CN115173728A - Voltage differential control method based on fractional order repetitive control - Google Patents

Voltage differential control method based on fractional order repetitive control Download PDF

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CN115173728A
CN115173728A CN202210171308.7A CN202210171308A CN115173728A CN 115173728 A CN115173728 A CN 115173728A CN 202210171308 A CN202210171308 A CN 202210171308A CN 115173728 A CN115173728 A CN 115173728A
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voltage
current
inner ring
phase
filter
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王顺江
覃世民
王荣茂
陈晓东
王洪哲
句荣滨
崔嘉
刘广利
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Liaoyang Power Supply Co Of State Grid Liaoning Electric Power Supply Co ltd
State Grid Corp of China SGCC
Shenyang University of Technology
State Grid Liaoning Electric Power Co Ltd
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Liaoyang Power Supply Co Of State Grid Liaoning Electric Power Supply Co ltd
State Grid Corp of China SGCC
Shenyang University of Technology
State Grid Liaoning Electric Power Co Ltd
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Priority to CN202210171308.7A priority Critical patent/CN115173728A/en
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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
    • H02M7/53871—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 with automatic control of output voltage or current
    • H02M7/53873—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 with automatic control of output voltage or current with digital control
    • 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
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • H02J3/241—The oscillation concerning frequency
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/381—Dispersed generators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Inverter Devices (AREA)

Abstract

The invention belongs to the field of power electronic control, and particularly relates to a voltage differential control method based on fractional order repetitive control. The method comprises the following steps: collecting the voltage on each filter capacitor in the LC type three-phase bridge inverter; respectively processing the acquired voltage as feedback signals of the inner and outer rings; comparing the processed voltage on the filter capacitor with a voltage outer ring reference value; the value obtained after comparison outputs the reference value of the current inner ring through the outer ring PID controller; and comparing the reference value of the current inner ring with the inner ring feedback quantity of the current inner ring, performing inverse transformation through PARK and CLARKE after passing through an inner ring PID controller, and outputting six trigger signals to the LC type three-phase bridge inverter through a PWM module. The problem of poor stability and dynamic property is solved.

Description

Voltage differential control method based on fractional order repetitive control
Technical Field
The invention belongs to the field of power electronic control, and particularly relates to a voltage differential control method based on fractional order repetitive control.
Background
With the continuous consumption of traditional energy sources such as coal, petroleum, natural gas and the like, and the continuous aggravation of environmental problems. All countries in the world strive to develop new energy sources such as photovoltaic energy, wind energy, tidal energy, biomass energy and the like. How to efficiently convert new energy into energy available for people is a topic which people are trying to explore at present.
The photovoltaic power generation system mainly comprises a photovoltaic cell, a direct current booster, an inverter and a grid connection part. The inverter is the most central part of the photovoltaic power generation system and plays a role in inverting direct current generated by the photovoltaic cell panel into alternating current supplied to a load or connected to the grid. In the grid-connected inverter, the output of the grid-connected inverter is in the same phase and frequency as the voltage of a power grid. The inverter with excellent performance can meet the requirements on energy conversion and power control, and can ensure better output power quality.
The current control of the inverter mainly comprises PID control, PR control, hysteresis control, repetitive control, sliding mode control and composite control. Among them, the PID control has the advantages of simple design and mature technology, and has been widely used, but it has the disadvantage of being unable to track the ac signal; PR control, namely proportional resonance control, overcomes the defect of PID control, can realize no-static-error tracking of alternating current signals, but is greatly influenced by frequency fluctuation; the hysteresis control has faster dynamic response, better robustness and stability, but the filter design is complex; the periodic harmonic waves can be well inhibited through repeated control, but the dynamic performance is poor due to the existence of a delay link; the sliding mode control has good rapidity and interference resistance but poor steady-state performance.
Disclosure of Invention
The invention aims to solve the technical problem of providing a voltage differential control method based on fractional order repetitive control, and solving the problems of poor stability and poor dynamic property.
The present invention is achieved in such a way that,
a voltage differential control method based on fractional order repetitive control is used for controlling an LC type three-phase bridge inverter, and the method comprises the following steps:
collecting the voltage on each filter capacitor in the LC type three-phase bridge inverter;
respectively processing the acquired voltage as feedback signals of the inner ring and the outer ring;
comparing the processed voltage on the filter capacitor with a voltage outer ring reference value;
the value obtained after comparison outputs the reference value of the current inner ring through the outer ring PID controller;
and comparing the reference value of the current inner ring with the inner ring feedback quantity of the current inner ring, then carrying out PARK inverse transformation and CLARKE inverse transformation on the comparison result after the comparison result is processed by an inner ring PID controller, and outputting six paths of trigger signals to the LC type three-phase bridge inverter through a PWM module.
Further, the inner ring PID controller is connected with a repetitive controller in parallel.
Further, the voltage outer ring converts the three-phase voltage under the three-phase static coordinate system on each filter capacitor into the voltage U under the two-phase static coordinate system through CLARKE conversion alpha ,U beta Then obtaining the direct axis voltage feedback quantity U under the two-phase rotating coordinate system through PARK conversion d Sum-quadrature axis voltage feedback U q 。
Further, the air conditioner is provided with a fan,
the current inner ring performs voltage differentiation on the voltage on the filter capacitor in the DSP to obtain three-phase current, and the three-phase current is converted into direct-axis current feedback I under a two-phase static coordinate system through the inner ring PARK after being converted through CLARKE d Sum-quadrature axis current feedback quantity I q 。
Further, the voltage outer loop outputs a direct axis voltage feedback quantity U d Sum-quadrature axis voltage feedback U q Comparing with voltage outer ring reference value, outputting as inner ring current reference quantity through PID, and respectively comparing with direct axis current feedback quantity I d Sum-quadrature axis current feedback quantity I q After comparison.
Further, the voltage differentiation includes discretizing the function after collecting the filter capacitor voltage, and the voltage differentiation form is expressed as:
U dif ＝(U (k) -U (k-1) )/T
wherein U is dif For the voltage differential of the current sampling point, U (k) Is the voltage value of the current sampling point, U (k-1) Is the voltage value of the previous sampling point, and T is the sampling time
The current obtained by voltage differentiation is:
I＝C(U (k) -U (k-1) )/T＝Cf(U (k) -U (k-1) )
in the formula of U (k) Is the voltage value of the current sampling point, U (k-1) The voltage value of the previous sampling point, C the value of the capacitor, T the sampling time and f the sampling frequency.
Further onThe repetitive controller comprises a filter Q (z), a fractional delay element z -N Gain K r The leading link z m And a compensator S (z), the fractional delay element z -N Comprises the following steps:
Figure BDA0003518141420000031
where int (N) denotes the integer part of N, N d The fraction part of N is represented by,
Figure BDA0003518141420000032
a fractional part delay link;
fractional part delay element
Figure BDA0003518141420000033
The method is realized by a finite impulse response filter:
Figure BDA0003518141420000034
Figure BDA0003518141420000035
wherein D l Is the filter coefficient, M is the order of the filter, N d Representing the fractional part of N.
Further, an inner loop PARK transformation in the current inner loop sets a delay signal input.
Compared with the prior art, the invention has the beneficial effects that:
the invention introduces repetitive control on the basis of the traditional double closed loop and provides a voltage differential method to replace inner loop current, thereby improving the dynamic performance of repetitive control. In addition, aiming at the condition that the frequency of the power grid deviates and obvious errors occur in the control precision of repeated control, fractional order repeated control is applied, and a Lagrange interpolation method is adopted to carry out fractional delay link z in the repeated control -N Improvement ofWhen the block delay N is a non-integer, the repetitive control is biased.
Drawings
FIG. 1 is a bridge circuit diagram of a fractional order repetitive control based voltage differential inverter of the present invention;
FIG. 2 is a voltage current dual loop control block diagram;
FIG. 3 is a diagram of an overall control implementation of the fractional order repetitive control based voltage differential inverter of the present invention;
FIG. 4 is a voltage differential implementation schematic;
fig. 5 is a block diagram of a fractional order repetitive control structure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a voltage differential control method based on fractional order repetitive control, which is used for controlling an LC type three-phase bridge inverter and comprises the following steps:
collecting the voltage of each filter capacitor in the LC type three-phase bridge inverter;
respectively processing the acquired voltage as feedback signals of the inner and outer rings;
comparing the processed voltage on the filter capacitor with a voltage outer ring reference value;
the value obtained after comparison outputs the reference value of the current inner ring through the outer ring PID controller;
and comparing the reference value of the current inner ring with the inner ring feedback quantity of the current inner ring, then carrying out PARK inverse transformation and CLARKE inverse transformation on the reference value after passing through an inner ring PID controller, and outputting six paths of trigger signals to the LC type three-phase bridge inverter after comparing the reference value with a carrier in a PWM module.
Referring to fig. 1, in a photovoltaic inverter system, an LC-type three-phase bridge inverter mainly includes 6 switching tubes V 1 ,V 2 ,V 3 ,V 4 ,V 5 ,V 6 6 anti-parallel diodes VD 1 ,VD 2 ,VD 3 ,VD 4 ,VD 5 ,VD 6 The filter circuit is composed of three inductors L 1 ,L 2 ,L 3 And capacitors C connected in parallel with the inductors respectively 1 ,C 2 ,C 3 In FIG. 1, PV is a photovoltaic panel, C d The direct current side is connected with a large capacitor in parallel.
In fig. 1, the output of the inverter is connected to the grid via an LC filter, the grid voltage being U G The current flowing through the inverter side inductor L is i L The voltage of the capacitor C is U C The double-loop control block diagram is shown in fig. 2: u in the figure ref For voltage outer loop reference value, output voltage U by means of feedback quantity o Comparing, and outputting the reference value i of the current inner loop through the PID controller ref ，i ref After being compared with the feedback quantity of the inner ring, the output voltage U of the AC side of the inverter is obtained by a PID controller inv ，U inv Minus the output voltage U o I.e. the voltage across the filter inductor L, and then divided by the inductive reactance of L to obtain the current i flowing through L L ，i L Reducing the grid side current i G The current flowing through the filter capacitor C is obtained, then i c Multiplying the capacitance reactance to obtain an output voltage signal U o 。
The overall control of the inverter is realized as shown in fig. 3. Collecting filter capacitor C 1 ,C 2 ,C 3 Voltage U on A ,U B ,U C The voltage outer ring converts the U under the three-phase static coordinate system through CLARKE A ,U B ,U C Converted into U under two-phase static coordinate system alpha ,U beta Then obtaining the direct axis feedback quantity U and the quadrature axis feedback quantity U under the two-phase rotating coordinate system through PARK conversion respectively d ，U q . A filter capacitor C is passed in the current inner loop 1 ,C 2 ,C 3 Voltage U on A ,U B ,U C Implementing voltage differentiation in DSP to obtain current I A ,I B ,I C . In order to be able to suppress the periodic harmonics better, a Repetitive Controller (RC) is connected in parallel with the PID controller in the inner loop. Because in the repetitive control system, an inner loop and an outer loop exist in PARK conversionThe difference is that a delay element is added in the inner loop PARK transformation. U shape dref ，U qref Respectively, voltage ring reference voltages, and the outer ring PID output is used as an inner ring current reference. And finally, the double-ring control output signal under the two-phase rotating coordinate system is subjected to PARK inverse transformation and CLARKE inverse transformation to become an output signal under the three-phase static coordinate system, and the output signal is compared with the carrier wave in the PWM module to output six paths of trigger signals to the inverter.
For a grid-connected inverter, how to obtain higher voltage quality is often a problem that designers need to fight. In fig. 2, a repetitive controller RC is adopted, and since it includes an internal model of fundamental frequency of any periodic number and its multiple subharmonic signal, it can implement non-static tracking on the periodic signal, which makes it have good effect of suppressing the periodic harmonic. However, according to the control characteristics of the repetitive controller, because a period of control deviation is superimposed, the output amount tends to lag by one period, and the dynamic performance is poor. In order to solve the problem, the invention provides a method for increasing the voltage difference, and the dynamic performance is improved by increasing the damping ratio.
The differential of the capacitor voltage is adopted to replace the traditional capacitor current as a feedback quantity, and the form of a feedback compensator is as follows:
Figure BDA0003518141420000061
wherein s is a Laplace operator, and A, B and C are all set coefficients.
Under the action of G(s), the system transfer function with feedback compensation is as follows:
Figure BDA0003518141420000062
wherein ω is n The natural frequency, ζ is the damping coefficient, s is the laplacian, and a, B, and C are all set coefficients.
The discrete model of G(s) is then:
Figure BDA0003518141420000063
wherein
Figure BDA0003518141420000064
T is the sampling time, and T is the sampling time,
from the above it can be seen that the model in the continuous domain using the capacitor voltage differential instead of the capacitor current is a third order system. G (z) has three free parameters a 1 ,a 2 ,a 3 The pole positions can be freely arranged within the unit period of the z-domain. It is also stated that the dynamic performance of the repetitive controller can be improved by using the capacitor voltage differential.
To achieve voltage differentiation, a continuous function needs to be discretized. If it is desired to solve for the voltage differential at Q, as in fig. 4, then a point P close to Q needs to be found. In this figure the expression for the signal differential is
Figure BDA0003518141420000071
Step 2.5: after the filter capacitor voltage is collected, the function is discretized, and the voltage differential form can be expressed as:
U d ＝(U (k) -U (k-1) )/T
the traditional current feedback is replaced by voltage differentiation, and the current expression is approximately as follows:
I＝C(U (k) -U (k-1) )/T＝Cf(U (k) -U (k-1) )
in the formula of U (k) Is the voltage value of the current sampling point, U (k-1) The voltage value of the previous sampling point, C the value of the capacitor, T the sampling time and f the sampling frequency.
And constructing fractional order repetitive control aiming at the defects of the power grid frequency deviation and the integer order repetitive control. In the invention, the periodic harmonic can be effectively inhibited by adopting the repetitive control, and the problem of poor dynamic performance caused by adopting the repetitive control is solved, but when the frequency of the power grid deviates in a small range,will result in a delay of N = f 0 /f s (wherein f 0 Is the fundamental frequency f s Sampling frequency) is no longer an integer. When N = f 0 /f s When not an integer:
N＝int(N)+N d
where int (N) represents the integer part of N, N d Representing the fractional part of N.
This will cause a significant error in the control accuracy of the repetitive control, causing distortion in its output voltage/current waveform. In order to be able to effectively solve such a problem, the present invention proposes to apply fractional order repetitive control to the grid-connected inverter. The structural block diagram is shown in fig. 5.
Compared with integer repetitive control, the fractional order repetitive control structure provided by the invention comprises a filter Q (z) and a gain K r The leading link z m And a compensator S (z) for improving the fractional delay element z -N The problem that the repeated control is deviated when the delay N is a non-integer is solved.
The fractional delay element can be further written as:
Figure BDA0003518141420000072
wherein int (N) represents the integer part of N, N d Representing the fractional part of N.
Fractional part delay elements, i.e.
Figure BDA0003518141420000081
This may be approximated by a finite impulse response Filter (FIR). To obtain the coefficients of the FIR, lagrange interpolation is used:
Figure BDA0003518141420000082
Figure BDA0003518141420000083
wherein
Figure BDA0003518141420000084
Fractional part delay element, D l Is the filter coefficient, M is the order of the filter, N d Representing the fractional part of N.
It can be seen from the equation that the fractional delay is higher when the order M of the filter is higher
Figure BDA0003518141420000085
It is more approximate. Interpolation point N d Approaching M/2, N d The interpolation effect is best when the interpolation is near the center of the averaging window.
In the present invention the sampling frequency is f s =10KHZ, if f 0 If =50.38KHZ, the delay is N =198.5, and the fractional delay element is z -N ≈z -198.5 ＝z -197 ·z -1.5 . Let order M =3,N of filter d The fractional delay part can be obtained when approaching M/2:
z -1.5 ≈-0.0625+0.5625z -1 +0.5625z -2 +0.0625z -3
it is possible to obtain:
z -198.5 ＝z -197 ·z -1.5 ＝-0.0625z -197 +0.5625z -198 +0.5625z -199 +0.0625z -200
it can be seen that the discrete model of the invention adopting the capacitance voltage differential to replace the capacitance current is a three-order system, and the pole position can be freely configured in the unit period of the z-domain, so the dynamic performance of the repetitive controller can be improved by adopting the capacitance voltage differential. In addition, fractional order repetitive control is introduced, the problem that delay N is not an integer is effectively solved, and when the frequency of a power grid deviates, the voltage quality can be better compared with the traditional repetitive control.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (8)

1. A voltage differential control method based on fractional order repetitive control is used for controlling an LC type three-phase bridge inverter, and is characterized by comprising the following steps:
collecting the voltage on each filter capacitor in the LC type three-phase bridge inverter;
respectively processing the acquired voltage as feedback signals of the inner and outer rings;
comparing the processed voltage on the filter capacitor with a voltage outer ring reference value;
the value obtained after comparison outputs the reference value of the current inner ring through the outer ring PID controller;
and comparing the reference value of the current inner ring with the inner ring feedback quantity of the current inner ring, then carrying out PARK inverse transformation and CLARKE inverse transformation on the comparison result after the comparison result is processed by an inner ring PID controller, and outputting six paths of trigger signals to the LC type three-phase bridge inverter through a PWM module.
2. The method of claim 1, wherein the inner loop PID controller is connected in parallel with a repetitive controller.
3. Method according to claim 2, characterized in that the voltage outer loop converts the three-phase voltage in the three-phase stationary coordinate system on each filter capacitor into a voltage U in the two-phase stationary coordinate system by a CLARKE transformation alpha ,U beta Then obtaining the direct axis voltage feedback quantity U under the two-phase rotating coordinate system through PARK conversion d Sum-quadrature axis voltage feedback U q 。
4. The method of claim 3,
the current inner ring performs voltage differentiation on the voltage on the filter capacitor in the DSP to obtain three-phase current, and the three-phase current is converted into direct-axis current feedback quantity I under a two-phase static coordinate system through CLARKE and then through the inner ring PARK d Sum-quadrature axis current feedback quantity I q 。
5. The method of claim 4,
direct axis voltage feedback quantity U of voltage outer loop output d Sum-quadrature axis voltage feedback U q Comparing with voltage outer ring reference value, outputting as inner ring current reference quantity through PID, and respectively comparing with direct axis current feedback quantity I d Sum-quadrature axis current feedback quantity I q After comparison.
6. The method of claim 4, wherein said voltage differential includes discretizing the function after acquiring the filter capacitor voltage, the voltage differential form of which is expressed as:
U dif ＝(U (k) -U (k-1) )/T
wherein U is dif For the voltage differential of the current sampling point, U (k) Is the voltage value of the current sampling point, U (k -1) is the voltage value of the previous sampling point, T is the sampling time
The current obtained by voltage differentiation is:
I＝C(U (k) -U (k-1) )/T＝Cf(U (k) -U (k-1) )
in the formula of U (k) Is the voltage value of the current sampling point, U (k-1) The voltage value of the previous sampling point, C the value of the capacitor, T the sampling time and f the sampling frequency.
7. The method of claim 2, wherein the repetition controller comprises a filter Q (z), a fractional delay element z -N Gain K r Lead link z m And a compensator S (z), the fractional delay element z -N Comprises the following steps:
Figure FDA0003518141410000021
where int (N) denotes the integer part of N, N d The fraction part of N is represented by,
Figure FDA0003518141410000025
a fractional part delay link;
fractional part delay element
Figure FDA0003518141410000024
The method is realized by a finite impulse response filter:
Figure FDA0003518141410000022
Figure FDA0003518141410000023
wherein D l Is the filter coefficient, M is the order of the filter, N d Representing the fractional part of N.
8. A method according to claim 3, wherein the inner loop PARK transformation in the inner loop of current sets a delay signal input.
CN202210171308.7A 2022-02-24 2022-02-24 Voltage differential control method based on fractional order repetitive control Pending CN115173728A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117833698A (en) * 2024-03-05 2024-04-05 国网湖北省电力有限公司 Energy router bridge arm current control method based on period observer

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117833698A (en) * 2024-03-05 2024-04-05 国网湖北省电力有限公司 Energy router bridge arm current control method based on period observer

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