---
title: 260422_회의자료
description: 
published: true
date: 2026-04-23T06:33:33.630Z
tags: 
editor: markdown
dateCreated: 2026-04-23T06:33:33.630Z
---

# 기존 PI 제어기


```diagram
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```

그림 1 기존 PI 제어기에서의 컨트롤 다이어그램

voltage relationships in the stationary a-b-c reference frame are

$e_a = Ecos(wt) = - \cfrac{di_a}{dt} + v_{an} \\$

$e_b = Ecos(wt- \cfrac{2}{3}\pi) = - \cfrac{di_a}{dt} + v_{bn} \\$

$e_c = Ecos(wt+ \cfrac{2}{3}\pi) = - \cfrac{di_a}{dt} + v_{cn} \\$

In synchronous d-q reference frame as



$e_d = E = -L \cfrac{di_d}{dt} + \omega Li_q + v_d \\$
$e_q = 0 = -L \cfrac{di_q}{dt} - \omega Li_d + v_q \\$

For fast current dynamics, current controller are designed as

$v_d* = E - \omega Li_q + \varDelta v_d$

$v_q* = \omega Li_d + \varDelta v_q$

where $\varDelta v_d , \varDelta v_q$ are

$\varDelta v_d = k_{pd}(i_d^* - i_d) + k_{id} \int (i_d^* - i_d) dt$

$\varDelta v_q = k_{pq}(i_q^* - i_q) + k_{iq} \int (i_q^* - i_q) dt$

---
---
# 개선 제어기
```diagram
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```


그림 2 개선 제어론에서의 컨트롤 다이어그램

In Proposed current control scheme $v_d*, v_q*$ are designed as:

$v_d* = K_{pd} \cdot (i_d^* - i_d) + \left( m_a \cdot V_d\right)\\$
$v_d* = K_{pq} \cdot (i_q^* - i_q) + \left( m_a \cdot V_q\right)\\$

Where $m_a$ is

$m_a = K_{i}\int(i_d^* - i_d)dt\\$

In Steady state, error is expected to be zero:
$\cfrac{dm_a}{dt} = K_i (i_d^* - i_d) = 0\\% \implies i_d = i_d^*\\$

```kroki
mermaid

graph TD
  A[ Anyone ] -->|Can help | B( Go to github.com/yuzutech/kroki )
  B --> C{ How to contribute? }
  C --> D[ Reporting bugs ]
  C --> E[ Sharing ideas ]
  C --> F[ Advocating ]
``'