CN110880881B - Electric energy quality control method of four-bridge arm inverter and embedded repetitive controller thereof - Google Patents
Electric energy quality control method of four-bridge arm inverter and embedded repetitive controller thereof Download PDFInfo
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- CN110880881B CN110880881B CN201911340548.XA CN201911340548A CN110880881B CN 110880881 B CN110880881 B CN 110880881B CN 201911340548 A CN201911340548 A CN 201911340548A CN 110880881 B CN110880881 B CN 110880881B
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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
- H02M7/505—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 thyratron or thyristor type requiring extinguishing means
- H02M7/515—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 thyratron or thyristor type requiring extinguishing means using semiconductor devices only
- H02M7/525—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 thyratron or thyristor type requiring extinguishing means using semiconductor devices only with automatic control of output waveform or frequency
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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
- H02M7/539—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 with automatic control of output wave form or frequency
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/40—Arrangements for reducing harmonics
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- Engineering & Computer Science (AREA)
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- Inverter Devices (AREA)
Abstract
The invention discloses an embedded repetitive controller, which adopts an odd harmonic repetitive controller or an even harmonic repetitive controller to carry out repetitive control. The embedded repetitive controller can effectively reduce data storage capacity and processing capacity, and not only can effectively inhibit disturbance of each harmonic wave but also can make up the problem of insufficient dynamic response capability of repetitive control under the combined action of the embedded repetitive controller and the existing PID controller. The invention also provides a power quality control method of the four-bridge arm inverter.
Description
Technical Field
The invention relates to the inverter control technology, in particular to a power quality control method of a four-leg inverter and an embedded repetitive controller thereof.
Background
As an important carrier for the application of distributed power generation technology, micro-grid technology has received much attention. The three-phase inverter is used as a key interface circuit in the microgrid and plays a decisive role in the power quality of the microgrid. However, as the complexity of the load increases, the unbalanced load and the nonlinear load in the microgrid may adversely affect the waveform quality of the output voltage of the three-phase inverter, causing a three-phase voltage imbalance problem and a voltage distortion problem.
For a four-leg inverter under a synchronous rotating coordinate system, no matter unbalanced load or nonlinear load, disturbance which changes in a sine rule is generated in output voltage. In order to improve the voltage output characteristics of the four-arm inverter under such load conditions, it is necessary to improve the suppression capability of the four-arm inverter for the voltage disturbance caused by the load from the viewpoint of a control system. The traditional PID controller has poor inhibition effect on disturbance signals with sine regular change, while the existing repetitive controller has high-precision steady-state characteristic and can solve the problem that the periodic disturbance signals introduced by the load in a control system have insufficient inhibition capability, but the existing repetitive controller adopts a digital internal modelIs composed of
According to the amplitude-frequency characteristic, the gain of the existing repetitive controller at the fundamental frequency and all sub-multiples (below the Nyquist frequency) of an error signal is infinite, and the amplitude-frequency characteristic ensures that the existing repetitive controller can perform non-static tracking on all odd-even sub-harmonics below the Neissian frequency, but 2N data storage units in the repetitive controller are occupied, and a large amount of data storage and processing are occupied.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides an embedded repetitive controller which can effectively reduce data storage capacity and processing capacity, can effectively inhibit the disturbance of each harmonic wave under the combined action with the existing PID controller, and can make up the problem of insufficient dynamic response capability of repetitive control.
The invention also provides a power quality control method of the four-bridge arm inverter.
The technical problem to be solved by the invention is realized by the following technical scheme:
an embedded repetitive controller for repetitive control by odd-order harmonic repetitive controller or even-order harmonic repetitive controller
The mathematical internal model of the odd harmonic repetition controller in the discrete form is as follows:
the mathematical internal model of the even harmonic repetitive controller in a discrete form is as follows:
in the formulae (1) and (2),
is the frequency of the fundamental wave and is,
in order to be able to sample the frequency,
is the number of samples per fundamental period.
Further, the discrete transfer function of the odd harmonic repetition controller is as follows:
in the formula (3), the reaction mixture is,
in order to repeatedly control the amount of gain,
in order to be a low-pass filtering model,
a phase lead compensation model.
Further, if an odd harmonic repetitive controller is adopted, the output Y (z) of the embedded repetitive controller and the reference R (z) satisfy the following formula:
and the output quantity Y (z) and the disturbance quantity D (z) satisfy the following formula:
in the formulae (4) and (5),
is a PID control model and is characterized in that,
is a model of the system of the object being controlled,
a closed loop transfer function for the inline repetition controller without regard to the odd harmonic repetition controller;
the stability of the embedded repetitive controller needs to meet the following conditions:
condition 1: the embedded repetitive controller is a stable system under the condition of not considering the odd harmonic repetitive controller;
condition 2: the following formula is satisfied:
further, the discrete transfer function of the even harmonic repetition controller is as follows:
in the formula (4), the reaction mixture is,
in order to repeatedly control the amount of gain,
in order to be a low-pass filtering model,
a phase lead compensation model.
Further, if an even harmonic repetitive controller is adopted, the output Y (z) of the embedded repetitive controller and the reference R (z) satisfy the following formula:
and the output quantity Y (z) and the disturbance quantity D (z) satisfy the following formula:
in the formulae (7) and (8),
in order to be a PID control model,
is a system model of the controlled object that,
a closed loop transfer function for the inline repetition controller without regard to the even harmonic repetition controller;
the stability of the embedded repetitive controller needs to meet the following conditions:
condition 1: the embedded repetitive controller is a stable system under the condition that the even harmonic repetitive controller is not considered;
condition 2: the following formula is satisfied:
further, the closed loop transfer function of the embedded repetitive controller without considering the repetitive control is as follows:
a method for repeatedly controlling the power quality of a four-bridge-arm inverter is characterized in that under a synchronous rotation coordinate system dq0, as shown in figure 3, a current-voltage double closed-loop control system is adopted to control a d-axis signal, a q-axis signal and a 0-axis signal output by the four-bridge-arm inverter; the voltage outer ring of the d-axis decoupling and q-axis structure of the current-voltage double closed-loop control system adopts the embedded repetitive controller adopting the even harmonic repetitive controller, and the voltage outer ring of the 0-axis decoupling of the current-voltage double closed-loop control system adopts the embedded repetitive controller adopting the odd harmonic repetitive controller.
Further, the current-voltage double closed-loop control system comprises:
under the condition of not considering the action of the embedded repetitive controller, designing PID controller parameters in the current-voltage double closed-loop control system in a continuous time domain, and ensuring that the current-voltage double closed-loop control system has larger relative stability margin and good dynamic characteristics;
discretizing the system model designed in the previous step, introducing the discretized system model into the embedded repetitive controller, and designing parameters of the embedded repetitive controller on the premise of ensuring the stability of the current-voltage double closed-loop control system.
The invention has the following beneficial effects:
compared with the existing repetitive controller, the odd harmonic repetitive controller and the even harmonic repetitive controller only need to occupy half of the storage space of data amount in the implementation process of the algorithm, and the operation amount is also reduced by half, so that the data storage amount and the processing amount can be effectively reduced.
According to the scheme, the odd harmonic repetitive controller is adopted to control d-axis signals and q-axis signals of the four-bridge arm inverter, the even harmonic repetitive controller is adopted to control 0-axis signals of the four-bridge arm inverter, and the even harmonic repetitive controller and the existing PID controller act together, so that not only can disturbance of each harmonic be effectively inhibited, but also the problem of insufficient dynamic response capability of repetitive control can be solved.
Drawings
FIG. 1 is a diagram of an embedded repetitive controller of an odd harmonic repetitive controller according to the present invention;
FIG. 2 is a diagram of an embedded repetitive controller of an even harmonic repetitive controller according to the present invention;
fig. 3 is an architecture diagram of a power quality control system of a four-leg inverter according to the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Example one
An embedded repetitive controller adopts an odd harmonic repetitive controller or an even harmonic repetitive controller for repetitive control, wherein
The mathematical internal model of the odd harmonic repetition controller in the discrete form is as follows:
the mathematical internal model of the even harmonic repetitive controller in a discrete form is as follows:
in the formulae (1) and (2),
is the frequency of the fundamental wave and is,
in order to be able to sample the frequency,
is the number of samples per fundamental period.
As can be seen from the above equation (1), the amplitude-frequency characteristic of the odd harmonic repetitive controller has infinite gain only at the fundamental wave signal and its odd frequency multiplication signal, and thus acts only on the odd harmonic signal. In addition, as can be seen from the above equation (1), compared with the existing repetitive controller, the odd-order harmonic repetitive controller only needs to occupy a storage space of half of the data amount in the implementation process of the algorithm, and the computation amount is also reduced by half, so that the data storage amount and the processing amount can be effectively reduced.
Similarly, as can be seen from equation (2) above, the amplitude-frequency characteristic of the even harmonic repetition controller has an infinite gain only at the even multiplied frequency signal, and thus only works for the even harmonic signal. In addition, the form of the mathematical internal model in the above equation (2) is very similar to that of the conventional repetitive controller, and the difference between the two is only the number of times z, which can be regarded as doubling the number of fundamental waves of the conventional repetitive controller, so that it is only necessary to store and calculate half the amount of data as compared with the conventional repetitive controller, as in the odd harmonic repetitive controller in the equation (1).
As shown in fig. 1, the odd harmonic repetitive controller includes a repetitive control gain module, a reverse addition ring, an internal model delay module, a low-pass filter module, and a phase lead compensator module, wherein an output end of the repetitive control gain module is connected to an input end of the reverse addition ring, an output end of the reverse addition ring is connected to an input end of the internal model delay module, an output end of the internal model delay module is connected to an input end of the low-pass filter module, and output ends of the low-pass filter module are respectively connected to another input end of the reverse addition ring and an input end of the phase lead compensator module.
The discrete transfer function of the odd harmonic repetition controller is as follows:
as shown in fig. 2, the even harmonic repetitive controller includes a repetitive control gain module, a first summing ring, an internal model delay module, a low-pass filter module and a phase lead compensator module, an output end of the repetitive control gain module is connected to an input end of the first summing ring, an output end of the first summing ring is connected to an input end of the internal model delay module, an output end of the internal model delay module is connected to an input end of the low-pass filter module, and output ends of the low-pass filter module are respectively connected to another input end of the first summing ring and an input end of the phase lead compensator module.
The discrete transfer function of the even harmonic repetition controller is as follows:
in the formulae (3) and (6),
in order to repeatedly control the amount of gain,
in order to be a low-pass filtering model,
a phase lead compensation model.
The embedded repetitive controller also comprises a subtraction loop, a second addition loop, a PID controller module and a third addition loop, wherein the output end of the subtraction loop is respectively connected with the input end of the odd harmonic repetitive controller or the even harmonic repetitive controller and one input end of the second addition loop, the output end of the odd harmonic repetitive controller or the even harmonic repetitive controller is connected with the other input end of the second addition loop, the output end of the second addition loop is connected with the input end of the PID controller module, the output end of the PID controller module is connected with one input end of the third addition loop through a controlled object, and the output end of the third addition loop is connected with the negative input end of the subtraction loop; a reference signal is input to the positive input end of the subtraction loop; and the other input end of the third addition ring inputs a disturbance signal, and the output end of the third addition ring outputs an output signal.
The adder loop is used for adding the two input signals and outputting the added signals, the inverse adder loop is used for inversely adding the two input signals and outputting the added signals, and the subtractor loop is used for subtracting the two input signals and outputting the subtracted signals.
If the embedded repetitive controller adopts the odd harmonic repetitive controller as shown in fig. 1, the output Y (z) and the reference R (z) satisfy the following formula:
and the output quantity Y (z) and the disturbance quantity D (z) satisfy the following formula:
in the formulae (4) and (5),
in order to be a PID control model,
is a system model of the controlled object that,
a closed loop transfer function for the inline repetition controller without regard to the odd harmonic repetition controller.
The stability of the embedded repetitive controller needs to meet the following conditions:
condition 1: the embedded repetitive controller is a stable system under the condition of not considering the odd harmonic repetitive controller;
condition 2: the following formula is satisfied:
if the embedded repetitive controller adopts even harmonic repetitive controller as shown in fig. 2, the output Y (z) and the reference R (z) satisfy the following formula:
and the output quantity Y (z) and the disturbance quantity D (z) satisfy the following formula:
in the formulae (7) and (8),
is a PID control model and is characterized in that,
is a system model of the controlled object that,
a closed loop transfer function for the inline repetition controller without regard to the even harmonic repetition controller;
also, the inline repetitive controller stabilization may satisfy the following condition:
condition 1: the embedded repetitive controller is a stable system under the condition of not considering the even harmonic repetitive controller;
condition 2: the following formula is satisfied:
the two conditions 1 above are equivalent to requiring that all feature roots of the inline repetitive controller are inside the unit circle. Because the constraint of the condition 1 does not relate to the odd harmonic repetitive controller or the even harmonic repetitive controller, the parameter setting process of the embedded repetitive controller is greatly facilitated: the parameters of the PID controller can be designed preferentially without considering the odd harmonic repetitive controller or the even harmonic repetitive controller, and the design and setting of the parameters of the odd harmonic repetitive controller or the even harmonic repetitive controller can be finished on the premise of ensuring the stability of the system.
The two above conditions 2 require the inline repetitive controller to ensure that the nyquist curve of T (z) is always inside the unit circle below the nyquist frequency. The stability criterion of the embedded repetitive controller respectively restricts the parameter design of the PID controller and the odd harmonic repetitive controller or the even harmonic repetitive controller.
Due to the structural similarity, the embedded repetitive controller basically has no great difference in stability analysis, parameter adjustment and the like no matter the embedded repetitive controller is adopted or the embedded repetitive controller is adopted even harmonic repetitive controller, so that great burden is not added to a designer in the practical application process. And the odd harmonic repetition controller and the even harmonic repetition controller can respectively inhibit the harmonic of specific frequency, fully utilize the amplitude-frequency characteristic of high gain of the corresponding frequency band, reduce the data task amount and provide certain help for accelerating the error convergence speed.
The closed loop transfer function of the embedded repetitive controller without considering the repetitive control is as follows:
example two
Under a synchronous rotation coordinate system dq0, as shown in fig. 3, a current-voltage double closed-loop control system is adopted to control a d-axis signal, a q-axis signal and a 0-axis signal output by the four-bridge arm inverter; the voltage outer ring of the d-axis decoupling and q-axis structure of the current-voltage double closed-loop control system adopts the embedded repetitive controller adopting the even-order harmonic repetitive controller in the first embodiment, and the voltage outer ring of the 0-axis decoupling of the current-voltage double closed-loop control system adopts the embedded repetitive controller adopting the odd-order harmonic repetitive controller in the first embodiment.
According to the application rule of the influence of load characteristics on the output voltage of the four-bridge-arm inverter, the method is correspondingly improved based on a repetitive control method and by combining the characteristics of a control system, even harmonics are suppressed by an even harmonic repetitive controller for d-axis decoupling and q-axis decoupling of the current-voltage double closed-loop control system, odd harmonics are suppressed by an odd harmonic repetitive controller on 0-axis decoupling, disturbance voltage which changes in a sine rule under each shafting is effectively suppressed, the problems of unbalance of three-phase voltage output and distortion of the output voltage of the four-bridge-arm inverter are solved, the data storage amount and the processing amount of a repetitive control algorithm are reduced, the convergence speed of tracking errors is accelerated, and the dynamic performance of the system is improved.
Meanwhile, the embedded repetitive controller is adopted by the voltage outer ring on each shaft decoupling of the current-voltage double closed-loop control system, and the embedded structure enables the embedded repetitive controller to act together with the PID controller in the current-voltage double closed-loop control system, so that the disturbance of each subharmonic can be effectively inhibited, the problem of insufficient dynamic response capability of repetitive control can be solved, the dynamic regulation speed of the current-voltage double closed-loop control system is accelerated through the action of the current inner ring, and the disturbance resistance capability is enhanced.
As shown in fig. 3, the delay effect in the modulation process is ignored, and the mathematical model of the modulation link is simplified into a proportional link
。
And
respectively, a voltage regulator and a current regulator,
representing a repetitive controller.
According to the control block diagram and the conclusion of the stability analysis part of the repetitive control system, the design work of the whole control system can be divided into two steps: firstly, designing PID controller parameters in the current-voltage double closed-loop control system in a continuous time domain without considering the action of the embedded repetitive controller, and ensuring that the current-voltage double closed-loop control system has larger relative stability margin and good dynamic characteristics; and then discretizing the system model designed in the previous step, introducing the embedded repetitive controller, and designing parameters of the embedded repetitive controller on the premise of ensuring the stability of the current-voltage double closed-loop control system.
The above embodiments only express the embodiments of the present invention, and the description is specific and detailed, but it should not be understood as the limitation of the patent scope of the present invention, but all the technical solutions obtained by using the equivalent substitution or the equivalent transformation should fall within the protection scope of the present invention.
Claims (7)
1. The electric energy quality repetitive control method of the four-bridge arm inverter is characterized in that under a synchronous rotation coordinate system dq0, a current-voltage double closed-loop control system is adopted to control a d-axis signal, a q-axis signal and a 0-axis signal output by the four-bridge arm inverter; the voltage outer ring of the d-axis decoupling and q-axis structure of the current-voltage double closed-loop control system adopts an embedded repetitive controller of an even harmonic repetitive controller, and the voltage outer ring of the 0-axis decoupling of the current-voltage double closed-loop control system adopts an embedded repetitive controller of an odd harmonic repetitive controller; wherein
The mathematical internal model of the odd harmonic repetition controller in the discrete form is as follows:
the mathematical internal model of the even harmonic repetitive controller in the discrete form is as follows:
in the formulae (1) and (2),
is the frequency of the fundamental wave and is,
in order to be able to sample the frequency,
is the number of samples per fundamental period.
2. The power quality repetitive control method of the four-leg inverter according to claim 1, wherein the discrete transfer function of the odd harmonic repetitive controller is as follows:
in the formula (3), the reaction mixture is,
in order to repeatedly control the amount of gain,
in order to be a low-pass filtering model,
a phase lead compensation model.
3. The method of claim 2, wherein if an odd harmonic repetitive controller is adopted, the output Y (z) of the embedded repetitive controller and the reference R (z) satisfy the following formula:
and the output quantity Y (z) and the disturbance quantity D (z) satisfy the following formula:
in the formulae (4) and (5),
is a PID control model and is characterized in that,
is a system model of the controlled object that,
a closed loop transfer function for the embedded repetitive controller without considering the odd harmonic repetitive controller;
the stability of the embedded repetitive controller needs to meet the following conditions:
condition 1: the embedded repetitive controller is a stable system under the condition that the odd harmonic repetitive controller is not considered;
condition 2: the following formula is satisfied:
4. the power quality repetitive control method of the four-leg inverter according to claim 1, wherein the discrete transfer function of the even harmonic repetitive controller is as follows:
in the formula (4), the reaction mixture is,
in order to repeatedly control the amount of gain,
in order to be a low-pass filtering model,
a phase lead compensation model.
5. The method of claim 4, wherein if an even harmonic repetitive controller is adopted, the output Y (z) of the embedded repetitive controller and the reference R (z) satisfy the following formula:
and the output quantity Y (z) and the disturbance quantity D (z) satisfy the following formula:
in the formulae (7) and (8),
is a PID control model and is characterized in that,
is a model of the system of the object being controlled,
a closed loop transfer function for the inline repetition controller without regard to the even harmonic repetition controller;
the stability of the embedded repetitive controller needs to satisfy the following conditions:
condition 1: the embedded repetitive controller is a stable system under the condition of not considering the even harmonic repetitive controller;
condition 2: the following formula is satisfied:
6. the power quality repetitive control method of the four-leg inverter according to claim 3 or 5, characterized in that the closed-loop transfer function of the embedded repetitive controller without considering repetitive control is as follows:
7. the repetitive power quality control method for the four-leg inverter according to claim 1, wherein the current-voltage dual closed-loop control system comprises:
under the condition of not considering the action of the embedded repetitive controller, designing PID controller parameters in the current-voltage double closed-loop control system in a continuous time domain, and ensuring that the current-voltage double closed-loop control system has larger relative stability margin and good dynamic characteristics;
discretizing the system model designed in the previous step, introducing the discretized system model into the embedded repetitive controller, and designing parameters of the embedded repetitive controller on the premise of ensuring the stability of the current-voltage double closed-loop control system.
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| CN106647332A (en) * | 2017-01-06 | 2017-05-10 | 南通华为电力设备有限公司 | Electric vehicle bidirectional charging discharging system design method |
| CN109217361A (en) * | 2018-08-20 | 2019-01-15 | 江苏大学 | A kind of novel photovoltaic grid-connected inverter composite control method based on OSAP and improvement bi-mode control |
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| CN106647332A (en) * | 2017-01-06 | 2017-05-10 | 南通华为电力设备有限公司 | Electric vehicle bidirectional charging discharging system design method |
| CN109217361A (en) * | 2018-08-20 | 2019-01-15 | 江苏大学 | A kind of novel photovoltaic grid-connected inverter composite control method based on OSAP and improvement bi-mode control |
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| Plug-In Dual-Mode-Structure Repetitive Controller for CVCF PWM Inverters;Keliang Zhou, et al;《IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS》;20090331;第56卷(第3期);第784-791页 * |
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