比例-积分-微分 （PID） 鲁棒控制及电流反馈以确保 UPS 的稳定性（Matlab代码实现）

💥💥💥💞💞💞欢迎来到本博客❤️❤️❤️💥💥💥

🏆博主优势：🌞🌞🌞博客内容尽量做到思维缜密，逻辑清晰，为了方便读者。

⛳️座右铭：行百里者，半于九十。

目录

💥1 概述

📚2 运行结果

🎉3 参考文献

🌈4 Matlab代码实现

💥1 概述

用于计算比例积分微分 （PID） 鲁棒控制器和电流反馈增益的代码，以确保不间断电源 （UPS） 的稳定性和性能。PID和电流增益通过在LMI区域中的鲁棒极点放置进行调谐。无需图形环境电路即可绘制输出，这使得研究应用变得容易。

【温馨提示】保证对载荷变化（内界）的鲁棒性。跟踪误差最小化，但未消除。考虑使用参考系变换或 PMR 控制器以获得更好的响应。

记得先安装Matlab优化包喔：

yalmip和cplex安装步骤(Matlab)

📚2 运行结果

部分代码：

clc; clear; close all;

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% PARAMETERS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% design parameters (ex: sig = 125)
sig = input('poles real part constraint: ');
sel = input('select controller: [P]/[PI]/[PD]/[PID]: ','s');
p   = sig*20;    % derivative high-frequency pole

% UPS reference
V   = 127;       % reference RMS voltage
f   = 50;        % reference frequency

% non-linear load model
R_L = 6.58;                     % resistor 
[ nld ] = load_model( V,R_L );  % harmonics of current (open to edit load)

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DESIGN %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% import UPS uncertain model, PID and build augmented model x_a = [ x' x_c' ]'
[ ups ] = unc_ups_model( R_L );
[ pid ] = pid_model( p, sel );
[ agm ] = unc_agm_model( ups, pid );

% compute state-feedback matrix K for regional pole placement
[ K ] = lmi_regional( agm, sig, p );                                             

% PID controller and closed-loop transfer functions
[ pid_tf, cl_tf, cl_tf_nl, id_tf, k_f ] = unc_get_tf( pid, agm, K, f );

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% RESULTS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% PID, feedback (k_a) and feedforward (k_f) gains
gains

% simulate
results;

% plot
plot_res;

 

🎉3 参考文献

[1]Guilherme Keiel (2022). UPS PID Robust Controller Design.

🌈4 Matlab代码实现