CN101738936A - Control strategy of self-adaption digital closed loop applied in UPS - Google Patents
Control strategy of self-adaption digital closed loop applied in UPS Download PDFInfo
- Publication number
- CN101738936A CN101738936A CN200810176029A CN200810176029A CN101738936A CN 101738936 A CN101738936 A CN 101738936A CN 200810176029 A CN200810176029 A CN 200810176029A CN 200810176029 A CN200810176029 A CN 200810176029A CN 101738936 A CN101738936 A CN 101738936A
- Authority
- CN
- China
- Prior art keywords
- closed loop
- self
- control
- pid
- ups
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Feedback Control In General (AREA)
Abstract
The invention discloses a control strategy of a self-adaption digital closed loop applied in UPS. As for an inverter at the states with different rated powers and loads, a self-adaption fuzzy PID controller is utilized to design and select PID closed loop parameters to meet the requirement of PID parameter self-adjustment at different moments. The technical scheme of the invention improves the dynamic response speed and stabilized accuracy of systems, avoid the disadvantages of trail and error of closed loop required in application engineering, tedious work, larger error and the like, and realize intelligent debugging of UPS.
Description
Technical field
What the present invention relates to is the field that industrial process is controlled, particularly a kind of fuzzy control strategy that is applied to the self-adaption digital closed loop among the UPS.
Background technology
At present, automatic control system device in the existing overwhelming majority's production run, though be pneumatic, electronic, surge, their wherein each quantizing factor adopts method of trial and error usually or adopts priori to determine, therefore its control effect also may not be desirable in working control.In order to obtain good control effect, require Fuzzy control system to have than perfect control rule and adaptive ability.Obtaining the parameter of control law how effectively, accurately, also is industrial process control field fine solution major issue not as yet.For the controlling object parameter of some more complicated, only sum up to determine it is far from being enough with the conclusion of method of trial and error and priori, the parameter of control procedure is determined to become very difficult, or even out of the question.
In industrial process control technology field, a kind of mathematical models that does not need controlling object is arranged, and directly adopt the fuzzy control method and the control corresponding system thereof of the control of language type control law implementation procedure.Therefore, the effective information that obtains in the how integrated use control procedure, structure is suitable for the control law of complex object, is another major issue that exists in the present rule-based Control System Design, also is a major issue in the self-adaption digital closed loop parameter designing of using at present among the UPS.
Summary of the invention
In view of this, this reality invention technical matters to be solved provides the control strategy of the self-adaption digital closed loop among a kind of UPS of being applied to, it can overcome the deficiencies in the prior art, break away from the examination of closed loop parameter designing is gathered, make the UPS uninterrupted power source improve dynamic responding speed and lasting accuracy, and guarantee digital closed loop good adaptive ability among the UPS.
For solving the problems of the technologies described above, the technical solution adopted in the present invention comprises that fuzzy reasoning is applied to voltage and current double closed-loop control PID control structure.
As a preferred embodiment of the present invention, the two closed loop PID control structures of the numeral of described outer voltage and current inner loop comprise that the digital dicyclo of being realized by software is controlled and the attribute of hardware circuit of inverter own.
As another kind of preferred version of the present invention, described fuzzy reasoning comes down to a fuzzy controller.
As the present invention further optimization scheme, described fuzzy reasoning comprises that pid parameter is from adjusting rule and fuzzy control rule.
UPS has adopted the digital dicyclo PID control method of inductive current pattern, forms K by the digital dicyclo of software realization and the attribute of hardware circuit of inverter own respectively
UfBe output voltage feedback factor, K
IfBe the capacitor current feedback coefficient.The reference signal amount U of the given Voltage loop of DSP
Ref, the ac output voltage at filter capacitor two ends is handled through the DSP sampling through signal conditioning circuit and is obtained U
i, U
iWith reference voltage U
RefRelatively obtain error signal, the output after regulating through digital PID is as the instruction I of electric current loop
Ref, current error signal is regulated through ratio and is obtained electric current loop output I
OutThe triangular wave that electric current loop output and timer produce relatively produces the PWM drive signal and drives full bridge power module, wherein K
PwmEquivalent gain for inverter bridge under the sufficiently high situation of switching frequency.
By the Fuzzy control system structure as can be seen, this error system is with error e and error rate e
cTo different deviation e and deviation variation rate e
cFor the input language variable, with K
p, K
i, K
dImport the fuzzy control of three outputs for two of output language variable.With sum of errors error variable quantity can explain fully total system response process.At different error e and error rate e
c, to pid control parameter K
p, K
i, K
dThe rule of adjusting:
(1) when | e| is big,, should get bigger K for there is tracking performance preferably in system
pWith less K
d, for avoiding system responses bigger overshoot to occur, the reply integral action is limited, and gets K usually simultaneously
i=0;
(2) when | e| and | e
c| during median size, have less overshoot, K for making system
pShould get littler, in this case, K
dValue is bigger to systematic influence, should get smaller, K
iValue want suitably.
(3) when | e| hour, have good stable performance, K for making system
pAnd K
iShould get bigger, simultaneously for avoiding system vibration to occur, and the taking into account system interference free performance, as | e in setting value
c| when big, K
dCan obtain smaller, | e
c| hour, K
dThat can get is bigger.
This shows that should there be its corresponding pid parameter in system when different deviation, this just requires PID the oneself to adjust.Fuzzy is exactly as target, regulates in routine on the basis of PID, adopts the thought of fuzzy reasoning, according to different e and e
c, to parameter K
p, K
i, K
dCarry out the fuzzy control of online self-tuning, its structure is made up of two parts: conventional PID control section and fuzzy reasoning parameter correction part.
The present invention adopts the mathematical models that does not rely on controll plant, but according to manual control regular weaves control decision table, is decided the size of controlled quentity controlled variable then by this voting.
Pid parameter is to find out three parameters of PID and deviation e and deviation variation rate e from adjusting
cBetween fuzzy relation, be in operation by continuous detection e and e
c, come pid parameter is carried out online modification according to fuzzy control principle, find best pid parameter, to satisfy different e and e
cThe time to the different requirements of controlled variable, thereby make controlled device that good dynamic and static performance be arranged.
Fuzzy control input and output variable all is accurate amount, and fuzzy reasoning carries out at fuzzy control quantity.Therefore, control system at first will be carried out Fuzzy processing to input quantity.In the designed Fuzzy Adaptive PID Control system in this programme, the language value of input, output is divided into 7 prophesy values: in negative big, negative, negative little, O, just little, center, honest, be NB, NM, NS, O, PS, PM, PB, membership function adopts the strong trigonometric function of sensitivity.Error e, error rate e
cAnd the domain of output controlled quentity controlled variable is all got { 6-5-4-3-2-1 012345 6}
At K
p, K
i, K
dThe fuzzy control rule table of adjusting respectively of three parameters sees Table 1, table 2, table 3.
Table 1K
pControl rule tables
Table 2K
iControl rule tables
Table 3K
dControl rule tables
K
p, K
i, K
dFuzzy control rule table set up after, in the on-line operation process, control system by to the processing of fuzzy control logic rules results, table look-up and calculate, to K
p, K
i, K
dThe three carries out online self-adjusting and fuzzy self-adjusting, and computing formula is as follows:
K
p＝K
p *+{e
i，e
cj}q
p
K
i＝K
i *+{e
i，e
cj}q
i
K
d＝K
d *+{e
i，e
cj}q
d
Wherein, K
p *, K
i *, K
d *Be the adaptive Fuzzy PID Control system be the initial value of three controlled variable, K
p, K
i, K
dBeing adjusted pid control parameter, is the correction factor of PID, { e
i, e
CjBe error e and e
cError transform rate e
cCorresponding to the output valve in the fuzzy control rule table (1～3).
Description of drawings
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Fig. 1 is a pid parameter self-adjusting fuzzy controller system chart of the present invention;
Fig. 2 is a digital dicyclo PID control method block diagram of the present invention;
Fig. 3 is a closed-loop control process flow diagram of the present invention.
Embodiment
Fig. 1 is a PID self-adjusting fuzzy controller system chart of the present invention, and this system chart comprises digital closed loop PID control structure and fuzzy reasoning two parts of outer voltage and current inner loop.Two closed loop PID structures of the numeral of wherein said voltage inter-loop and electric current outer shroud and fuzzy reasoning.Output signal obtains a feedback quantity through feedback, with standard signal to relatively obtaining error signal, error signal and error signal variations rate are through the fuzzy reasoning part, pid parameter is constantly adjusted, and obtains best K
p, K
iAnd K
d, to satisfy different error signal and error signal variations rates constantly, best pid parameter and error signal obtain adjusting comparatively accurately the back signal through the PID regulator, can guarantee the adaptive ability of digital closed loop like this.
Fig. 2 is the two closed loop PID control method block diagrams of the present invention's numeral, and the digital dicyclo that this block diagram is realized by software is controlled and the attribute of hardware circuit of inverter own is formed.K
UfBe output voltage feedback factor, K
IfBe the capacitor current feedback coefficient, the reference signal amount U of the Voltage loop that DSP is given
Ref, the ac output voltage at filter capacitor two ends is handled through the DSP sampling through signal conditioning circuit and is obtained U
i, U
iWith reference voltage U
RefRelatively obtain error signal, the output after regulating through digital PID is as the instruction I of electric current loop
Ref, current error signal is regulated through ratio and is obtained electric current output I
OutThe triangular wave that electric current loop output and timer produce relatively produces the PWM drive signal and drives full bridge power module, wherein K
PwmEquivalent gain for inverter bridge under the sufficiently high situation of switching frequency had so both guaranteed steady-state characteristic, can improve the dynamic property of system again.
Fig. 3 is a closed-loop control process flow diagram of the present invention, and this process flow diagram has comprised the pid number dicyclo PID control procedure and the fuzzy reasoning process of voltage inter-loop and current inner loop.Carve at a time to standard volume U
Ref, actual measured value U is fetched in sampling
In, can calculate deviation of signal E like this
r=U
Ref-U
In, deviation of signal amount that obtains and deviation of signal amount rate of change are input to fuzzy control, adjust through the fuzzy control online adaptive, obtain best pid parameter, calculate integral W
I=K
i* E
r, calculate proportional W simultaneously
P=K
p* (E
r-E
R-1), preserve deviation of signal E then
r=E
R-1, if overshoot in allowed limits, can not consider that then differentiation element (is K
d=0), PID=W so ratio, integrated value add up
I+ W
P, wherein the value of PID can not surpass restricted portion, and error signal and pid parameter are input to the PID regulator, the more accurately signal of conditioner outlet end output through adjusting.
Claims (4)
1. a control strategy that is applied to the self-adaption digital closed loop among the UPS is characterized in that, comprising:
Fuzzy reasoning is applied to the two closed loop PID control structures of numeral of outer voltage and current inner loop.
2. the control strategy that is applied to the self-adaption digital closed loop among the UPS according to claim 1 is characterized in that, two closed loop controlling structures of described outer voltage and current inner loop comprise the voltage and current double closed-loop control principle.
3. the control strategy that is applied to the self-adaption digital closed loop among the UPS according to claim 1 is characterized in that, described fuzzy reasoning comprises that pid parameter is from adjusting rule.
4. the control strategy that is applied to the self-adaption digital closed loop among the UPS according to claim 1 is characterized in that described fuzzy reasoning comprises fuzzy control rule.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810176029A CN101738936A (en) | 2008-11-05 | 2008-11-05 | Control strategy of self-adaption digital closed loop applied in UPS |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810176029A CN101738936A (en) | 2008-11-05 | 2008-11-05 | Control strategy of self-adaption digital closed loop applied in UPS |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101738936A true CN101738936A (en) | 2010-06-16 |
Family
ID=42462514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810176029A Pending CN101738936A (en) | 2008-11-05 | 2008-11-05 | Control strategy of self-adaption digital closed loop applied in UPS |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101738936A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103823368A (en) * | 2014-01-27 | 2014-05-28 | 浙江大学 | PID (proportion, integral, derivative)-type fuzzy logic control method based on weight rule table |
| CN103984234A (en) * | 2014-05-15 | 2014-08-13 | 张万军 | Electro hydraulic servo system self-correction fuzzy PID control method |
| CN104333964A (en) * | 2014-10-17 | 2015-02-04 | 武汉凌云光电科技有限责任公司 | Control circuit and control method for pulse xenon lamp power supply |
| CN104660043A (en) * | 2015-02-11 | 2015-05-27 | 东南大学 | Four-section self-adaptive PID control method for digital DC/DC converter |
| CN104779798A (en) * | 2015-04-27 | 2015-07-15 | 东南大学 | Method for controlling fuzzy PID digital control DC-DC converter |
| CN105226699A (en) * | 2015-10-23 | 2016-01-06 | 南方电网科学研究院有限责任公司 | Control method and system of inner loop current controller |
| CN106383806A (en) * | 2016-10-09 | 2017-02-08 | 河北汉光重工有限责任公司 | Efficient closed-loop iterative algorithm implementation system |
| CN106444363A (en) * | 2016-12-14 | 2017-02-22 | 浙江中控技术股份有限公司 | PID (proportion integration differentiation) parameter tuning method and tuning system |
| CN106786778A (en) * | 2017-03-01 | 2017-05-31 | 湖南大学 | A kind of inverter fuzzy PID control method |
| CN108649817A (en) * | 2018-06-15 | 2018-10-12 | 湖北德普电气股份有限公司 | A kind of self-adaptive initial pulse design method based on Technics of Power Electronic Conversion device |
| CN108696210A (en) * | 2018-05-21 | 2018-10-23 | 东南大学 | Direct current generator current loop controller methods of self-tuning based on parameter identification |
| CN108983598A (en) * | 2018-09-28 | 2018-12-11 | 昂纳信息技术（深圳）有限公司 | A kind of PID adjusting method, system and storage device |
-
2008
- 2008-11-05 CN CN200810176029A patent/CN101738936A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103823368B (en) * | 2014-01-27 | 2016-02-24 | 浙江大学 | Based on the PID Fuzzy logic control method of weight rule table |
| CN103823368A (en) * | 2014-01-27 | 2014-05-28 | 浙江大学 | PID (proportion, integral, derivative)-type fuzzy logic control method based on weight rule table |
| CN103984234A (en) * | 2014-05-15 | 2014-08-13 | 张万军 | Electro hydraulic servo system self-correction fuzzy PID control method |
| CN104333964A (en) * | 2014-10-17 | 2015-02-04 | 武汉凌云光电科技有限责任公司 | Control circuit and control method for pulse xenon lamp power supply |
| CN104660043A (en) * | 2015-02-11 | 2015-05-27 | 东南大学 | Four-section self-adaptive PID control method for digital DC/DC converter |
| CN104660043B (en) * | 2015-02-11 | 2017-03-29 | 东南大学 | A kind of four-part form Adaptive PID Control method of digital DC/DC changers |
| CN104779798A (en) * | 2015-04-27 | 2015-07-15 | 东南大学 | Method for controlling fuzzy PID digital control DC-DC converter |
| CN105226699A (en) * | 2015-10-23 | 2016-01-06 | 南方电网科学研究院有限责任公司 | Control method and system of inner loop current controller |
| CN106383806B (en) * | 2016-10-09 | 2019-06-04 | 河北汉光重工有限责任公司 | A kind of iterative realization system for solving laser decoding algorithm |
| CN106383806A (en) * | 2016-10-09 | 2017-02-08 | 河北汉光重工有限责任公司 | Efficient closed-loop iterative algorithm implementation system |
| CN106444363A (en) * | 2016-12-14 | 2017-02-22 | 浙江中控技术股份有限公司 | PID (proportion integration differentiation) parameter tuning method and tuning system |
| CN106444363B (en) * | 2016-12-14 | 2019-08-06 | 浙江中控技术股份有限公司 | A kind of pid parameter setting method and adjusting system |
| CN106786778A (en) * | 2017-03-01 | 2017-05-31 | 湖南大学 | A kind of inverter fuzzy PID control method |
| CN108696210A (en) * | 2018-05-21 | 2018-10-23 | 东南大学 | Direct current generator current loop controller methods of self-tuning based on parameter identification |
| CN108696210B (en) * | 2018-05-21 | 2021-07-13 | 东南大学 | Parameter identification-based parameter self-tuning method for direct current motor current loop controller |
| CN108649817A (en) * | 2018-06-15 | 2018-10-12 | 湖北德普电气股份有限公司 | A kind of self-adaptive initial pulse design method based on Technics of Power Electronic Conversion device |
| CN108983598A (en) * | 2018-09-28 | 2018-12-11 | 昂纳信息技术（深圳）有限公司 | A kind of PID adjusting method, system and storage device |
| CN108983598B (en) * | 2018-09-28 | 2023-07-11 | 昂纳科技(深圳)集团股份有限公司 | PID (proportion integration differentiation) adjusting method, system and storage device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101738936A (en) | Control strategy of self-adaption digital closed loop applied in UPS | |
| Pan et al. | Variable pitch control on direct-driven PMSG for offshore wind turbine using Repetitive-TS fuzzy PID control | |
| CN108566088A (en) | Two close cycles RBF neural sliding moding structure self-adaptation control method | |
| CN108539978B (en) | A kind of adaptive control system of Boost type DC-DC converter | |
| WO2022121446A1 (en) | Control system, reactive voltage control method and device, medium, and calculation device | |
| CN112162483B (en) | Optimal parameter obtaining method of proportional-integral controller | |
| Simonová et al. | Uses of on–off controller for regulation of higher-order system in comparator mode | |
| Ren et al. | Feedforward feedback pitch control for wind turbine based on feedback linearization with sliding mode and fuzzy PID algorithm | |
| CN108566086B (en) | Two close cycles RBF neural sliding moding structure adaptive control system | |
| CN108566087A (en) | A kind of self-adaptation control method of Boost type DC-DC converter | |
| Ali et al. | D-decomposition-based multi-objective robust resilient control for blade pitch of wind energy conversion system | |
| US20120310375A1 (en) | A nonlinear intelligent pulse-controller | |
| Gopi et al. | Performance and robustness analysis of V-Tiger PID controller for automatic voltage regulator | |
| Li et al. | A linear quadratic regulator with integral action of wind turbine based on aerodynamics forecasting for variable power production | |
| CN104730927B (en) | The fuzzy PD variable structure control method of Intelligent artificial leg | |
| Shen et al. | HOSMD and neural network based adaptive super-twisting sliding mode control for permanent magnet synchronous generators | |
| Al-Nussairi et al. | Design of a Two-Area Automatic Generation Control Using a Single Input Fuzzy Gain Scheduling PID Controller. | |
| Kun et al. | Fuzzy adaptive PID control for VAV air-condition system | |
| CN111711366A (en) | Fuzzy control method of double-active full-bridge DC-DC converter | |
| Chen et al. | Improved pitch control strategy for the robust operation of wind energy conversion system in the high wind speed condition | |
| Zheng et al. | Stability Region Design of Fractional Complex Order $ PI^{\lambda+\mu\mathrm {i}} $ Controller Using D Segmentation | |
| Zhang et al. | The application of incremental PID control algorithm in large tuning camera | |
| Sambariya et al. | Application of NARMA L2 controller for load frequency control of multi-area power system | |
| Li et al. | Design and Application of the PID Control System of IMC | |
| CN116111614B (en) | Fuzzy PID-based method for participating in isolated network frequency modulation of electrolytic aluminum load |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20100616 |