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当前位置：电气工程与自动化 > 2026年 5卷 (1)期

Open Access Article

Journal of Electrical Engineering and Automation. 2026; 5: (1) ; 1-12 ; DOI: 10.12208/j.jeea.20260001.

An adaptive proportional-resonant controller based on tracking error
基于跟踪误差的自适应比例谐振控制器

作者： 陈剑波¹ *, 李建福², 翁盛煊¹, 张怀品¹

1南京邮电大学碳中和先进技术研究院江苏南京

2南京邮电大学自动化学院江苏南京

*通讯作者：陈剑波,单位：南京邮电大学碳中和先进技术研究院江苏南京; ；

南京邮电大学引进人才科研启动基金项目（自然科学）（项目编号：NY224031）江苏省高等学校基础科学（自然科学）研究项目资助（项目编号：24KJB120010）国家自然科学基金项目（项目编号：62573238）

发布时间: 2026-03-19 总浏览量: 39

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摘要

比例谐振（Proportional–Resonant, PR）控制器能够在静止坐标系下实现对正弦参考信号的零稳态误差跟踪，因而在电力电子变换器中得到广泛应用。在控制器的物理实现时，通常采用理想PR与准比例谐振（Quasi–Proportional–Resonant, QPR）两种形式。其中，理想PR控制器可完全消除稳态误差，但瞬态响应较慢；而QPR控制器虽能改善动态性能，却存在稳态误差。为此，本文提出一种自适应比例谐振（Adaptive Proportional–Resonant, APR）控制器，其谐振参数可根据瞬时跟踪误差的大小，以非线性函数形式进行在线调整。该控制结构将理想PR与QPR统一于一个通用的APR框架之中。为验证APR控制器相较于传统PR与QPR的性能优势，本文进行了数值仿真与硬件在环（HIL）实验。仿真基于MATLAB/Simulink 2019b平台，HIL实验依托OPAL-RT实时仿真系统完成。实验分别在并网型与构网型两类典型运行场景下开展，以全面评估APR的控制性能。结果表明，APR控制器在稳态下实现与理想PR相同的零稳态误差，同时具备接近QPR的快速动态响应。由于APR可在不同阶段自适应呈现PR或QPR特性，其参数设计得以简化。仿真与HIL实验均验证了该自适应谐振控制策略的有效性与应用潜力。

关键词： 比例谐振控制器；静止坐标系调节器；电流控制；电压控制；构网型变换器；并网型变换器

Abstract

The proportional–resonant (PR) controller enables zero steady-state error tracking of sinusoidal reference signals in the stationary reference frame and has therefore been widely adopted in power electronic converters. In practical implementations, two forms are commonly used: the ideal PR controller and the quasi-proportional–resonant (QPR) controller. The ideal PR controller can completely eliminate steady-state error but tends to exhibit relatively slow transient response; in contrast, the QPR controller can improve dynamic performance but introduces steady-state error. To address these limitations, this paper proposes an adaptive proportional–resonant (APR) controller whose resonant parameters are adjusted online via a nonlinear function of the instantaneous tracking error. This control structure unifies the ideal PR and QPR controllers within a general APR framework. To validate the performance advantages of the APR controller over conventional PR and QPR controllers, numerical simulations and hardware-in-the-loop (HIL) tests are conducted. The simulations are carried out using MATLAB/Simulink 2019b, while the HIL experiments are implemented on an OPAL-RT real-time simulation platform. The experiments cover both grid-following and grid-forming operating scenarios to provide a comprehensive evaluation of APR performance. The results show that the APR controller achieves the same zero steady-state error as the ideal PR controller under steady-state conditions, while delivering dynamic responses comparable to those of the QPR controller. Because the APR controller can adaptively exhibit PR- or QPR-like characteristics at different stages, the parameter-design process is simplified. Both the simulation and HIL results confirm the effectiveness and application potential of the proposed adaptive resonant control strategy QPR.

Key words： Proportional resonant controller; Stationary frame regulator; Current control; Voltage control; Grid-forming converter; Grid-following converter

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引用本文

陈剑波, 李建福, 翁盛煊, 张怀品, 基于跟踪误差的自适应比例谐振控制器[J]. 电气工程与自动化, 2026; 5: (1) : 1-12.

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