The Design and Analysis of The Pi Regulator of Three-Phase Voltage Source PWM Rectifier
The Design and Analysis of The Pi Regulator of Three-Phase Voltage Source PWM Rectifier
Abstract—In order to quicken the dynamic response and PWM rectifier can help to greatly improve the power quality
strengthen the ability against the disturbance of nonlinear load, and prolong the lifetime of energy storage system.
three-phase voltage source PWM rectifier widely employs dual
loop PI control scheme which consists of inner current controller In order to address the issue about the design of PI
and external voltage controller. The parameters of dual loop PI regulator parameters, many scholars have carried out lots of
regulators have significant influence on the dc-link voltage, AC research works and proposed kind of design approaches and
harmonic components and power factor of three-phase voltage improved methods [2, 6, 7]. However, those design and
source PWM rectifier. The design of dual loop PI regulator improved methods are based on various assumptions and
parameters is a very important, complicated and empirical work. simplifications. The desired performance of the VS-PWM
With the simulation tool of Matlab/Simulink, this paper analyzes rectifier cannot be observed with the PI regulator parameters
the influence of different dual loop PI regulator parameters on obtained according to these design and improved methods. In
the operating characteristics of three-phase voltage source PWM order to obtain the desired control performance, the PI
rectifier. Based on that, a adjustment approach of dual loop PI regulator parameters should be further improved based on the
regulator parameters which is simple and convenient is proposed. theoretical calculation results. For the engineering applications,
The simulation results show the effectiveness and feasibility of the improvement of the PI regulator parameters is very
the proposed approach. necessary and important. However, the improvement relies on
the engineering experiences greatly. If there is no regulation to
Keywords—PWM Rectifier; dual loop control; response
feature; PI regulator parameters
guide the improvement, lots of time would be lost.
Hence, in to order to provide guidelines for the design and
I. INTRODUCTION improvement of the PI regulator parameters, lots of test work
Th three-phase voltage source pulse width modulated (VS- about the parameters and performance of the three-phase VS-
PWM) rectifier has been widely applied for active filter, PWM rectifier has been carried out with Matlab/Simulink in
photovoltaic power generation system, high voltage DC this paper. The influence of each controller parameter on the
(HVDC) transmission system, and so on [1,2], since it has the dc-link voltage and harmonics in the grid side current is
advantages of controllable dc-link voltage and adjustable ac completely analyzed. Based on it, a simple and convenient
side power factor. Usually, the dual loop PI control scheme adjustment method of the PI regulator parameters is proposed
based on inner current controller and external voltage to provide guidelines for the engineering applications.
controller is adopted for the three-phase VS-PWM rectifier [3-
5]. The inner current controller is used to track the reference II. CONTROL SCHEME OF THE VS-PWM RECTIFIER
currents and control the phase and waveform of the grid side The configuration of the three-phase VS-PWM rectifier is
current. The external voltage controller is used to regulate the shown in Fig. 1.
dc-link voltage and control the output voltage of the rectifier.
For the dual loop PI control scheme, the choice of the PI
regulator parameters has significant influence on the transient
and steady-state response performance of the three-phase VS-
PWM rectifier, the fluctuation of dc-link voltage and
harmonics in the grid side current. Hence, the reasonable
design of the dual loop PI regulator parameters is of great
significance for the excellent performance of the three-phase
VS-PWM rectifier. Especially, at present, the VS-PWM Fig. 1. The topology of three-phase VS-PWM rectifier
rectifier plays a very important role in the fast development of
In Fig. 1, ea(t), eb(t), and ec(t) are respectively the three-
the distributed generations, energy storage technologies and
phase voltages; ia(t), ib(t), and ic(t) are respectively the three-
micro grid. The reasonable design of the dual loop PI regulator
phase currents; R and L represent the input resistance and input
parameters and excellent performance of the three-phase VS-
inductance on the ac side; the dc-link capacitance is
represented by C, and the dc-link voltage is udc; RL is load
ea θe
ωe In Fig. 4, Teu=τu+3Ts, and τu is the sampling period of the
eb
es external voltage loop; KuP and KuI= KuP/τu are respectively the
ec proportional gain and integral gain of the external voltage loop.
ia id According to Fig. 4, the open loop transfer function of the
ib external voltage loop is
iq
ic
0.75K uP (Tu s +1)
ud' Wou ( s ) = (3)
u *
dc
id*
*
*
u
a
Sa CTu s 2 (Teu s +1)
u *
u
− Rid + ωe Liq
d
Sb
udc
b
*
u
In order to enhance the anti-disturbance capability of the
Sc inner rotor current controller, the external voltage controller
' c
u q uq*
iq* = 0 can be designed to be a typical second order system,
− Riq + ωe Lid
4C 4C
Fig. 2. The control diagram of the three-phase VS-PWM rectifier K uP = , K uI = (4)
5Teu 25Teu2
III. THEORETICAL CALCULATIONS OF THE PI REGULATOR
PARAMETERS C. Simulation analysis
The performance of the three-phase VS-PWM rectifier with
A. The PI regulator parameters calculation of the inner the above PI regulator parameters is tested with
current controller Matlab/Simulink. The system parameters are stated as follows.
The d-axis control diagram of the inner current loop is
taken as an example to calculate the PI regulator parameters The phase voltage of the power supply is 220V, the
calculation of the inner current loop. Since the input resistance frequency f is 50Hz, R=0.1Ω, L=4mH, RL=50Ω, eL=0, and
on the ac side is very small and can be neglected, the d-axis C=2000μF. The reference value of the dc-link voltage udc_ref
control diagram of the inner current loop is given in Fig. 3. =800V. The switching frequency is 10 kHz, KPWM=1, and
τu=7Ts. According to (2) and (4), KiP =13.33, KiI=333.33,
id∗ τ i s+ 1 K PWM 1 id KuP=1.6 and KuI=320.
Ki P
τi s 1.5Ts s+ 1 sL In this context, Fig. 5 depicts the dc-link voltage udc and d-
axis component of the grid side current id. The total harmonic
distortion (THD) of the grid side current is nearly 4.52%.
Fig. 3. Control diagram of the inner current controller
system. Consequently,
L R
KiP = , KiI = (2)
3Ts K PWM 3Ts K PWM
(b) repomse of d-axis component of the grid side current
Fig. 5. Response of the VS-PWM rectifier
As Fig. 5 shows, there are large overshoots both in udc and
id, and the stabilization times of udc and id are both relatively
long. Hence, the control performance of the three-phase VS-
udc/V
PWM rectifier is not good enough with the above PI regulator
udc/V
parameters. For the engineering applications, the above PI
regulator parameters should be further improved according to
responses of the three-phase VS-PWM rectifier.
IV. THE INFLUENCE ANALYSIS OF THE PI REGULATOR
PARAMETERS ON THE RESPONSE FEATURES
(a) KuI≤20
The influences of the PI regulator parameters on the
response characteristics of the inner current loop and external
voltage loop are analyzed with simulation study.
With the change of the proportional gain of the external
voltage loop KuP, Fig. 6 elaborates the responses of the inner
udc/V
current loop and external voltage loop.
As shown in Fig. 6, the increase of KuP can improve the
response speed of the three-phase VS-PWM rectifier and
shorten the settling time. Meanwhile, the increase of KuP can
decrease the overshoot in udc, but has no influence on the (b) KuI≥40
overshoot in id. However, the system would be unstable if KuP
Fig. 7. Output response of external volatge controller when KuI changes
is too large. As Fig. 6 shows, the dc-link voltage would be
unstable and oscillating if KuP reaches to 12. In this context, id
is also oscillating, which greatly increase THD of the grid side
current.
udc/V
(a) KuI≤320
240
200
40
id/A
0
KuI=400
-40
0 0.1 0.2 0.3
t/s
(b) KuI≥320
Fig. 8. Output response of inner d-axis current controller when KuI changes
(b) Output response of inner d-axis current controller With the change of the proportional gain of the inner
Fig. 6. Output response when KuP changes current controller KiP, Fig. 9 elaborates the responses of the
inner d-axis current controller and external voltage controller.
With the change of the integral gain of the external voltage
controller KuI, Fig. 7 elaborates the response of the external It can found from Fig. 9 (a) that the increase of KiP can
voltage controller, and Fig. 8 shows the response of the inner improve the response speed of the external voltage controller
current controller. and shorten the settling time. Meanwhile, the increase of KiP
can decrease the overshoot in udc. As shown in Fig. 9(b), the
As Fig. 7 shows, the increase of KuI increase the settling increase of KiP can also improve the response speed of the inner
time of the external voltage controller and decreases the current controller. However, the inner current controller would
overshoot in udc. be unstable, and THD of the grid side current would be
increased greatly.
As Fig. 8 shows, the increase of KuI increases the settling
time of the inner current controller. With the change of the integral gain of the external voltage
loop KiI, Fig. 10 elaborates the response of the external voltage
controller, and Fig. 11 shows the response of the inner d-axis
current controller.
id/A
udc/V
(a) KiI≤800
id/A
160
KiP=160
80 KiP=80 KiP=10
KiP=800 (b) KiI≥800
Fig. 11. Output response of inner d-axis currentler when KiI changes
0
0 0.1 0.2 0.3
t/s
V. CASE STUDY
(b) Output response of inner d-axis current controller
Accoridng to above study, in order to improve the
Fig. 9. Output response when KiP changes
performance of the controller, the PI regulator parameters can
be adjusted according to the response of the dc-link voltage.
From Fig. 5, it can be found that with the calculated PI
regulator parameters, the setttling time of the response is too
long, and the overshoot is too large. Accordingly, the aim of
udc/V
1000
800
600
400
(b) KiI≥800
200
Fig. 10. Output response of external voltage controller when KiI changes
0
It can found from Fig. 10(a) that the increase of KiI can 0 0.01 0.02
t/s
0.03 0.04
shorten the settling time of the external voltage controller and (a) response of external voltage controller
decrease the overshoot in udc, on condition that KiI is smaller
than a specified value. However, as shown in Fig. 10(b), if KiI
is larger than the specified value, the increase of KiI would
prolong the settling time of udc. Moreover, the overshoot in udc
id/A