control_library

Control and dsp algorithms for owntech converters

This library has been integrated and tested on TWIST converters using SPIN controller.

The integration is based on the dedicated OwnTech Power API.

Remarks: The library is currently not optimized to make it easier to read (we hope).

Features

The library provides the following functionalities mainly through C++ objects.

Controllers.

Controllers provided are:

• Pid(): Standard form of the PID regulator.
• Pr(): Proportional Resonant regulator.
• Rst(): Discrete form of Polynomial regulator.

Pid(), Pr() and Rst() inherit from the Controller() class which define the same interface.

Filters

• PllSinus(): Software PLL (Phased Lock Loop)
• Digital filters: LowPassFirstOrdreFilter(), NotchFilter()

Three phase system transformations.

It provides also three phase system transformation through a static class : Transform from transform.h header.

• Idqo = Transform::to_dqo(Iabc, angle);
• Iabc = Transofrm::to_abc(Idqo, angle);
• Iabo = Transform::clarke(Iabc);
• Iabc = Transform::clarke_inverse(Iabo);
• Idqo = Transform::rotation_to_dqo(Iabo, angle)
• Iabo = Transform::rotation_to_clarke(Idqo, angle)

It includes also types:

• threephase_t
• dqo_t
• clarke_t

Installation

We describe here the process to use it with the Power API which has been designed to use PlatformIO.

The installation here recall the procedure of using a library in PlatformIO.

To use the library, you need to add the line above in the platformio.ini file.

lib_deps=
    control_lib = https://github.com/owntech-foundation/control_library.git

You can find various examples in the OwnTech examples library

Links:

Links which inspired this work:

• PID:
  • K. Astrom et T. Hagglund, Advanced PID Control.
• PR:
  • A. Gï, « Digital Resonant Current Controllers For Voltage Source Converters ». Thesis
• RST:
  • I. D. Landau, C. Cyrot, A. Voda, et D. Rey, « Robust digital control of flexible structures using the combined pole placement/sensitivity function shaping method », in Proceedings of 1994 American Control Conference - ACC ’94, Baltimore, MD, USA: IEEE, 1994, p. 283‑288. doi: 10.1109/ACC.1994.751743.
  • I. D. Landau et G. Zito, « Digital Control Systems - New edition (I. D. Landau & G. Zito) », 2020, doi: 10.13140/RG.2.2.19321.49764.
• PLL:
  • F. D. Freijedo, J. Doval-Gandoy, O. Lopez, et J. Cabaleiro, « Robust phase locked loops optimized for DSP implementation in power quality applications », in 2008 34th Annual Conference of IEEE Industrial Electronics, Orlando, FL: IEEE, nov. 2008, p. 3052‑3057. doi: 10.1109/IECON.2008.4758447.

Thanks

Thanks to the OwnTech contributors:

• Luiz
• Ayoub
• Guillaume
• Jean
• Clement