Analysis and Implementation of a Modified Robust Model Reference Adaptive Control with Repetitive Controller for UPS Applications

Hilton Abilio Griindling , IES Member, Emerson Giovani Carati, Jose Renes Pinheiro, IES Member
Federal University of Santa Maria - Santa Maria - RS - BRAZIL ghilton@ctlab.ufsm.br
Abstract

Usually, the design for control systems begins taking in account the nominal models. If there is any change in characteristics of these models, the system performance is deteriored. Therefore, it is expected that the control systems must have robust stability. In this work, a modified Robust Model Reference Adaptive Control with a Repetitive controller (RMRAC-RP) for uninterruptible power supply (UPS) applications is presented. In the proposed scheme, a voltage source PWM inverter and its corresponding RLC load-filter are controlled by RMRAC-RP in order to obtain a nearly sinusoidal output voltage for a single-phase UPS. The modified scheme guarantees that the closed-loop plant is globally stable in the presence of unmodeled dynamics and cyclic fluctuating loads. The proposed theoretical formulations are verified by system analysis and both simulated and experimental results are presented. In this work is also included an approach for the three phase scheme.

Following, a new modified error equation is developed and both the identifier stability and the closed-loop system robustness analysis are presented. In this work is also included an approach for the three phase scheme.

11. DESCRIPTION OF THE PROPOSED SYSTEM

The conventional single-phase PWM inverter is shown in Fig. 1, where the inverter, LC filter, and resistive load R are considered as the plant of the system. The state space equations of the plant are

x:= A x t B u ,

I. INTRODUCTION
Recent developments in closed-loop regulation of PWM inverters have been carried out to achieve good dynamic response and most of them were focused on the transient response improvement by using instantaneous feedback control [1]-[4]. In [ I ] a new adaptive repetitive control scheme employs an auxiliary compensator to stabilize the closed-loop system. Its parameters are tuned by an adaptive controller which recursively on-line identifies the plant dynamics. In order to guarantee the closed-loop stability under plant variations and at the same time to eliminate periodical errors, resulting by all frequency modes below the closed-loop bandwidth, this algorithm needs a sophisticated plant model. This plant model includes the dynamics of the inductor, the capacitor-resistance and the sensor low-pass filters. Simulation and experimental results show that the proposed control scheme can effectively eliminate periodic waveform distortions which are resulted by unknown periodic disturbances. However, the experimental verification is carried out on a PWM inverter switching @ 45 kHz. In [2] is presented a robust model reference adaptive control algorithm including a repetitive control for UPS applications. Such as in [I], the proposed control scheme can effectively eliminate periodic waveform distortion, and moreover, it is globally stable in the presence of unmodeled dynamics. This algorithm can be designed for a reduced-order plant, without a priori knowledge of the exact plant model of the PWM inverter and RLC load-filter system. This work proposes a modified Robust Model Reference Adaptive Control with a Repetitive controller (WRAC-Rp) for uninterruptible power supply (UPS) applications. Unlikely of the previous algorithms, this scheme includes the effect of the RP controller which is analyzed along with the RMRAC control law.

where x=[v,

V C ] ' .

a,, = I / z ,

';,,

=(1/2R)m.

D1.+ MUR815
Fig. 1. PWM inverter system

The power switches are turned on and offonce during each interval T, such that Vi, is a voltage pulse of magnitude (E, 0, -E) and width AT centered in the interval T. A sampled-data equation of the system at time t = ( k + l ) . T is

and the normalized output voltage y(k)& v, (k)/E is

y(k.) = [l/E

03. x(k)

(2.3)

From (2.2) and (2.3) a dlifference equation is obtained as y(k

+ 1) + a,y(k) + a,y(k. - 1) = b,u(k) + b,u(k

f(P22)
6'2 = % I

- 1) (2.4)

where the parameters are defined as

a 1 =-('PI1
' 0 2 2 -012 '021
'012

b,

=g

J/E

b2 = (gz

-g,

'022

)T/E

(2.5)

and the normalized input variable is

U( lk)A, -

AT( k)/T

(2.6)

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where

+ = 8 - e*,

= 10;'

0:

1 are the desired

0;'

parameters of the controller, with q(k) = A(z)u(k) , where A(z) is a strictly proper transfer function.

Proof: Let us define

= [e;T,e;T,8:], where

and 0;' are vectors of dimension (n-1). From (3.4) and (3.5) it follows that: where G(s) is strictly proper, G,(s) is the transfer function of the modeled part of the plant, p .A, (s) and p. A a (s) are multiplicative and additive plant perturbations. Z,(s) and R,,(s) are monic polynomials of degree m and n, respectively. For the modeled part of the plant Go(s) are made the following assumptions: S1 - Zo(s)is monic Hurwitz polynomial of degree m ( 2n-1). S2 - b ( s ) is a monic polynomial of degree n. S3 - The sign of kp and the values of m and n are known. For the unmodeled part of the plant are assumed that: S4 - A ,(s) is a strictly proper stable transfer function. S5 - A,(s) is a stable transfer function. S6 - A lower bound po 0 for which the poles of A a (s-p) and A, (s-p) are stable is known. The adaptive control objective can be stated as follows. Given the reference model Y,(S) = W,(s).r(s) = (K,/D")r(s) (3.3) u(kI1- fl (z)- f,(z).G(z)]- u2(k) = $T (k)w(k)+ r where (3.7)

f, (z) =
f 2 ( z ) = 0,

(zI - F)-' q
*T

(3.8) (zI-F)-'q+Q,*

Due the controllability of the modeled part of the plant, there exists a vector 0* such that

[l- f , (z)- f 2(z). G o(z)] = W,-] (z).G (z)

Using (3.7) and (3.9), (3.1) can be rewritten as

(3.9)

?here D,(s) is a monic Hurwitz polynomial of degree n = n - m and r(t) is uniformly bounded, design an adaptive controller so that for some p*> 0 and any p E [0, p * ) the resulting closed-loop plant is stable and the plant output y tracks the reference model output ym as closely as possible for all plant perturbations Aa(s) and
A, (s) satisfying S4 - S6.

The input U and the output y are used to generate a n- 1 dimensional auxiliary vector as
o (k) = (zI - F)-' o (k) = (zI - F)-'

.q . u(k) . y(k)
(3.4)

where F is a stable matrix and (F,q) is a controllable pair. The input of the plant is taken as u(k)= QT(k)o(k)+u2(k)+cor(k) IV. PARAMETER ADAPTATION ALGORITHM where 8'(k) = 18:(k),IT(k),6,(k)] is a (2n-1) dimensional control parameter vector, co(t) is a scalar feedforward parameter, mT (k) = cp is a scalar parameter. (k), 05 (k), y(k)], and There are a number of well-known parameter estimation techniques which have been successfully applied to the identification problems. In this scheme is considered the following modified least-squares adaptation algorithm:

Lemma 3.1: Combining (3.1)-(3.5) the tracking error can be expressed as el (k) = Y(k)- Y ref (k) or el (k)=
w m

(4.2) where P = PT is such that

( z h T (k)o(k)-wm ( z b 2 (k)+ P T ( ~ ) (3.6)

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0 < P(0) 5 hR21 , p2 _< k,jT2,

m ( k ) = l + a , [ m ( k ) I 2 , t;(k)= W,(z)Io(k),

Prooj! The stability analysis follows the lines of the proof of the theorem 5.1 in [SI and it will be omitted.
(4.3)
V. EXPERIMENTAL RESULTS

m(k + 1) = (1 -ts6n)m(k) + ts6,(lu(k)( + (y(k)(+ I),

m(O)>',
where a , , 6 , , 6 , , h , cl and 6, satisfies

6 6, 2 1 , (4.4) 6, and R2 are positive constants

E%+

A based-on IGBT prototype of the inverter has been built in the laboratory to verify the reference tracking capability of the RMRAC repetitive control scheme.
TABLE I PARAMETERS OF PWM INVERTER AND LOAD

6, + 6 , -<min[p,,q,], q,

is such

that the poles of W,(z-qo) and the eigenvalues of F + q,I are stable and ?j2 is a positive constant. po > 0 is defined in S6 and CI in (4.1) is given by

Filter inductance

-1
if

Load cauacitance Sampling time

I
[

L=5.4mH C = 80pF E=40V Vref= 30V, 60Hz

;;I3;&
t,
= (1/18OO)s

((0([ > 2M,

E

where M O> ~ ~ B and * ~ ~ oo > 2 p 2 / R 2

'93' are design

The detailed schematic of the converter and load is shown in Fig. 1, while the component values are reported in Table I. The controller was implemented using a micro-controller platform where the following tasks are performed. 1) Measure of capacitor voltage v, from the A/D converter (12 bits, 100 IC%). 2) Compute the pulsewidth At using (2.6). 3) Charge the programmable counterhime for pulse generation (three-level F'WM pattem).
r
I

I ei

I 7
Process
Fig 2 RMRAC - UPS

(DI.~,C,R),.OAD Time scale 2.5ms/div

Lemma 4.1: The parameter adaptation algorithm in (4.1)-(4.5) and (3.14) subject to assumptions S1-S6 has the following properties: a) V = +TP-'+5 and

b)

11$([*

I K + a h R 2 V.

Pro03 The proof of this lemma which guarantees the identifier robustness follows the lines of the proof of the lemma 4.2 in [6] and it will be omitted.

Theorem 4.1: Consider the plant in (3.1), (3.2), subject to assumptions SI&, the adaptive control structure defined in (3.3)-(3.6) and (3.14) together with the parameter adaptation algorithm in (4.1)-(4.5). Then a jT>O can be
0, k all the signals in 1 J the closed-loop system are bounded for any bounded initial
computed so that for each p
E

Fig 4 Output v,( 10 V/div) and filter input v,,(20 V/div) with (DI.~,C,R)LOAD Time scale 2 Sms/div

conditions. Furthermore, the e I = y - y belongs to the residual set,

tracking

error

Fig3 shows the output voltage v, and the input current of the rectifier. Fig.4 shows the output voltage v, and the filter input voltage v,, waveform with a load (DI-4, CL, ,RL). The experimental results, as shown in figures 3 and 4, demonstrate the robustness of the W R A C proposed controller. It is verified that the output voltage v, is a sinusoidal waveform even in the presence of the power supply variations (E) and unmodeled dynamics. Fig. 6 shows the FFT of the output voltage which is presented in Fig. 5. Experimentally, the THD of the output voltage for a load (rectifier - RC) was equal to 3,25%.

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3
2

I
0
I

2 3

Fig 5.0utput v,(10 V/div) and iLoAD(1 Ndiv) with (D I -~,C&)LOAD

35 I 30
25

Fig. 9 presents the reference signals used in the Matlab simulation. The simulation results of the proposed three-phase U P S system for a resistive load is presented in the Fig. 10. The purpose of this simulation is to verify the control strategy, to design the controller parameters and to study the static and dynamic performance of the system before building the laboratory prototype. In Fig. 10, when the initials conditions are far fiom the desired values can be seen a small transient and afterwards the convergence improves considerably.

20
15

10

"

IO

I5

20

25

30

35

40

45

50

Fig 6 FFT output voltage THD = 3 25 'YO

VI. THREE PHASE CASE Fig. 7 shows the reference model block diagram for a ideal three phase UPS. The basic circuit configuration of the proposed reference model consists of a three-phase RLC loadfilter, which is connected in wye (Y) configuration.
-441

.
I Q

,
20

.
10

,
40

,
5Q

,
6Q

,
70

,
80

,
9Q

,
100

,
110

I
120

Fig. 9. Reference Signals

44

IQ

2Q

iQ

Fig. 7. Reference model for three phase scheme

At this point it is important to note that y m d and yms are independent signals. Fig. 8 shows the control function block diagram of the threephase UPS system.

-io
-2a

.>e

-40

ia

21

>a

4~

sa

6a

70

ao

QQ

io0

iic

ILQ

Fig. 10. Output voltage waveforms.

VII. CONCLUSIONS This work describes a modified robust model reference adaptive control with a repetitive controller for UPS applications. A new proposed control law yields new error equations, which are employed in the adaptation parameters algorithm of the controller. Experimental results show that the new proposed control scheme can effectively eliminate periodic waveform distortion resulting by unknown periodic disturbances and m o d e l e d dynamics. Furthermore, this scheme also can be designed for a reduced-order plant, without a priori knowledge of the exact plant model of the PWM inverter system. The analysis and the approach for the three-phase UPS system is not different from the conventional methods. The

J "

Fig. 8. Block diagram for the proposed three phase system.

The output of a three-phase PWM inverter is connected to the LC filter-load (Plant) in delta (A) configuration and its input is supplied by a battery. In the Fig. 8, two control laws u d and uqare calculated using the algorithm presented in Fig. 2.

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simulations results have demonstrated that the proposed scheme is feasible and applicable for future developments. It was observed that the proposed scheme presents a good performance either for balanced as unbalanced loads. This type of W R A C - R P controller and PWM inverter system is particularly suitable for high-performance ac high-power supply systems.
VIII. REFERENCES S. C . Yeh and Y. Y . Tzou, Adaptive repetitive control of a PWM inverter for AC voltage regulation with low harmonic distortion, IEEE Power Electron. Specialists Con$, pp. 157-163, 1995. H. A. Griindling, E. G. Carati, J. R. Pinheiro, A robust model reference adaptive controller for UPS applications, 23rd Intern. Cons on Industrial Electron. Control and Instbum vol. 2, pp. 90 1-905, Nov. 1997. L. G. Bames I11 and R. Krishman, An adaptive threephase UPS inverter controller, IEEE Power Electron. Specialists ConJ, pp. 473-479, 1995. H. B. Mohr and G. E. Mondardo, PWM voltage inverter implementation using deadbeat digital control, IEEE Power Electron. Specialists ConJ, pp. 2 17-22 1, 1996. P. Ioannou and K. Tsakalis, A Robust Direct Adaptive Controller, IEEE Transactions on Automatic Control, Vol. AC-31, no 11, pp. 10331043, 1986. R. Lozano-Leal, J. Collado and S. Mondie, Model Reference Robust Adaptive Control Without A Priori Knowledge of the High Frequency Gain, IEEE Transactions on Automatic Control, Vol. AC-35, no 3, pp. 71-78, 1990.

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