US6940187B2
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Robust controller for controlling a UPS in unbalanced operation
Assignee: Northeastern University
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Filing: 2001-12-13
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Granted: 2005-09-06
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Expires: 2021-12-13
Abstract
Abstract A controller ( 236 ) for an uninterruptible power supply (UPS) compensates for harmonic distortion in the output current ( 224,26,228 ). The controller also provides a control vector ( 230 ) also with input from the adaptation processor ( 234 ).
Inventors
- 👤 Gerardo Escobar
- 👤 Alex M. Stankovic
- 👤 Paolo Mattavelli
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-31 15:26
CPC Classifications
H; H02; H02J; H02J3/00; H02J3/01; H02J9/00; H02M; H02M7/00; H02M7/42; H02M7/44; H02M7/48; H02M7/53; H02M7/537; H02M7/5387; H02M7/53871; H02M7/53875; H02M7/53876; Y; Y02; Y02E; Y02E40/00; Y02E40/40
Claims Analysis
Total Claims: 44
Claim 1
Independent Claim
407 words
A controller for a three-phase uninterrupted power supply (UPS), the three-phase UPS providing power to a three-phase load via a series inductor for each phase and a capacitor connected electrically in parallel to the load for each phase, the three-phase UPS providing a voltage E, an output voltage v C , an inductor current i L , and a load current i 0 for each phase, the controller comprising: an inductor current module operative to to provide the inductor current value in each phase; a voltage module operative to provide the output voltage, V, in each phase; a three-phase to stationary coordinate converter operative to convert the measured inductor current and the measured output voltage in each phase into a inductor current in stationary coordinates and a output voltage in stationary coordinates respectively, and to convert a received reference voltage in each phase into a reference voltage in stationary coordinates; an adaptation processor coupled to the three-phase-to-stationary-coordinate-converter and receiving the output voltage and the reference voltage therefrom, the adaptive portion configured and arranged to calculate an estimate of a plurality of pre-selected harmonic components of the inductor current in stationary coordinates and to calculate an estimate of the value of the series inductor corresponding to each phase, and to convert the estimate of the value of the series inductor corresponding to each phase into stationary coordinates; a control vector processor coupled to the three-phase-to-stationary-coordinate-converter and to the adaptation processor, the control vector processor receiving the inductor current, the output voltage, and the reference voltage from the three-phase to stationary coordinate converter, and receiving the estimate of a plurality of pre-selected harmonic components of the inductor current in stationary coordinates and the estimate of the series inductance from the adaptation processor; the control vector processor including a proportional gain processor, the proportional gain processor configured and arranged to provide a proportional gain term as a function of the inductor current, the output voltage, the reference voltage, and the estimated inductance; the control vector processor further including a harmonic compensator processor, the harmonic compensator processor configured and arranged to determine a harmonic compensated control signal as a function of the plurality of estimated pre-selected harmonic components of the inductor current in stationary coordinates and the estimate of the series inductance, reference voltage, the output voltage; the control vector processor providing a control output vector that is a function of the harmonic compensated control signal and the proportional control signal.
Claim 2
Dependent Claim
407 words
A controller for a three-phase uninterrupted power supply (UPS), the three-phase UPS providing power to a three-phase load via a series inductor for each phase and a capacitor connected electrically in parallel to the load for each phase, the three-phase UPS providing a voltage E, an output voltage v C , an inductor current i L , and a load current i 0 for each phase, the controller comprising: an inductor current module operative to to provide the inductor current value in each phase; a voltage module operative to provide the output voltage, V, in each phase; a three-phase to stationary coordinate converter operative to convert the measured inductor current and the measured output voltage in each phase into a inductor current in stationary coordinates and a output voltage in stationary coordinates respectively, and to convert a received reference voltage in each phase into a reference voltage in stationary coordinates; an adaptation processor coupled to the three-phase-to-stationary-coordinate-converter and receiving the output voltage and the reference voltage therefrom, the adaptive portion configured and arranged to calculate an estimate of a plurality of pre-selected harmonic components of the inductor current in stationary coordinates and to calculate an estimate of the value of the series inductor corresponding to each phase, and to convert the estimate of the value of the series inductor corresponding to each phase into stationary coordinates; a control vector processor coupled to the three-phase-to-stationary-coordinate-converter and to the adaptation processor, the control vector processor receiving the inductor current, the output voltage, and the reference voltage from the three-phase to stationary coordinate converter, and receiving the estimate of a plurality of pre-selected harmonic components of the inductor current in stationary coordinates and the estimate of the series inductance from the adaptation processor; the control vector processor including a proportional gain processor, the proportional gain processor configured and arranged to provide a proportional gain term as a function of the inductor current, the output voltage, the reference voltage, and the estimated inductance; the control vector processor further including a harmonic compensator processor, the harmonic compensator processor configured and arranged to determine a harmonic compensated control signal as a function of the plurality of estimated pre-selected harmonic components of the inductor current in stationary coordinates and the estimate of the series inductance, reference voltage, the output voltage; the control vector processor providing a control output vector that is a function of the harmonic compensated control signal and the proportional control signal.
Claim 3
Dependent Claim
101 words
The controller of claim 1 wherein the proportional gain processor includes: a first constant multiplied by the inductor current forming a first product value; a second constant multiplied by the reference voltage forming a second product value; a first difference module forming a first difference value equal to the difference between the output voltage and the reference voltage; a first factor multiplied by the first difference value forming a third product value; a second difference module providing a proportional gain control signal that is the difference between the sum of the first and second product value and the third product value.
Claim 4
Dependent Claim
20 words
The controller of claim 2 wherein the first constant is a first predetermined design constant that is greater than zero.
Claim 5
Dependent Claim
11 words
The controller of claim 2 wherein the second constant is one.
Claim 6
Dependent Claim
51 words
The controller of claim 2 wherein the first factor is the estimated series inductance value multiplied by the sum of a first plurality of predetermined design constants, plus a second predetermined design constant, wherein each of the first plurality of predetermined design constants corresponds to one of the pre-selected harmonic components.
Claim 7
Dependent Claim
133 words
The controller of claim 2 wherein the harmonic compensator processor is coupled to the first difference module and receiving the first difference value therefrom, the harmonic compensator including a plurality of harmonic compensators, each of the plurality of harmonic compensators configured and arranged to use a corresponding one of the estimated plurality of harmonic components to compensate the received first difference value for a corresponding one of the plurality of pre-selected harmonic components, wherein each of the plurality of harmonic compensators providing a compensated signal, and wherein the harmonic compensator processor providing a harmonic compensated control signal that is the sum of the plurality of compensated signals; wherein the control vector processor providing a control output vector that is the difference between the proportional gain control signal and the harmonic compensated control signal.
Claim 8
Dependent Claim
15 words
The controller of claim 1 wherein the inductor current module is an inductor current sensor.
Claim 9
Dependent Claim
15 words
The controller of claim 1 wherein the inductor current module is an inductor current estimator.
Claim 10
Dependent Claim
13 words
The controller of claim 1 wherein the voltage module is a voltage sensor.
Claim 11
Dependent Claim
13 words
The controller of claim 1 wherein the voltage module is a voltage estimator.
Claim 12
Dependent Claim
403 words
A controller for a three-phase uninterrupted power supply (UPS), the three-phase UPS providing power to a three-phase load via a series inductor for each phase and a capacitor connected electrically in parallel to the load for each phase, the three-phase UPS providing a voltage E, an output voltage v C , an inductor current i L , and a load current i 0 for each phase, the controller comprising: an inductor current module operative to provide the inductor current in each phase; a voltage module operative to provide the output voltage, v C , in each phase; an output current module operative to provide the output current in each phase; a three-phase to stationary coordinate converter operative to convert the measured inductor current, the measured output voltage in each phase into a inductor current in stationary coordinates and a output voltage in stationary coordinates respectively, and to convert a received reference voltage in each phase into a reference voltage in stationary coordinates; an adaptation processor coupled to the three-phase to stationary coordinate converter and receiving the output voltage and the reference voltage therefrom, the adaptive portion configured and arranged to provide an estimate of a plurality of pre-selected harmonic components of the inductor current and to provide the estimated plurality of inductor current harmonic components in stationary coordinates; a control vector processor coupled to the three-phase to stationary coordinate converter and to the adaptation processor, the control vector processor receiving the inductor current, the output voltage, the reference voltage from the three-phase to stationary coordinate converter, and receiving the estimated plurality of inductor current harmonic components and the estimate of the series inductance from the adaptation processor; the control vector processor including a proportional gain processor, the proportional gain processor configured and arranged to provide a proportional gain term as a function of the inductor current, the output voltage, the reference voltage, and a predetermined inductance value; the control vector processor further including a harmonic compensator processor, the harmonic compensator processor configured and arranged to use the estimated plurality of inductor current harmonic components to provide a harmonic compensated control signal, the harmonic compensated control signal being a function of the reference voltage, the output voltage, the estimated series inductance, and the estimated plurality of inductor current harmonic components; the control vector processor providing a control output vector that is a function of the harmonic compensated control signal and the proportional control signal.
Claim 13
Dependent Claim
403 words
A controller for a three-phase uninterrupted power supply (UPS), the three-phase UPS providing power to a three-phase load via a series inductor for each phase and a capacitor connected electrically in parallel to the load for each phase, the three-phase UPS providing a voltage E, an output voltage v C , an inductor current i L , and a load current i 0 for each phase, the controller comprising: an inductor current module operative to provide the inductor current in each phase; a voltage module operative to provide the output voltage, v C , in each phase; an output current module operative to provide the output current in each phase; a three-phase to stationary coordinate converter operative to convert the measured inductor current, the measured output voltage in each phase into a inductor current in stationary coordinates and a output voltage in stationary coordinates respectively, and to convert a received reference voltage in each phase into a reference voltage in stationary coordinates; an adaptation processor coupled to the three-phase to stationary coordinate converter and receiving the output voltage and the reference voltage therefrom, the adaptive portion configured and arranged to provide an estimate of a plurality of pre-selected harmonic components of the inductor current and to provide the estimated plurality of inductor current harmonic components in stationary coordinates; a control vector processor coupled to the three-phase to stationary coordinate converter and to the adaptation processor, the control vector processor receiving the inductor current, the output voltage, the reference voltage from the three-phase to stationary coordinate converter, and receiving the estimated plurality of inductor current harmonic components and the estimate of the series inductance from the adaptation processor; the control vector processor including a proportional gain processor, the proportional gain processor configured and arranged to provide a proportional gain term as a function of the inductor current, the output voltage, the reference voltage, and a predetermined inductance value; the control vector processor further including a harmonic compensator processor, the harmonic compensator processor configured and arranged to use the estimated plurality of inductor current harmonic components to provide a harmonic compensated control signal, the harmonic compensated control signal being a function of the reference voltage, the output voltage, the estimated series inductance, and the estimated plurality of inductor current harmonic components; the control vector processor providing a control output vector that is a function of the harmonic compensated control signal and the proportional control signal.
Claim 14
Dependent Claim
101 words
The controller of claim 11 wherein the proportional gain processor includes; a first constant multiplied by the inductor current forming a first product value; a second constant multiplied by the reference voltage forming a second product value; a first difference module forming a first difference value indicative of the difference between the output voltage and the reference voltage; a first factor multiplied by the first difference value forming a third product value; a second difference module providing a proportional gain control signal that is the difference between the sum of the first and second product value and the third product value.
Claim 15
Dependent Claim
20 words
The controller of claim 12 wherein the first constant is a first predetermined design constant that is greater than zero.
Claim 16
Dependent Claim
11 words
The controller of claim 12 wherein the second constant is one.
Claim 17
Dependent Claim
51 words
The controller of claim 12 wherein the first factor is the predetermined series inductance value multiplied by the sum of a first plurality of predetermined design constants, plus a second predetermined design constant, wherein each of the first plurality of predetermined design constants corresponds to one of the pre-selected harmonic components.
Claim 18
Dependent Claim
111 words
The controller of claim 12 wherein the harmonic compensator processor is coupled to the first difference module and receiving the first difference value therefrom, the harmonic compensator including a plurality of second order harmonic filters each having a resonant frequency corresponding to one of the predetermined harmonic components, each of the plurality of second order harmonic filters receiving the first difference value and providing a plurality of filtered outputs, the harmonic compensator provides a compensated control signal that is the sum of each of the plurality of filtered outputs, and wherein the control output vector that is the difference between the proportional gain control signal and the harmonic compensated control signal.
Claim 19
Dependent Claim
17 words
The controller of claim 11 wherein the predetermined inductance value is greater than a predetermined inductance value.
Claim 20
Dependent Claim
15 words
The controller of claim 11 wherein the inductor current module is an inductor current sensor.
Claim 21
Dependent Claim
15 words
The controller of claim 11 wherein the inductor current module is an inductor current sensor.
Claim 22
Dependent Claim
13 words
The controller of claim 11 wherein the voltage module is a voltage sensor.
Claim 23
Dependent Claim
13 words
The controller of claim 11 wherein the voltage module is a voltage estimator.
Claim 24
Dependent Claim
15 words
The controller of claim 11 wherein the output current module is an output current sensor.
Claim 25
Dependent Claim
15 words
The controller of claim 11 wherein the output current module is an output current estimator.
Claim 26
Independent Claim
168 words
A method for controlling a three-phase uninterrupted power supply (UPS), the three-phase UPS providing power to a three-phase load via a series inductor for each phase and a capacitor connected electrically in parallel to the load for each phase, the three-phase UPS providing a voltage E, an output voltage v C , an inductor current i L , and a load current i 0 for each phase, the method comprising the steps of: determining the inductor current in each phase; determining the output voltage, v C , in each phase; converting the determined inductor current and the output voltage from a three-phase system into a inductor current and output voltage expressed in stationary coordinates; estimating a plurality of pre-selected harmonic components of the inductor current and to provide the estimated plurality of inductor current harmonic components in stationary coordinates; determining a proportional gain term; determining a harmonic compensated control signal; determining a control vector as a function of the proportional gain term and the harmonic compensated control function.
Claim 27
Independent Claim
168 words
A method for controlling a three-phase uninterrupted power supply (UPS), the three-phase UPS providing power to a three-phase load via a series inductor for each phase and a capacitor connected electrically in parallel to the load for each phase, the three-phase UPS providing a voltage E, an output voltage v C , an inductor current i L , and a load current i 0 for each phase, the method comprising the steps of: determining the inductor current in each phase; determining the output voltage, v C , in each phase; converting the determined inductor current and the output voltage from a three-phase system into a inductor current and output voltage expressed in stationary coordinates; estimating a plurality of pre-selected harmonic components of the inductor current and to provide the estimated plurality of inductor current harmonic components in stationary coordinates; determining a proportional gain term; determining a harmonic compensated control signal; determining a control vector as a function of the proportional gain term and the harmonic compensated control function.
Claim 28
Dependent Claim
39 words
The method of claim 24 wherein the step of estimating the plurality of pre-selected harmonic components of the inductor current includes estimating the plurality of pre-selected harmonic components as a function of the output voltage and the reference voltage.
Claim 29
Dependent Claim
91 words
The method of claim 24 wherein the function of the the output voltage and the reference voltage is given by ⅆ ⅆ t i ^ L , k p = - γ k v ~ C + ?? k ω i ^ L , k p , ⅆ ⅆ t i ^ L , k n = - γ k v ~ C - ?? k ω i ^ L , k n .
Claim 30
Dependent Claim
43 words
The method of claim 24 wherein the function of the the output voltage and the reference voltage is given by {overscore(İ)} L,k p =−γ k e −ℑωkl {tilde over (v)} C ,{overscore(İ)} L,k n =−γ k e ℑωkl {tilde over (v)} C .
Claim 31
Dependent Claim
53 words
The method of claim 24 wherein the step of determining the proportional gain term and feedforward term includes the equation - R 1 i L - ( 2 L 0 ∑ k ∈ H γ k + R 2 ) v ~ C + v C * .
Claim 32
Dependent Claim
55 words
The method of claim 24 wherein the step of determining harmonic compensated control signal includes the equation ∑ k ∈ H 2 γ k v ~ C ( R 1 s - k 2 ω 2 L 0 s 2 + k 2 ω 2 ) .
Claim 33
Dependent Claim
72 words
The method of claim 24 wherein the step of determining harmonic compensated control signal includes the equation ∑ k ∈ H [ ( R 1 + ?? k ω L ^ ) i ^ L , k p + ( R 1 - ?? k ω L ^ ) i ^ L , k n ] .
Claim 34
Dependent Claim
18 words
The method of claim 24 wherein the step of determining the inductor current includes measuring the inductor current.
Claim 35
Dependent Claim
18 words
The method of claim 24 wherein the step of determining the inductor current includes estimating the inductor current.
Claim 36
Dependent Claim
18 words
The method of claim 24 wherein the step of determining the output voltage includes measuring the output voltage.
Claim 37
Dependent Claim
18 words
The method of claim 24 wherein the step of determining the output voltage includes estimating the output voltage.
Claim 38
Independent Claim
256 words
An apparatus for controlling a three-phase uninterrupted power supply (UPS), the three-phase UPS providing power to a three-phase load via a series inductor for each phase and a capacitor connected electrically in parallel to the load for each phase, the three-phase UPS providing a voltage E, an output voltage v C , an inductor current i L , and a load current i 0 for each phase, the apparatus comprising: an inductor current module operative to provide the inductor current in each phase; a voltage module operative to provide the output voltage in each phase; a three-phase to stationary coordinate converter, coupled to the inductor current module and the voltage module, the coordinate converter configured and arranged to convert the measured inductor current and the output voltage from a three-phase system into a inductor current and output voltage expressed in stationary coordinates; an estimator coupled to the three-phase to stationary coordinate converter, the estimator configured and arranged to estimate a plurality of pre-selected harmonic components of the inductor current and to provide the estimated plurality of inductor current harmonic components in stationary coordinates; a proportional gain processor coupled to the estimator and the coordinate converter, the proportional gain processor configured and arranged to determine a proportional gain term; a harmonic control processor coupled to the estimator and the coordinate converter, the harmonic control processor configured and arranged to determining a harmonic compensated control signal; a control vector processor determining a control vector as a function of the proportional gain term and the harmonic compensated control function.
Claim 39
Independent Claim
256 words
An apparatus for controlling a three-phase uninterrupted power supply (UPS), the three-phase UPS providing power to a three-phase load via a series inductor for each phase and a capacitor connected electrically in parallel to the load for each phase, the three-phase UPS providing a voltage E, an output voltage v C , an inductor current i L , and a load current i 0 for each phase, the apparatus comprising: an inductor current module operative to provide the inductor current in each phase; a voltage module operative to provide the output voltage in each phase; a three-phase to stationary coordinate converter, coupled to the inductor current module and the voltage module, the coordinate converter configured and arranged to convert the measured inductor current and the output voltage from a three-phase system into a inductor current and output voltage expressed in stationary coordinates; an estimator coupled to the three-phase to stationary coordinate converter, the estimator configured and arranged to estimate a plurality of pre-selected harmonic components of the inductor current and to provide the estimated plurality of inductor current harmonic components in stationary coordinates; a proportional gain processor coupled to the estimator and the coordinate converter, the proportional gain processor configured and arranged to determine a proportional gain term; a harmonic control processor coupled to the estimator and the coordinate converter, the harmonic control processor configured and arranged to determining a harmonic compensated control signal; a control vector processor determining a control vector as a function of the proportional gain term and the harmonic compensated control function.
Claim 40
Dependent Claim
69 words
The apparatus of claim 35 further including the three-phase to stationary coordinate converter coupled to a three-phase reference voltage, the coordinate converter configured and arranged to convert the three-phase reference voltage to a reference voltage, and wherein the estimator estimates the plurality of pre-selected harmonic components of the inductor current includes estimating the plurality of pre-selected harmonic components as a function of the output voltage and the reference voltage.
Claim 41
Dependent Claim
15 words
The apparatus of claim 35 wherein the inductor current module is an inductor current sensor.
Claim 42
Dependent Claim
15 words
The apparatus of claim 35 wherein the inductor current module is an inductor current sensor.
Claim 43
Dependent Claim
13 words
The apparatus of claim 35 wherein the voltage module is a voltage sensor.
Claim 44
Dependent Claim
13 words
The apparatus of claim 35 wherein the voltage module is a voltage estimator.
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