CN101814752A - Control system and method of UPS (Uninterrupted Power System) - Google Patents
Control system and method of UPS (Uninterrupted Power System) Download PDFInfo
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Abstract
The invention discloses a control system of a UPS (Uninterrupted Power System). The control system is used for carrying out double closed loop control on the UPS, wherein double closed loops comprise a current loop used as an inner loop and a voltage loop used as an outer loop; in the current loop, a difference value of a set value and a feed value of inversion current is solved, and through the proportional control of a proportional coefficient of the current loop, a controlled quantity relative to inversion voltage is obtained. The control system comprises a current loop proportional coefficient adjustment module, and the adjustment module comprises a detection unit and a coefficient setting unit, wherein the detection unit is used for detecting whether the UPS meets a bus overvoltage control condition or not; and the coefficient setting unit is used for taking a smaller value in two preset current loop proportional coefficients when the UPS meets the bus overvoltage control condition and taking a greater value in the two preset current loop proportional coefficients when the UPS does not meet the bus overvoltage control condition. The invention discloses a control method of the UPS. The invention can solve the problem of bus overvoltage by using lower cost and reliably enhance the capacity of carrying an inductive load of the UPS system.
Description
Technical field
(Uninterruptable Power Supply UPS), particularly relates to control system and the method for a kind of UPS to the present invention relates to uninterrupted power supply.
Background technology
At present a lot of UPS are because the restriction of topological structure own, and the ability of band inductive load is not strong, such as can not be with the bigger inductive load of power factor, and motor etc. for example.As shown in Figure 1, the general two conversion UPS that singly go out that singly advance comprise rectifying part and inversion part, and rectifying part adopts the BOOST converter, and three level topologys are partly adopted in inversion.During impact inductive load L3, moment will produce very big current dc component, when inverter voltage for just, when the inverter current that flows through on the inversion inductance L 2 is negative, shown in the direction of dotted arrow among Fig. 1, inverter current can constantly charge toward positive bus-bar capacitor C 1 by the body diode of last person in charge Q3.Because it is bigger to flow through the current dc component of inversion inductance L 2, because the reverse choked flow effect of diode D3, electric current can't flow through diode D3, so it is bigger than the energy that inductive load L3 consumes to pour into the energy of positive bus-bar capacitor C 1, last positive bus-bar voltage can be more and more higher, causes 1 overvoltage of positive bus-bar capacitor C behind several power frequency periods.Similarly, when inverter current was reverse, the situation of overvoltage also can appear in negative busbar capacitor C 2.
As mentioned above, if the rectifying part of UPS adopts BOOST converter or similar topological structure, in the time of the bigger inductive load (near ideal inductance) of this UPS band power factor problem of bus overvoltage will appear.For solving problem of bus overvoltage, known a kind of scheme is to adopt withstand voltage higher electric capacity as positive bus-bar electric capacity, but the scheme that this dependence hardware is changed needs extra a lot of costs that increase.
Summary of the invention
Main purpose of the present invention is exactly at the deficiencies in the prior art, and control system and the method for a kind of UPS is provided, and solves the problem of bus overvoltage with lower cost.
For achieving the above object, the present invention is by the following technical solutions:
The control system of a kind of UPS, described UPS comprises rectifying part and the inversion part that is connected in turn between AC power and the load, it is characterized in that:
Described control system comprises the PID controller, it is used for described UPS is carried out two closed-loop controls, the described pair of closed loop comprises as the electric current loop of interior ring with as the Voltage loop of outer shroud, in described Voltage loop, value of feedback to inverter voltage set-point and inverter voltage is got difference, regulate through proportional integral, obtain the inverter current set-point, in described electric current loop, value of feedback to described inverter current set-point and inverter current is got difference, regulates through the ratio of electric current loop proportionality coefficient, obtains the controlled quentity controlled variable about described inverter voltage, wherein said inverter voltage is the output voltage of described inversion part, and described inverter current is the output current of described inversion part;
Described control system also comprises electric current loop proportionality coefficient adjusting module, it comprises detecting unit and coefficient unit, described detecting unit is used to detect described UPS and whether satisfies bus overvoltage controlled condition, described coefficient unit is used for when described bus overvoltage controlled condition satisfies, described electric current loop proportionality coefficient is taken as less value in two default electric current loop proportionality coefficients, when described bus overvoltage controlled condition does not satisfy, described electric current loop proportionality coefficient is taken as bigger value in two default electric current loop proportionality coefficients.
Preferably, described detecting unit comprises the current calculation unit and first judging unit, described current calculation unit is used for calculating the reactive current of the load current in the described load, described first judging unit is used for the threshold values of described reactive current and setting is compared, judge described bus overvoltage controlled condition during greater than described threshold values when described reactive current and satisfy, otherwise judge that described bus overvoltage controlled condition does not satisfy.
Preferably, described reactive current is the idle component that calculates the load current of a plurality of sampled points in the power frequency period by described current calculation unit, averages and obtains.
Preferably, described detecting unit comprises second judging unit, it is used for the voltage reference value of busbar voltage and setting is compared, and the current reference value of described inverter current and setting compared, when described busbar voltage greater than described voltage reference value and described inverter current during greater than described current reference value, judge that described bus overvoltage controlled condition satisfies, otherwise judge that described bus overvoltage controlled condition does not satisfy.
Preferably, described controlled quentity controlled variable about inverter voltage is the controlled quentity controlled variable that SPWM takes place, and described inverter voltage generates by described SPWM.
The control method of a kind of UPS is characterized in that:
Described control method comprises carries out two closed-loop controls to described UPS, the described pair of closed loop comprises as the electric current loop of interior ring with as the Voltage loop of outer shroud, in described Voltage loop, value of feedback to inverter voltage set-point and inverter voltage is got difference, regulates through proportional integral, obtains the inverter current set-point, in described electric current loop, value of feedback to described inverter current set-point and inverter current is got difference, regulates through the ratio of electric current loop proportionality coefficient, obtains the controlled quentity controlled variable about inverter voltage; Wherein, described electric current loop proportionality coefficient is by the following steps adjustment:
A. detect described UPS and whether satisfy bus overvoltage controlled condition;
B. when described bus overvoltage controlled condition satisfies, described electric current loop proportionality coefficient is taken as less value in two default electric current loop proportionality coefficients;
C. when described bus overvoltage controlled condition does not satisfy, described electric current loop proportionality coefficient is taken as bigger value in two default electric current loop proportionality coefficients.
Preferably, steps A may further comprise the steps:
A11. the reactive current in the computational load electric current;
A12. the threshold values with described reactive current and setting compares, and judges described bus overvoltage controlled condition during greater than described threshold values when described reactive current and satisfies, otherwise judge that described bus overvoltage controlled condition does not satisfy.
Preferably, in the steps A 11, described reactive current is by calculating the idle component of the load current of a plurality of sampled points in the power frequency period respectively, averages and obtains.
Preferably, Fourier transform is adopted in the calculating of described idle component, by obtaining with the load current instantaneous value the included angle cosine of the inverter current of corresponding power frequency period and inverter voltage is on duty.
Preferably, steps A may further comprise the steps:
A21. detect busbar voltage and inverter current; With
A22. the voltage reference value with busbar voltage and setting compares, and the current reference value of described inverter current and setting compared, when described busbar voltage greater than described voltage reference value and described inverter current during greater than described current reference value, judge that described bus overvoltage controlled condition satisfies, otherwise judge that described bus overvoltage controlled condition does not satisfy.
Beneficial technical effects of the present invention is:
Adopt the two closed-loop controls of PID according to control system of the present invention, in electric current loop, the value of feedback of inverter current set-point and inverter current is got difference, regulate, obtain controlled quentity controlled variable about inverter voltage through the ratio of electric current loop proportionality coefficient as interior ring.In above-mentioned closed-loop control system, by adopting little electric current loop proportionality coefficient, can effectively suppress busbar voltage and raise, this mainly is because little electric current loop proportionality coefficient makes inverter voltage obtain relatively large overshoot, increase the loss of bus energy, thereby avoided occurring bus overvoltage.But, system index for non-inductive load the time, typical, as resistive load and rectified load at THD (total harmonic distortion, total harmonic distortion) system index of aspect then needs to adopt bigger electric current loop proportionality coefficient to meet the demands.Therefore, among the present invention, detect UPS earlier and whether satisfy bus overvoltage controlled condition, when satisfying bus overvoltage controlled condition, adopt less current chain rate example coefficient in two default electric current loop proportionality coefficients, otherwise adopt bigger electric current loop proportionality coefficient, thereby can accomplish taking into account system index.For example, character according to system load judges whether to satisfy bus overvoltage controlled condition, only when being judged as inductive load, adopt less current chain rate example coefficient, thereby avoid inductive load to cause the problem of bus overvoltage easily, increase the ability of system's band inductive load.Compare with traditional scheme, other index when the present invention can fundamentally avoid the problem of bus overvoltage occurring and can take into account UPS with non-inductive load, and therefore the electric capacity that does not need to adopt the higher high resistance to pressure of cost in addition reduced the cost of system as bus capacitor.
Description of drawings
Fig. 1 is for singly advancing the circuit structure diagram that singly goes out two conversion UPS;
Fig. 2 is the control principle figure of an embodiment of the present invention;
Fig. 3 is the structured flowchart of the electric current loop proportionality coefficient adjusting module in the control system of the present invention;
Fig. 4 is the structured flowchart of the electric current loop proportionality coefficient adjusting module of a kind of embodiment;
Fig. 5 is the structured flowchart of the electric current loop proportionality coefficient adjusting module of another kind of embodiment;
Fig. 6 is for adjusting the basic flow sheet of electric current loop proportionality coefficient in the control method of the present invention;
Fig. 7 judges for a kind of embodiment whether UPS satisfies the flow chart of bus overvoltage controlled condition;
Fig. 8 is for adjusting the particular flow sheet of electric current loop proportionality coefficient corresponding to the embodiment of Fig. 7;
Fig. 9 judges for another kind of embodiment whether UPS satisfies the flow chart of bus overvoltage controlled condition.
Embodiment
In conjunction with the accompanying drawings the present invention is further described in detail by the following examples.
In one embodiment, as shown in Figure 1, UPS comprises rectifying part and the inversion part that is connected in turn between AC power and the load, and control system of the present invention is used for this UPS is carried out the two closed-loop controls of PID (proportion integration differentiation).Fig. 2 has provided the control principle figure of this UPS.This pair closed loop comprises outer shroud and interior ring, and outer shroud is a Voltage loop, adopts proportional integral to regulate, and interior ring is an electric current loop, and the employing ratio is regulated.In Voltage loop, the value of feedback Vinv of inverter voltage set-point Vref and inverter voltage is got difference, Upi regulates through the proportional integral link, obtains the inverter current set-point; In electric current loop, value of feedback Il to inverter current set-point and inverter current gets difference, obtain the electric current loop error, the electric current loop error is after regulating through the ratio of electric current loop proportionality coefficient Ip at least, acquisition is preferably and SPWM (sinusoidal pulse width modulation) ripple takes place to obtain the controlled quentity controlled variable of corresponding inverter voltage about the controlled quentity controlled variable of inverter voltage.Among the present invention, inverter voltage refers to the output voltage of inversion part, and inverter current refers to the output current (being the front end electric current of load) of inversion part.
In above-mentioned pair of closed loop, electric current loop proportionality coefficient Ip plays in control that overshoot is little, trace performance good.The electric current loop transfer function can be expressed as particularly
(comprising a proportional component and a time delay process), controlling object is an inversion inductance L 2.
Control system also comprises electric current loop proportionality coefficient adjusting module except comprising the pid number controller that is used to carry out the two closed-loop controls of above-mentioned PID.Please refer to Fig. 3, electric current loop proportionality coefficient adjusting module comprises detecting unit and coefficient unit again, wherein, detecting unit is used to detect UPS and whether satisfies bus overvoltage controlled condition, and coefficient unit is used for according to the given electric current loop proportionality coefficient of the testing result of detecting unit Ip.The present invention has preestablished a numerical value less current chain rate example coefficient and the electric current loop proportionality coefficient that numerical value is relatively large, when bus overvoltage controlled condition satisfies, thereby coefficient unit is taken as default less value with electric current loop proportionality coefficient Ip and realizes bus overvoltage control, when bus overvoltage controlled condition does not satisfy, coefficient unit is taken as default bigger value with electric current loop proportionality coefficient Ip, to satisfy the system index of the better performance that just has under bigger electric current loop proportionality coefficient.This type of system index comprises dynamically and the index of stable state two aspects, and wherein the stable state index comprises the system index of THD aspect.
Among the present invention, bigger value may be defined as the electric current loop proportionality coefficient and also guarantees that the related system index is in the value of normal range (NR) at UPS during with non-inductive load, less value is to compare with bigger value, the real needs of its value bus overvoltage control during according to UPS band inductive load and deciding.
Experiment confirm if the pid number controller adopts less current chain rate example coefficient Ip, produces effect to suppressing the busbar voltage rising very much, this mainly be because, when adopting less current chain rate example coefficient Ip, inverter voltage obtains relatively large overshoot, the loss that has increased the bus energy.But ups system both may be with inductive load, also may be with non-inductive load, for example, system just should consider the system index of THD aspect, and this index need adopt bigger electric current loop proportionality coefficient just can meet the demands when band resistive load and rectified load.Adopt above technical scheme, the present invention can guarantee to suppress busbar voltage and raise, and can take into account the index request that comprises the THD aspect again.
Whether detection UPS satisfies bus overvoltage controlled condition can be judged according to the character of load.If the character of identification load is inductive load, decidable satisfies bus overvoltage controlled condition, adopts less current chain rate example coefficient this moment; If the character of identification load is capacitive, resistive load, decidable does not satisfy bus overvoltage controlled condition, and then adopt bigger electric current loop proportionality coefficient this moment, thereby can be implemented in the ability that increases system's band inductive load under the prerequisite of other index of the system of taking into account.
Because the reactive current of the power factor of inductive load and electric current size is different with non-inductive load, therefore can whether discern inductive load according to the size of the reactive current of load current.As shown in Figure 4, preferably, detecting unit comprises the current calculation unit and first judging unit, wherein, current calculation unit is used for the reactive current of computational load electric current I L, first judging unit is used for the threshold values M of reactive current and setting is compared, and when reactive current judges that bus overvoltage controlled condition satisfies during greater than threshold values M, otherwise judges that bus overvoltage controlled condition does not satisfy.According to the judged result of first judging unit, coefficient unit will provide the electric current loop proportionality coefficient of corresponding size.
When calculating reactive current, the waveform of load current IL can carry out discrete Fourier and decompose in a power frequency period with a plurality of sampled points, decomposite idle component Iq cos wt wherein, is write its expansion as discrete Fourier progression and is:
Represent the reactive current of load current with variable Iq, according to the size of respective component with positive and negatively can suitably distinguish inductive load, capacitive load and resistive load.For inductive load, Iq is for just (just representing the voltage leading current), for resistive load, Iq is a very little positive number, for capacitive load, Iq is for negative (negative indication electric current leading voltage), so just can distinguish inductive load, capacitive load and resistive load according to Iq.Thereby, can set a threshold values, when Iq thinks inductive load greater than this threshold values the time.This threshold value is the size according to reactive current, substantially can with load region be divided into the boundary point value of inductive load and non-inductive load, its concrete value can become according to the situation of practical application.
Therefore, in more excellent embodiment, current calculation unit calculate respectively a plurality of sampled points in the power frequency period the idle component of load current, average as reactive current.The calculating of idle component preferably can be adopted Fourier transform, and multiplying each other by the included angle cosine value with load current instantaneous value and inverter current and inverter voltage obtains.
Whether detection UPS satisfies bus overvoltage controlled condition also can be judged according to the size of busbar voltage and inverter current.
As shown in Figure 5, in another kind of embodiment, detecting unit comprises second judging unit, second judging unit is used for the voltage reference value Vr of busbar voltage V and setting is compared, and the current reference value Ir of inverter current I and setting compared, when busbar voltage, is judged that bus overvoltage controlled condition satisfies, otherwise judged that bus overvoltage controlled condition does not satisfy during greater than the current reference value greater than voltage reference value and inverter current.For example, when the second judgment unit judges positive bus-bar or negative busbar voltage greater than certain value (such as 10% magnitude of voltage, when just having the bus overvoltage risk), if judge inverter current simultaneously, judge that promptly bus overvoltage controlled condition satisfies greater than certain value.This moment, quick adjustment arrived the routine coefficient Ip of the less electric current chain rate of setting to reduce busbar voltage.And when busbar voltage reduces, revert to original electric current loop proportionality coefficient Ip more gradually.
Than preceding a kind of embodiment, present embodiment is not easy to distinguish inductive load, so can there be certain risk.
In the various embodiments described above, load current, busbar voltage and inverter current can detect by relevant measuring circuit is set, and these measuring circuits can adopt the design of various routines.
As shown in Figure 6,, comprise the step of adjusting the electric current loop proportionality coefficient in the control method of UPS, be described as follows according to embodiments of the invention:
Steps A. detect UPS and whether satisfy bus overvoltage controlled condition;
When step B. satisfies in bus overvoltage controlled condition, the electric current loop proportionality coefficient is taken as the less value of setting; With
When step C. does not satisfy in bus overvoltage controlled condition, the electric current loop proportionality coefficient is taken as the bigger value of setting.
Can judge whether to satisfy bus overvoltage controlled condition according to the character of load.As shown in Figure 7, in one embodiment, described steps A may further comprise the steps:
Steps A 11. is according to the reactive current in the load current value computational load electric current; With
Steps A 12. compares the threshold values of reactive current and setting, when reactive current judges that bus overvoltage controlled condition satisfies during greater than threshold values, otherwise judges that bus overvoltage controlled condition does not satisfy.
As shown in Figure 8, in preferred embodiment, the process of adjusting the electric current loop proportionality coefficient is specific as follows:
Step 202 after the previous sampled point in current power frequency period has calculated, judges whether all sampled points of current power frequency period calculate end, if do not finish, returns step 201, if finish, enters step 203;
Step 203 with the sampling number of IqSumM_0 divided by the output voltage cycle, obtains reactive current Iq;
Step 204 compares the threshold values of reactive current Iq and setting, if judge that Iq greater than threshold values, enters step 205, if judge that Iq less than threshold values, enters step 206;
For above-mentioned steps 204～206, utilize the threshold values condition to distinguish out inductive load and other loads, thereby at different loads with different electric current loop proportionality coefficients.Threshold values can adopt through the digital quantity after the calibration conversion, for example is 500 (the mark one rated current correspondences 4096), gets 500 and can effectively distinguish out resistive load.After system's operation, if loading is inductive load, will enter step 205, and resistive load and rectified load electric current when carrying, the stable state band can only enter step 206 (ignoring dynamically and very little inductive load).
Whether satisfying bus overvoltage controlled condition also can judge according to the size of busbar voltage and inverter current.As shown in Figure 9, in another kind of embodiment, described steps A may further comprise the steps:
Steps A 21. detects busbar voltage and inverter current; With
Steps A 22. compares busbar voltage and inverter current respectively with voltage, the current reference value set, when busbar voltage greater than voltage reference value and inverter current during greater than the current reference value, judge that bus overvoltage controlled condition satisfies, otherwise judge that bus overvoltage controlled condition does not satisfy.
Above content be in conjunction with concrete preferred implementation to further describing that the present invention did, can not assert that concrete enforcement of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (10)
1. the control system of a UPS, described UPS comprises rectifying part and the inversion part that is connected in turn between AC power and the load, it is characterized in that:
Described control system comprises the PID controller, it is used for described UPS is carried out two closed-loop controls, the described pair of closed loop comprises as the electric current loop of interior ring with as the Voltage loop of outer shroud, in described Voltage loop, value of feedback to inverter voltage set-point and inverter voltage is got difference, regulate through proportional integral, obtain the inverter current set-point, in described electric current loop, value of feedback to described inverter current set-point and inverter current is got difference, regulates through the ratio of electric current loop proportionality coefficient, obtains the controlled quentity controlled variable about described inverter voltage, wherein said inverter voltage is the output voltage of described inversion part, and described inverter current is the output current of described inversion part;
Described control system also comprises electric current loop proportionality coefficient adjusting module, it comprises detecting unit and coefficient unit, described detecting unit is used to detect described UPS and whether satisfies bus overvoltage controlled condition, described coefficient unit is used for when described bus overvoltage controlled condition satisfies, described electric current loop proportionality coefficient is taken as less value in two default electric current loop proportionality coefficients, when described bus overvoltage controlled condition does not satisfy, described electric current loop proportionality coefficient is taken as bigger value in two default electric current loop proportionality coefficients.
2. the control system of UPS as claimed in claim 1 is characterized in that, described detecting unit comprises the current calculation unit and first judging unit, and wherein, described current calculation unit is used for calculating the reactive current of the load current in the described load; Described first judging unit is used for the threshold values of described reactive current and setting is compared, and judges described bus overvoltage controlled condition during greater than described threshold values when described reactive current and satisfies, otherwise judge that described bus overvoltage controlled condition does not satisfy.
3. the control system of UPS as claimed in claim 2 is characterized in that, described reactive current is the idle component that calculates the load current of a plurality of sampled points in the power frequency period by described current calculation unit, averages and obtains.
4. the control system of UPS as claimed in claim 1, it is characterized in that, described detecting unit comprises second judging unit, described second judging unit is used for the voltage reference value of busbar voltage and setting is compared, and the current reference value of described inverter current and setting compared, when described busbar voltage greater than described voltage reference value and described inverter current during greater than described current reference value, judge that described bus overvoltage controlled condition satisfies, otherwise judge that described bus overvoltage controlled condition does not satisfy.
5. as the control system of each described UPS in the claim 1 to 4, it is characterized in that described controlled quentity controlled variable about inverter voltage is the controlled quentity controlled variable that SPWM takes place, described inverter voltage generates by described SPWM.
6. the control method of a UPS is characterized in that:
Described control method comprises carries out two closed-loop controls to described UPS, the described pair of closed loop comprises as the electric current loop of interior ring with as the Voltage loop of outer shroud, in described Voltage loop, value of feedback to inverter voltage set-point and inverter voltage is got difference, regulates through proportional integral, obtains the inverter current set-point, in described electric current loop, value of feedback to described inverter current set-point and inverter current is got difference, regulates through the ratio of electric current loop proportionality coefficient, obtains the controlled quentity controlled variable about inverter voltage; Wherein, described electric current loop proportionality coefficient is by the following steps adjustment:
A. detect described UPS and whether satisfy bus overvoltage controlled condition;
B. when described bus overvoltage controlled condition satisfies, described electric current loop proportionality coefficient is taken as less value in two default electric current loop proportionality coefficients;
C. when described bus overvoltage controlled condition does not satisfy, described electric current loop proportionality coefficient is taken as bigger value in two default electric current loop proportionality coefficients.
7. as the control method of UPS as described in the claim 6, it is characterized in that: steps A may further comprise the steps:
A11. the reactive current in the computational load electric current;
A12. the threshold values with described reactive current and setting compares, and judges described bus overvoltage controlled condition during greater than described threshold values when described reactive current and satisfies, otherwise judge that described bus overvoltage controlled condition does not satisfy.
8. the control method of UPS as claimed in claim 7 is characterized in that, in the steps A 11, described reactive current is by calculating the idle component of the load current of a plurality of sampled points in the power frequency period respectively, averages and obtains.
9. the control method of UPS as claimed in claim 8 is characterized in that, Fourier transform is adopted in the calculating of described idle component, by obtaining with the load current instantaneous value the included angle cosine of the inverter current of corresponding power frequency period and inverter voltage is on duty.
10. the control method of UPS as claimed in claim 6 is characterized in that, steps A may further comprise the steps:
A21. detect busbar voltage and inverter current; With
A22. the voltage reference value with busbar voltage and setting compares, and the current reference value of described inverter current and setting compared, when described busbar voltage greater than described voltage reference value and described inverter current during greater than described current reference value, judge that described bus overvoltage controlled condition satisfies, otherwise judge that described bus overvoltage controlled condition does not satisfy.
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| CN101814752B (en) | 2012-07-04 |
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