An Updated View of Linear Inverter Current Regulation

Prof T. Prof. T A. A Lipo

University of Wisconsin Madison Wisconsin

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Outline
1. 1 2. 3. 4. 5. 6 6. 7. 8. 9 9. Brief B i f History Hi t of f the th Need N df for C Current tR Regulation l ti Control Strategies for Current Regulation Traditional Regulator Design Effect of Sampling DC Current Regulation with Three Classical Approaches Application to AC Current Regulation Optimized AC Current Regulation Resonant AC Current Regulation Concl sion Conclusion

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Outline

2. 3. 4. 5 5. 6. 7. 8 8. 9.

Control Strategies for Current Regulation Traditional Regulator Design Effect of Sampling DC Current Regulation with Three Classical Approaches Application to AC Current Regulation Optimized AC Current Regulation Resonant AC Current C rrent Regulation Reg lation Conclusion

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A Bit of History
Control Prior to 1969 1969 K. Hasse University of Darmstadt 1971 Felix Blaschke of Siemens Transvector Control 1984 Dave Brod (UW-MS) and Don Novotny 1985/6 Tim Rowan (UW-PhD) and Russ Kerkman ~1990 Field Oriented Control Takes Off

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Field Oriented Control Principle

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F.O.C. Block Diagram

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Outline
1 Brief 1. B i f History Hi t of f the th N Need df for C Current tR Regulation l ti 3. 4. 5. 6 6. 7. 8. 9 9. Traditional Regulator Design Effect of Sampling DC Current Regulation with Three Classical Approaches Application to AC Current Regulation Optimized AC Current Regulation Resonant AC Current Regulation Concl sion Conclusion

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The Family of Current Regulation Techniques

Current Regulation

Linear

Non-Linear

Stator Frame

Synchronous Frame

Hysteresis

D db Deadbeat

FANGS

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Typical FANGS Paper

Recurrent Recurrent Functional-Link-Based Functional Link Based Fuzzy-Neural-Network Fuzzy Neural Network Controlled Induction Generator System Using Improved Particle Swarm Optimization IEEE Trans. On Industrial Electronics, May 2009

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Outline
1. Brief 1 B i f History Hi t of f the th N Need df for C Current tR Regulation l ti 2. Control Strategies for Current Regulation 4. 5. 6 6. 7. 8. 9 9. Effect of Sampling DC Current Regulation with Three Classical Approaches Application to AC Current Regulation Optimized AC Current Regulation Resonant AC Current Regulation Concl sion Conclusion

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System Parameters

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Zero Location and the Root Locus

Open Loop Zero Open Loop Poles

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Unit Step Response for 6 Different Zero Locations z = p, System Syste Pole o e p = 60 60 (sec (sec 1). Closed C osed Loop oop Dominant o a t Pole Fixed at 10/T = 600 (sec1)

= 0.1

= 0.3

05 = 0.5

= 0.7

=1

=2

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Per unit current step response as a function of time, , kp = 22.8, , ki = 10800, , a = 0.1267

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Outline
1. Brief 1 B i f History Hi t of f the th N Need df for C Current tR Regulation l ti 2. Control Strategies for Current Regulation 3. Traditional Regulator Design 5. 6 6. 7. 8. 9 9. DC Current Regulation with Three Classical Approaches Application to AC Current Regulation Optimized AC Current Regulation Resonant AC Current Regulation Concl sion Conclusion

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Basic Digital Control System

Digital Controller - Delay Ts x(t) x(kTs) Ts + _ u(t) = Vdc t-T Ts/2 ) d Md (t y(t)

M (t) (kTs) Difference Eqs M C/DC u(t) Plant ZO H&D /A d D Gd(s) Conv. Gc(z) Gp(s)

C lock
y' (kT ) y s

Delay Ts /2 Gain V dc
y(t-Tfb ) Ts

A/D

Sensor H(s)

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Transport and Sampling Delay Caused by the PWM Process and Digital Controller Sampling/Computation
Ts

Ts /2

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Equivalent Block Diagram

Sample D l Delay
sT 2 e s

E( s)

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Amplitude and Phase of Sample Delay Effect

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Effects of Sampling in Bode Domain

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Step Response in Per Unit Showing Effect of Sample Delay, y, System y Pole Moved From 60 s1 to 600 s1

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Outline
1. 1 2. 3. 4. Brief B i f History Hi t of f the th N Need df for C Current tR Regulation l ti Control Strategies for Current Regulation Traditional Regulator Design Effect of Sampling

6. 7. 8 8. 9.

Application to AC Current Regulation Optimized AC Current Regulation Resonant AC Current C rrent Regulation Reg lation Conclusion

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Classical Control Design Methods

Root Locus Bode Plot Symmetrical Optimum

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Root Locus

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Current Regulator Block Diagram Including Effects of Sampling

PI Regulator R l

D l Delay

Plant

I(s)* +

Ki K + -- V p s dc

M( s )

1 --------1+ T s
d

Md (s)=V(s)

1 ------------R (1 + T p s )

I(s)

I(s)

Gc

Gd

Gp

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Root Locus Plots of System with a PI Controller with Plant Pole at 1/T = 60 s1, (a) Without Sampling and (b) Including the Effects of Sampling Sampling, Closed Loop Poles Denoted by x x

(a)

(b)

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Step Response for Three Values of Alpha and Gain Which Place the System Pole at 600 s1.

=0.2

= 0.4 04 No Sample Delay

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Bode Plot

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Amplitude and Phase of Sample Delay Effect

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Bode Plot with Controller and With 45 Degree Phase Margin g

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Symmetrical Optimum

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Symmetrical Optimum

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Symmetrical Optimum

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Symmetrical Optimum

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Step Response for Values of a

a = 1.5,2,2.5,3,4,5,10 a = 1.5

a = 10

t/Td
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Step Current Response Using the Three Design Approaches. pp Peak Overshoot = 15%

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Outline
1. 1 2. 3. 4. 5. Brief B i f History Hi t of f the th N Need df for C Current tR Regulation l ti Control Strategies for Current Regulation Traditional Regulator Design Effect of Sampling DC Current Regulation with Three Classical Approaches

7. Optimized AC Current Regulation 8. Resonant AC Current Regulation 9 Conclusion 9. Concl sion

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Current Regulated AC System

inv

inv

Ls L s Ls

rs r s rs

L inv L inv

r inv r inv

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Parameters of AC System

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AC Current Regulation Using PI Gains of the DC System y

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Per unit Angular Frequency for 40o Phase Margin vs. and Number of Updates Over Plant Time Constant R/L

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Effect of Sampling Delay

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Outline
1. 1 2. 3. 4. 5. 6 6. Brief B i f History Hi t of f the th N Need df for C Current tR Regulation l ti Control Strategies for Current Regulation Traditional Regulator Design Effect of Sampling DC Current Regulation with Three Classical Approaches Application to AC Current Regulation

8. Resonant AC Current Regulation 9 Conclusion 9. Concl sion

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Optimal Gain Determination

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Optimal Gain Determination

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Optimal Gain Determination

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Open Loop Phase Margin at Maximum Inflection Pt. vs. Ti/Td

m(deg)

Ti/Td
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Open Loop Transfer Function for Two Controller Designs

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AC Response of the Optimal Value Design ,40 Degree Phase Margin

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Average value model block diagram

Representation p Including g the Back EMF

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Tracking and Disturbance Error for Optimized PI Stationary y Frame Current Regulator g

f
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AC Current Regulation Response of Simulated Optimized Stationary Frame PI Current Regulator

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Comparison of Simulated and Experimental Results

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System Block Diagram

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Including Back EMF Effects Simulation and Experimental p

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Outline
1. 1 2. 3. 4. 5. 6 6. 7. Brief B i f History Hi t of f the th N Need df for C Current tR Regulation l ti Control Strategies for Current Regulation Traditional Regulator Design Effect of Sampling DC Current Regulation with Three Classical Approaches Application to AC Current Regulation Optimized AC Current Regulation

9 Conclusion 9. Concl sion

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Resonant Current Regulator

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Resonant Current Regulator

Note that this gain value is independent of the plant time constant!

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Resonant Current Regulator

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Magnitude and Phase Bode plot of for PI and PR regulators g with sampling/transport p g p delay y

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Simulation and Test Results for Resonant Current Regulator

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Outline
1. 1 2. 3. 4. 5. 6 6. 7. 8. Brief B i f History Hi t of f the th N Need df for C Current tR Regulation l ti Control Strategies for Current Regulation Traditional Regulator Design Effect of Sampling DC Current Regulation with Three Classical Approaches Application to AC Current Regulation Optimized AC Current Regulation Resonant AC Current Regulation

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Conclusions

Sampling of the current feedback has a significant effect on regulation AC current regulation requires substantially more gain than DC current regulation With proper attention to achieving maximum permissible gain, current regulation to 1-2 degree phase shift can be achieved Regulation to within a fraction of a degree is possible with a resonant regulator

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Benefits of Direct AC Current Regulation

Approach is the straightforward straightforward, least confusing means of control design

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Benefits of Direct AC Current Regulation

Approach is the straightforward straightforward, least confusing means of control design Well W ll k known traditional di i l means of f control ld design i (root locus, Bode) is readily applied

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Benefits of Direct AC Current Regulation

Approach is the straightforward straightforward, least confusing means of control design Well W ll k known traditional di i l means of f control ld design i (root locus, Bode) is readily applied Since the problem remains linear, stability is well understood and determined

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Benefits of Direct AC Current Regulation

Approach is the straightforward, least confusing means of control design Well known traditional means of control design (root locus, Bode) is readily applied Since the p problem remains linear, , stability y is well understood and determined Optimum gain settings are INDEPENDENT of the plant time constant

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Benefits of Direct AC Current Regulation

Approach is the straightforward, least confusing means of control design Well known traditional means of control design (root locus, locus Bode) is readily applied Since the problem remains linear, stability is well understood and determined Optimum gain settings are INDEPENDENT of the plant time constant Friendly
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Approach - NO FANGS!!

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