NRespectively kth, k-1, k-1-N, k-N, the output signal at k+1-N moment；rk+1For giving for k+1 moment
Reference signal；N is the period of given reference signal；A in formula (5)1,a2,b1,b2For the system parameter of inverter, inverter
Mathematical model is as follows:
yk+1+a1yk+a2yk-1=b1uk+b2uk-1+wk+1 (6)
Wherein, yk+1,yk,yk-1For inverter k+1, k, the output signal at k-1 moment, uk,uk-1When expression inverter k, k-1
The control input signal at quarter, a1,a2,b1,b2For system parameter；wk+1For the system interference signal at k+1 moment, including it is homogeneous humorous
Wave, even-order harmonic and other m-Acetyl chlorophosphonazos and Parameter Perturbation；
By ukAs the control input signal of inverter, it can measure and obtain inverter system output signal yk, follow with reference to letter
Number rkVariation, and the dynamic behaviour of system tracking error is characterized by formula (4)；
Further, attract the attraction process of rule for characterization, the present invention provides absolute attractable layer, steady-state error band and tracking
Error first enters the expression of this 3 indexs of most step numbers needed for steady-state error band；This 3 indexs can be used for instructing to control
Device parameter tuning processed, wherein absolute attractable layer and steady-state error band are defined as follows:
1) absolute attractable layer ΔAAL
|ek+1| < | ek|, when | ek| > ΔAAL (7)
2) steady-state error band ΔSSE
|ek+1|≤ΔSSE, when | ek|≤ΔSSE (8)
Here, ΔAALFor absolute attractable layer boundary, ΔSSEFor steady-state error band boundary.
Under discrete repetitive controller (5) effect, and equivalent interference second differnce compensation error meets
When, the expression formula of each index is as follows:
1) absolute attractable layer ΔAALIt indicates are as follows:
ΔAAL=max { ΔAAL1,ΔAAL2} (10)
In formula, ΔAAL1, ΔAAL2For positive real number, and meet
Wherein, Δ is the supremum of equivalent interference compensation error；
2) steady-state error band ΔSSEIt indicates are as follows:
ΔSSE=max { ΔSSE1,ΔSSE2,Δ}
(12)
In formula, ΔSSE1, ΔSSE2For positive real number, determined by following formula
In formula, ξ is positive real number, is determined by following formula
In formula, sech () is hyperbolic secant function,
3) step number is restrained | k**|
Wherein, e0For tracking error initial value, eiFor the tracking error at the i-th moment；ψ meets
Technical concept of the invention are as follows: propose a kind of discrete repetitive controller for inverter, be a kind of Time domain design
Method, it is different from the frequency domain method generallyd use.The Time domain design of controller is easy to combine existing AF panel means.This
Equivalent interference second differnce compensation term is embedded into attraction rule by invention, is realizing alignment subharmonic, even-order harmonic and score
While harmonic wave interference effectively inhibits, so that steady-state error circle of system tracking error is smaller.
Control effect of the invention is mainly manifested in: having the compensation of two scales of equivalent interference, homogeneous harmonic wave and even-order harmonic
It completely eliminates, fractional harmonic effectively inhibits, fast convergence performance and high tracking accuracy.
Detailed description of the invention
Fig. 1 is based on the Control System Design flow chart for attracting rule method.
Fig. 2 is the error convergence that attraction rule proposed by the invention, index attraction rule and conventional tanh attract rule
Speed compares figure.
Fig. 3 is discrete repetitive controller block diagram.
Fig. 4 is the internal model block diagram of discrete repeated controlling system.
Fig. 5 is inverter control system block diagram in the embodiment of the present invention.
Fig. 6 is (to only exist homogeneous/even-order harmonic in controller (9), and consider interference compensation itemEffect
Under given reference signal, output signal and tracking error signal；
Fig. 7 is (to only exist homogeneous/even-order harmonic in controller (9), and consider interference compensation item) effect under
Given reference signal, output signal and tracking error signal；
Fig. 8 is (to only exist homogeneous/even-order harmonic in controller (9), and consider interference compensation item) make
Given reference signal, output signal and tracking error signal under；
Fig. 9 is that (there are homogeneous/even/fractional harmonics, and consider interference compensation item in controller (9))
Given reference signal, output signal and tracking error signal under effect；
Figure 10 is (to only exist homogeneous/even/fractional harmonic in controller (9), and consider interference compensation item) make
Given reference signal, output signal and tracking error signal under；
Figure 11 is (to only exist homogeneous/even/fractional harmonic in controller (9), and consider interference compensation item) effect under given reference signal, output signal and tracking error signal；
Specific embodiment
The specific embodiment of the invention is described further with reference to the accompanying drawing.
Referring to Fig.1-11, a kind of discrete repetitive control for inverter, Control System Design flow chart are shown in Fig. 1,
Inverter control system mathematical model described in it are as follows:
yk+1+a1yk+a2yk-1=b1uk+b2uk-1+wk+1 (1)
Wherein, yk+1,yk,yk-1For inverter k+1, k, the output signal at k-1 moment, uk,uk-1When expression inverter k, k-1
The control input signal at quarter, a1,a2,b1,b2For system parameter；wk+1For the system interference signal at k+1 moment, including it is homogeneous humorous
Wave, even-order harmonic and other (fractional) harmonic waves and Parameter Perturbation；
Given reference signal rkIt is the sinusoidal signal for being N in the period, meets
rk=Asin (2 π k/N), rk=rk-N (2)
Wherein, rk,rk-NThe given reference signal at respectively k, k-N moment, A are given reference signal rkAmplitude；
The following discrete novel tanhs of present invention construction attract rule:
Wherein, 0 < ρ < 1, ε >=0, δ > 0 are for adjusting the parameter for attracting speed；ek+1,ek
It is divided into k+1, the tracking error at k moment, and ek=rk-yk；Fig. 2 is that attraction proposed by the invention is restraining (solid line), conventional hyperbolic just
Cut attraction rule(chain-dotted line) and index attract rule ek+1=(1- ρ) ek-εsgn(ek) (empty
Line) comparison figure；Attraction proposed by the invention is restrained while reducing system flutter as shown in Figure 2, is realized more rapidly
Error convergence；
In attracting rule (1), tracking error ekDynamic behaviour it is as follows: 1) whenAnd when ε > 0, tracking error
Strictly monotone is restrained, it is no to buffet, alternately converged on without positive and negativeNeighborhood in；2) whenAnd ε >
When 0, tracking error is by stringent absolute convergence, in positive and negative with alternately converging on origin neighborhood；3) work as ekWhen ≠ 0 and ε=0, with
Track error restrains strictly monotone, no to buffet, alternately converge on origin without positive and negative；4) work as ekWhen ≠ 0 and ε > 0, tracking error
From arbitrary initial value e0It begins to pass throughStep passes through origin for the first time；Wherein,For not less than smallest positive integral；
In order to improve the rejection ability that system interferes homogeneous, even and fractional harmonic, discrete attraction can be restrained (3) and repaired
Just it is
Wherein, dk+1=wk+1-wk+1-NIndicate the k+1 moment it is equivalent interference, it can be achieved that homogeneous harmonic wave and even-order harmonic inhibition；For compensating (fractional) harmonic wave and other aperiodic interference between inverter；
By tracking error ek=rk-ykKnow with system (1),
By dk+1=wk+1-wk+1-NIt is expressed as
Formula (8) are substituted into formula (6), then the expression formula (see Fig. 3) of discrete repetitive controller is
As shown in figure 4, repetitive controller (9) can also be expressed as
uk=uk-N+vk (10)
Wherein,
By ukAs the control input signal of inverter, it can measure and obtain inverter system output signal yk, follow with reference to letter
Number rkVariation, and the dynamic behaviour of system tracking error is characterized by formula (6)；
Further, attract the attraction process of rule for characterization, the present invention provides absolute attractable layer, steady-state error band and tracking
Error first enters the expression of this 3 indexs of most step numbers needed for steady-state error band；This 3 indexs can be used for instructing to control
Device parameter tuning processed, wherein absolute attractable layer and steady-state error band are defined as follows:
1) absolute attractable layer ΔAAL
|ek+1| < | ek|, when | ek| > ΔAAL (12)
2) steady-state error band ΔSSE
|ek+1|≤ΔSSE, when | ek|≤ΔSSE (13)
Here, ΔAALFor absolute attractable layer boundary, ΔSSEFor steady-state error band boundary.
Under discrete repetitive controller (9) effect, and equivalent interference second differnce compensation error meets
When, the expression formula of each index is as follows:
1) absolute attractable layer ΔAALIt indicates are as follows:
ΔAAL=max { ΔAAL1,ΔAAL2} (15)
In formula, ΔAAL1, ΔAAL2For positive real number, and meet
Wherein, Δ is the supremum that equivalent interference second differnce compensates error；
2) steady-state error band ΔSSEIt indicates are as follows:
ΔSSE=max { ΔSSE1,ΔSSE2,Δ}
(17)
In formula, ΔSSE1, ΔSSE2For positive real number, determined by following formula
In formula, ξ is positive real number, is determined by following formula
In formula, sech () is hyperbolic secant function,
3) step number is restrained | k**|
Wherein, e0For tracking error initial value, eiFor the tracking error at the i-th moment；ψ meets
Further, after the completion of discrete repetitive controller design, need to adjust controller parameter therein.Adjustable parameter ρ,
The adjusting of ε, δ can attract 3 indexs of rule attraction process to carry out according to characterization.
Following explanation is done for the design of above-mentioned repetitive controller:
1) attraction rule proposed by the invention designs novel attraction rule using hyperbolic tangent function；With index attract rule and
Conventional tanh attracts rule to compare, and attraction rule proposed by the invention has aobvious in convergence rate and in terms of reducing system chatter
The advantage of work (see Fig. 2)；
2) d is introduced in attracting rulek+1The braking measure of the periodic interference signals for known periods is reflected, such as inverse
Become the homogeneous and even-order harmonic interference in device；For dk+1Offset, for compensating fractional harmonic and other aperiodic interference.
There are two types of interference compensation method is common: (1) a kind of simple offset determines that method is One-step delay method, i.e.,
(2) a kind of dk+1Offset when known to boundary determines method.If equivalent interference dk+1Lower and upper bounds be respectively du、dl, then dk+1Meet
Inequality dl≤dk+1≤du；NoteThenIt is desirable
The present invention uses equivalent interference second differnce compensation technique, usesFor compensating between inverter
(fractional) harmonic wave and other aperiodic interference, can obtain so that steady-state error circle of system tracking error is made to reach dk+1-2dk+
dk-1=O (T3), obtain Geng little steady-state error circle.
3) in formula (9), yk-1, yk+1-N, yk, yk-N, yk-N-1Can throughput measure；uk-N, uk, uk-1, uk-1-N, for control
The storage value of signal can be read from memory.
4) the attraction rule method that the present invention provides is also applied for the feedback control under constant value reference signal.Equivalent interference is
dk+1=wk+1-wk；Its controller is as follows:
Embodiment
Closed-loop control is carried out for inverter output waveforms.As shown in figure 5, the inverter system used is by given sinusoidal letter
Number part, repetitive controller, PWM modulation part, inverter governor circuit and sample circuit are constituted.Wherein give sinusoidal letter
Number, repetitive controller and PWM modulation module realize that rest part is realized by inverter hardware circuit by DSP control panel.
Entire inverter control system drives the power of inverter to open by the given desired signal for needing to export of DSP after PWM modulation
The high low pulse signal of pipe is closed, realizes turn-on and turn-off.Inverter output signal is reduced into sinusoidal signal by LC filter, by
Voltage sensor and the signal datas such as required voltage and current are sampled back to DSP, then through overweight with current sensor
Input signal is corrected after multiple controller action, the control of inverter waveform tracking is realized, reduces the THD value of inverter output waveforms.
The design process of the discrete repetitive controller of inverter is given below.
Initially set up system mathematic model.Using the governor circuit of inverter, LC filter circuit and sample circuit as pair
As being modeled, following second-order difference equation model is obtained
yk+1+a1yk+a2yk-1=b1uk+b2uk-1+wk+1 (23)
Wherein, yk+1,yk,yk-1Respectively indicate k+1, k, the inverter output voltage at k-1 moment, uk,uk-1Indicate k and k-1
The control amount of moment inverter, wk+1For the uncertain characteristic of inverter system, by the institutes such as external disturbance and unmodeled characteristic group
At.System parameter a in model1,a2,b1,b2It is obtained by modelling by mechanism, specific value is as follows:
a1=-0.5775, a2=0.2804, b1=0.4102, b2=0.2589 (24)
In embodiment, the given reference signal r of inverterk+1=220sin (2 π fkTs), unit V, signal frequency is
50Hz, sampling period Ts=0.0001s, cycle reference signal 0.02s.The disturbing signal of inverter system is
Wherein, for first item for simulating the homogeneous harmonic interference signals of inverter, Section 2 is humorous for simulating inverter even
Interference wave signal, for Section 3 for simulating (fractional) harmonic interference signals between inverter, Section 4 is random disturbance signal.
Above system parameter is taken to carry out numerical simulation, for examining implementation of the discrete repetitive controller on inverter system
As a result.
1) using controller (9) and consideration interference compensation itemWhen emulation, inverter system interference is only examined
Consider homogeneous harmonic wave and even-order harmonic interference, then h1=10, h2=5, h3=0, h4=0；Controller parameter is chosen for ρ=0.5, and ε=
0.2, δ=0.5, simulation result is shown in Fig. 6.
2) using controller (9) and consideration interference compensation itemWhen emulation, inverter system interference only considers neat
Subharmonic and even-order harmonic are interfered, then h1=10, h2=5, h3=0, h4=0；Controller parameter is chosen for ρ=0.5, ε=0.2,
δ=0.5, simulation result are shown in Fig. 7.
3) using controller (9) and consideration interference compensation itemWhen emulation, inverter system interference is only
Consider homogeneous harmonic wave and even-order harmonic interference, then h1=10, h2=5, h3=0, h4=0；Controller parameter is chosen for ρ=0.5, ε
=0.2, δ=0.5, simulation result are shown in Fig. 8.
4) using controller (9) and consideration interference compensation itemWhen emulation, inverter system interference considers
Homogeneous harmonic wave, even-order harmonic interference, fractional harmonic interferes and random disturbances, then h1=10, h2=5, h3=2, h4=0.05,
It can get Δ=2.6341；Controller parameter is chosen for ρ=0.5, ε=0.2, and δ=0.5 can obtain ΔAAL=ΔSSE=3.6483；
Simulation result is shown in Fig. 9.
5) using controller (9) and consideration interference compensation itemWhen emulation, inverter system interference considers homogeneous
Harmonic wave, even-order harmonic interference, fractional harmonic interferes and random disturbances, then h1=10, h2=5, h3=2, h4=0.05, it can obtain
Obtain Δ=0.762；Controller parameter is chosen for ρ=0.5, ε=0.2, and δ=0.5 can obtain ΔAAL=ΔSSE=0.7929；Emulation
The result is shown in Figure 10.
6) using controller (9) and consideration interference compensation itemWhen emulation, inverter system interference is examined
Consider homogeneous harmonic wave, even-order harmonic interference, fractional harmonic interference and random disturbances, then h1=10, h2=5, h3=2, h4=
0.05, it can get Δ=0.2989；Controller parameter is chosen for ρ=0.5, ε=0.2, and δ=0.5 can obtain ΔAAL=0.331,
ΔSSE=0.3327；Simulation result is shown in Figure 11.
Above-mentioned Numerical Simulation Results demonstrate the discrete repetitive controller that the invention patent provides and work in 0.02s, from
Shown in Fig. 6-8, Repetitive controller can be very good to eliminate periodic disturbances (homogeneous harmonic wave and even-order harmonic interference).From Fig. 9-11 institute
Showing, the repetitive controller using equivalent interference second differnce compensation technique has bigger advantage on inhibiting fractional harmonic signal,
Steady-state error circle is smaller.
Claims (2)
1. a kind of discrete repetitive control for inverter, it is characterised in that:
1) it constructs discrete tanh and attracts rule:
Wherein, 0 < ρ < 1, ε >=0, δ > 0 are for adjusting the parameter for attracting speed；ek+1,ekIt is divided into
The tracking error at k+1, k moment, and ek=rk-yk；
In attracting rule (1), tracking error ekDynamic behaviour it is as follows: 1) whenAnd when ε > 0, tracking error will be tight
Lattice monotone convergence, it is no to buffet, alternately converged on without positive and negativeNeighborhood in；2) whenAnd when ε > 0,
Tracking error is positive and negative alternately to converge on origin by stringent absolute convergence；3) work as ekWhen ≠ 0 and ε=0, tracking error will be stringent
Monotone convergence, it is no to buffet, alternately converge on origin without positive and negative；4) work as ekWhen ≠ 0 and ε > 0, tracking error is from arbitrary initial value
e0It begins to pass throughStep passes through origin for the first time；Wherein,For not less than smallest positive integral；
2) in order to improve the rejection ability that system interferes homogeneous, even and fractional harmonic, using equivalent interference second differnce
Discrete attraction rule (1) is modified to by compensation technique
Wherein, dk+1=wk+1-wk+1-NIndicate the k+1 moment it is equivalent interference, it can be achieved that homogeneous harmonic wave and even-order harmonic inhibition；For compensating (fractional) harmonic wave and other aperiodic interference between inverter；
3) it is according to attraction rule (4) discrete repetitive controller
Wherein, uk, uk-1, uk-N, uk-1-NRespectively kth, k-1, k-N, the control input signal at k-1-N moment；yk,yk-1,
yk-1-N,yk-N,yk+1-NRespectively kth, k-1, k-1-N, k-N, the output signal at k+1-N moment；rk+1For giving for k+1 moment
Reference signal；N is the period of given reference signal；A in formula (5)1,a2,b1,b2For the system parameter of inverter, inverter
Mathematical model is as follows:
yk+1+a1yk+a2yk-1=b1uk+b2uk-1+wk+1 (6)
Wherein, yk+1,yk,yk-1For inverter k+1, k, the output signal at k-1 moment, uk,uk-1Indicate inverter k, the k-1 moment
Control input signal, a1,a2,b1,b2For system parameter；wk+1For the system interference signal at k+1 moment, including homogeneous harmonic wave, idol
Subharmonic and other m-Acetyl chlorophosphonazos and Parameter Perturbation；
4) by ukAs the control input signal of inverter, it can measure and obtain inverter system output signal yk, follow reference signal
rkVariation, and the dynamic behaviour of system tracking error is characterized by formula (4)；
5) repetitive controller (5) are used, the attraction process of system tracking error is by absolute attractable layer, steady-state error band and tracking
Error first enters 3 index characterizations such as most step numbers needed for steady-state error band, this 3 indexs can be used for instructing controller parameter
Adjusting.
2. a kind of discrete repetitive control for inverter as described in claim 1, it is characterised in that: in Repetitive controller
Under device (5) effect, equivalent interference second differnce compensation error meets
When, the expression formula of 3 indexs is as follows:
1) absolute attractable layer ΔAALIt indicates are as follows:
ΔAAL=max { ΔAAL1,ΔAAL2} (8)
In formula, ΔAAL1, ΔAAL2For positive real number, and meet
Wherein, Δ is the supremum that equivalent interference second differnce compensates error；
2) steady-state error band ΔSSEIt indicates are as follows:
ΔSSE=max { ΔSSE1,ΔSSE2,Δ} (10)
In formula, ΔSSE1, ΔSSE2For positive real number, determined by following formula
In formula, ξ is positive real number, is determined by following formula
In formula, sech () is hyperbolic secant function,
3) step number is restrained | k**|
Wherein, e0For tracking error initial value, eiFor the tracking error at the i-th moment；ψ meets
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