frame integrator, and can therefore achieve zero error in the

stationary frame.
[Ypd' (s)]' [He )] Lqde ',de b)] (21)
In fact, the only significant difference between the the system will have a closed loop response of
synchronous frame PI and the resonant stationary frame [Iqde(S)]= [Ge(s)+ He(s)r' ["(s)]kqd'*(s)]= A(s$qd'*(s)] (22)
regulator is the cross-coupling terms that exist in the
The steady state response of (22) can be found using the final
stationary frame for the PI regulator, and in the synchronous
value theorem for each regulator, and is as follows:
frame for the resonant regulator. These terms add to the
complexity of regulator implementation when they are
present, which suggests that the resonant regulator may have
implementation advantages in the stationary frame. Note also
+ KP@o
1
that the cross-coupling terms for the resonant regulator are at
A=
double the reference frequency because of the frequency
modulation process. However, whilst it might be anticipated
that transients could excite these double frequency terms,
extensive simulation has shown no evidence of any double
frequency oscillation or instability.
The cross-coupling terms can also affect the dynamic for the stationary frame PI regulator (derived using
performance of the regulator, but evaluation to date for the MAPLE).,, and:

new resonant regulator suggests that the influence seems

minimal. However, a thorough analysis of the nature of this
cross-coupling is left for future work.
B. Verijication of Zero Steady State Error
To verify that regulators with a synchronous frame
integrator achieve zero steady state error, their steady state
response when operating in a closed loop system must be
considered. For a power electronic converter, this can be
confirmed by investigating the response of the regulator
when driving an R-L load, as follows.
The synchronous domain frequency response of an R-L
load driven by a sinusoidal voltage is given by:
Now; if the voltage is derived from a current regulator with
the synchronous frame transfer function of
A=[:, :]
for the synchronousframe PI and resonant stationary frame
regulators.
Clearly from (24), the synchronous frame PI and resonant
regulators achieve zero steady error, in contrast to the
stationary frame PI regulator. Furthermore, as a point of
interest, (23) shows that the steady state errors created by a
stationary frame PI regulator derive from the finite gain in
the direct regulator path and not from the cross coupling
between the phases as is sometimes assumed.
In general, any current regulator that is required to achieve
zero steady state error must have infinite DC gain in the
synchronous reference frame, and this can be readily
assessed using the techniques described above.

Current Regulator Stationary frame DQ transfer function Rotating frame DQ transfer function
Stationary frame PI

S2 +WO

Synchronous frame PI K1s

KP +-
s +WO
-- KIWO K s
K p + A
s2 +WO
Resonant stationary frame 2Kp Kl KP - 2KPo
Kp +- 2
0 Kp +-+ 2 2
s2 + W O s s2 +4W0 s2 +4W0
2Kp 2Kl WO K , +I+
K K1s
0 KP - 2
S2 +WO -
s2 +4W02 s S2+4W,2
I I -

Table 1 : DQ Stationary and Synchronous Frame Transformations for PI Current Regulators

82 1