CN102773587A - Sampling full digitalization current type PID (Proportion Integration Differentiation) control method and control circuit - Google Patents
Sampling full digitalization current type PID (Proportion Integration Differentiation) control method and control circuit Download PDFInfo
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Abstract
The invention provides a sampling full digitalization current type PID (Proportion Integration Differentiation) control method and a control circuit. The control method comprises the following steps of: acquiring a fixed given signal and a switch transformer primary side current sampling feedback signal through an encoder and a current sampling unit; sending the signals to a current type PWM (Pulse-Width Modulation) control chip so as to carry out PID control operation and obtain a duty ratio pulse width signal; and carrying out transform processing on data of welding current, voltage, power according to the duty ratio pulse width signal, so as to realize control on actual output of a welding machine. According to the control method, the detected data is processed, different PD control is adopted in different error ranges, and integrals are separated, so that a power supply can quickly follow and response, a welding process is controllable, impact current generated in short circuit is inhibited, and the work performances are stable and reliable; and in addition, a hardware circuit of PWM is effectively simplified, the cost is reduced, the dynamic response is quicker, the control response speed and the welding performance of the welding machine are improved, the work is more reliable, and the problem of higher current spike when an IGBT (Insulated Gate Bipolar Transistor) is opened is solved.
Description
Technical field
The invention belongs to arc maintenance control technology field, relate in particular to totally digitilized current mode PID control method of a kind of sampling and control circuit.
Background technology
At present; China minority welding equipment manufacturer also has digital welding power source to release; But great majority all are that singlechip technology is used for man-machine interface, Digital Control far from, and what can MUC and DSP digital processing technology be used for Arc Welding Process Control is phoenix feathers and unicorn horns; And lacking real Welding procedure expert system, welding process data collection and analysis, welding model foundation and theory of algorithm support, technical merit still is in rudimentary state.Following China welding profession will be progressively in line with international standards, develop towards inversionization, automation, specialization, digitlization direction, further adapt to the welding applications demand.
The inverter type welder of current-mode control imports China the earliest into, and development thereafter is slower, mainly is that technical difficult point is many.At present for example: difficult to understand too, Yi Teliu, no sunset little welding machine all be current-mode control, but adopt analog circuit to realize entirely.In those early years, it is " arc-welding machine of single-ended current monocycle control " " firepower is refreshing " that a brand is arranged at no sunset, and its principle is: after the 8 pin soft starts of SG3525, pulse is opened; Single-ended twin-tube circuit work, outputting inductance produces slope current, primary side current transformer ratio slope current; Form Ui, Ue is a direct current levelling voltage, Ui>comparator counter-rotating during Ue; Drag down 9 pin of SG3525, pulse is closed, and forms the pulsewidth levelling; Also have a kind of current-mode control to be to use UC3846, UC3842 current mode pwm chip in addition.
Summary of the invention
In order to solve the above-mentioned technical problem that exists in the prior art, the invention provides a kind of power supply that makes and respond fast, the welding process controllability is strong; Dash current in the time of can facing upward only short circuit, stable work in work, the totally digitilized current mode PID control method of sampling reliably, and the hardware circuit of PWM is simplified; Cost reduces; Can improve the control response speed and the welding performance of welding machine, it is more reliable to work, the control circuit of current spike problem of higher when solving IGBT simultaneously and opening.
The present invention solves the technical scheme that the prior art problem adopted:
The totally digitilized current mode PID control method of a kind of sampling may further comprise the steps:
A. obtain fixing given signal;
B. obtain the current sample feedback signal;
C. will fix given signal and the current sample feedback signal is carried out pid control computation, and obtain the dutycycle pulse width signal, and the data of welding current, voltage, power are carried out conversion process, realize the control of the actual output of butt welding machine according to this dutycycle pulse width signal.
Further; The said current sample feedback signal of obtaining is specially: the voltage that uses the TVS pipe that sampling is obtained absorbs, and makes the current signal of Current Transformer sampling switch transformer; Through full-bridge rectification after obtain square-wave signal behind the resistance sampling, as feedback signal.
Further, said pid control computation is that the mean value of gathering square-wave signal carries out calculation process.
Further, after obtaining the dutycycle pulse width signal, earlier this dutycycle pulse width signal is carried out processing and amplifying, according to the dutycycle pulse width signal after this amplification the data of welding current, voltage, power are carried out conversion process again.
Further, saidly the data of welding current, voltage, power are carried out conversion process, realize the control of the actual output of butt welding machine according to the dutycycle pulse width signal; Be specially: when electric current increases suddenly; Feedback signal increases simultaneously, if this moment, voltage was lower, the welding machine output power value does not also reach the maximum power value of setting; The pulsewidth that the dutycycle pulse width signal is corresponding can not narrow, and the welding machine power output is maximum; If this moment, voltage raise, when the welding machine output power value surpassed the maximum power value of setting, the pulsewidth that the dutycycle pulse width signal is corresponding narrowed, and electric current is got back to original state, and this moment, the welding machine power output reduced.
The totally digitilized current mode PID control circuit of a kind of sampling; It is characterized in that; Include one and be used to obtain the current sampling unit that the encoder and of fixing given signal is used to obtain the current sample feedback signal; And one be used for fixing given signal and current sample feedback signal are carried out pid control computation; Obtain the dutycycle pulse width signal, and the data of welding current, voltage, power are carried out conversion process, realize the PID control module of the control of the actual output of butt welding machine according to this dutycycle pulse width signal.
Further; Said current sampling unit includes the TVS pipe that is used for the peak voltage that sampling obtains is absorbed; One is used for current transformer that switch transformer primary current signal is sampled; One is used for the current signal of sampling is carried out the full-bridge rectifier of full-bridge rectification, and one be used for the current signal after the full-bridge rectification is taken a sample and obtained the sample resistance of square-wave signal, and said TVS pipe, current transformer, full-bridge rectifier and sample resistance conducting successively are connected.
Further, said PID control module is a single-chip microcomputer, includes pid control algorithm device, PWM control register and PWM output port that conducting successively connects.
Further, said PID control module is that model is the STM32F100C8T6 single-chip microcomputer.
Further, this control circuit also includes amplifying circuit, and the input of said amplifying circuit is connected with the driving transformer conducting of said PWM output port and electric welding machine respectively with output.
The present invention is through technique scheme, and this control method can realize welding current, voltage; The data conversion process of power makes welding process controlled, and the data through detection is returned; Different error range adopts different PD control, through separation integral, lets the more amiable fast response of power supply; The welding process controllability is strong, the dash current when facing upward only short circuit simultaneously, stable work in work, reliable.
In addition; This control circuit has effectively been simplified the hardware circuit of PWM, reduced the cost of hardware, and dynamic response is exceedingly fast; Thereby improve the control response speed and the welding performance of welding machine; It is more reliable to work, and has avoided current detecting to latch the appearance with the pwm circuit misoperation simultaneously, current spike problem of higher when solving IGBT and opening; Because of single-end circuit half period sex work, rush of current is excessive also to have avoided " arc-welding machine of single-ended current monocycle control ", and leakage inductance and distributed inductance all inspire the self induction voltage that is difficult to restrain; Minimum pulse width is uncontrollable, out of control during short circuit, becomes open loop, the problem that dash current can't be restrained.
Description of drawings
Fig. 1 is the schematic flow sheet of the totally digitilized current mode PID control method of the said sampling of the embodiment of the invention;
Fig. 2 is the schematic block diagram of the totally digitilized current mode PID control circuit of the said sampling of the embodiment of the invention;
Fig. 3 is the totally digitilized current mode PID control circuit of the said sampling of an embodiment of the invention sketch map.
The specific embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is elaborated.
As shown in fig. 1:
The totally digitilized current mode PID control method of the described a kind of sampling of the embodiment of the invention may further comprise the steps:
Steps A. obtain fixing given signal;
Step B. obtains the current sample feedback signal;
Step C. will fix given signal and the current sample feedback signal is carried out pid control computation; Obtain the dutycycle pulse width signal; And the data of welding current, voltage, power are carried out conversion process according to this dutycycle pulse width signal, realize the control of the actual output of butt welding machine.
Wherein, The said current sample feedback signal of obtaining, specifically can for: the voltage that uses the TVS pipe that sampling is obtained absorbs, and makes the current signal of Current Transformer sampling switch transformer; Through full-bridge rectification after obtain square-wave signal behind the resistance sampling, as feedback signal.Said pid control computation is that the mean value of gathering square-wave signal carries out calculation process; And after obtaining the dutycycle pulse width signal; Earlier this dutycycle pulse width signal is carried out processing and amplifying, according to the dutycycle pulse width signal after this amplification the data of welding current, voltage, power are carried out conversion process again.
Saidly the data of welding current, voltage, power are carried out conversion process according to the dutycycle pulse width signal; Realize the control of the actual output of butt welding machine, be specially: when electric current increased suddenly, feedback signal increased simultaneously; If this moment, voltage was lower; The welding machine output power value does not also reach the maximum power value of setting, and the pulsewidth that the dutycycle pulse width signal is corresponding can not narrow, and the welding machine power output is maximum; If this moment, voltage raise, when the welding machine output power value surpassed the maximum power value of setting, the pulsewidth that the dutycycle pulse width signal is corresponding narrowed, and electric current is got back to original state, and this moment, the welding machine power output reduced.
Like this, can realize to welding current voltage; The data conversion process of power makes welding process controlled, and the data through detection is returned; Different error range adopts different PD control, through separation integral, lets the more amiable fast response of power supply; The welding process controllability is strong, the dash current when facing upward only short circuit simultaneously, stable work in work, reliable.
Shown in Fig. 2 and Fig. 3:
The totally digitilized current mode PID control circuit of the described a kind of sampling of the embodiment of the invention includes encoder 1, current sampling unit 2 and PID control module 3, and said encoder 1 is connected with 3 conductings of PID control module with current sampling unit 2.Wherein,
(like model is 20R20 to said encoder 1, K1A15F6) is mainly used in to obtain fixing given signal, and flows to PID control module 3;
Said current sampling unit 2 is mainly used in and obtains the current sample feedback signal; And flow to PID control module 3; (like model is ESD5Z3.3T1 to include the TVS pipe that is used for the peak voltage that sampling obtains is absorbed; G*) 21; One be used for that switch transformer primary current signal is sampled current transformer (like model is T22*14*8-C, HGQ 200:1) 22, be used for the current signal of sampling is carried out the full-bridge rectifier 23 of full-bridge rectification; And one be used for the current signal after the full-bridge rectification is taken a sample and obtained the sample resistance 24 of square-wave signal, and said TVS pipe 21, current transformer 22, full-bridge rectifier 23 are connected with sample resistance 24 conducting successively; Said full-bridge rectifier 23 is made up of four stamp-mounting-paper diodes (is the 1N4148 diode like model), and said sample resistance 24 is made up of Chip-R (Chip-Rs as the 1206) parallel connection of four 22 Ω encapsulation;
Said PID control module 3 is a single-chip microcomputer (is STM32F100C8T6 like model); Be mainly used in and fix given signal and the current sample feedback signal is carried out pid control computation; Obtain dutycycle pulse width signal (being the digital drive sequence number); And the data of welding current, voltage, power are carried out conversion process according to this dutycycle pulse width signal; Realize the control of the actual output of butt welding machine, it includes pid control algorithm device 31, PWM control register 32 and PWM output port 33 that conducting successively connects.
This control circuit also includes amplifying circuit (is MOSFET AO4612 like model) 4, and the input of said amplifying circuit 4 is connected with the driving transformer conducting of said PWM output port 33 and electric welding machine respectively with output.
Like Fig. 3; The primary current signal that the sampling of the current transformer 22 of PID control circuit of the present invention obtains is handled the directly pin PA0-WKU P of input MCU of back through diode D16～D19 and resistance R 31～R34; The encoder 1 of front panel is also given given signal of MCU simultaneously; Calculation process is carried out with these two signals in MCU inside, two PWM waveforms that the pulsewidth size is consistent and phase place is opposite of the pin PA8 of MCU and pin PA9 output, and the processing of process amplifying circuit 4 drove driving transformer afterwards; Finally drive conducting and the shutoff of single tube IGBT, realize an inversion process of welding machine.
When the pin PA9 of MCU output high potential, pin PA8 export electronegative potential, and the high potential of pin PA9 output makes triode Q5 conducting, and the base potential of triode Q6 and Q7 is dragged down, and triode Q6 is ended and triode Q7 conducting.Thereby make the P pipe conducting of paster field pipe U6; The N pipe of paster field pipe ends.
At this moment, the pin PA8 of MCU output electronegative potential ends triode Q8, and the base stage of triode Q9 and Q10 is a high potential, and triode Q9 conducting, triode Q10 are ended, thereby the P pipe of paster field pipe U7 is ended; The N N pipe conducting of paster field pipe.The dc source of positive 15V is successively through driving the loop by the P pipe of paster field pipe U6 and the half period that, driving transformer T3, Chip-R R44, the N pipe of paster field pipe U7 constitute.
The drive principle of half period is the same in addition; Just the PA9 pin of MCU is exported electronegative potential; PA8 pin output high potential, thus the dc source that makes positive 15V is successively through by the P pipe of paster field pipe U7, Chip-R R44, driving transformer T3, the N of pipe U6 manages the other half period driving loop that constitutes to ground to the paster field again.
The operation principle of the totally digitilized current mode PID control circuit of sampling according to the invention is: at first; Head end encoder 1 output one fixing given signal is to PID control module 3; Meanwhile, the peak voltage that 21 pairs of samplings of the TVS of current sampling unit 2 pipe obtain absorbs, and the current signal of current transformer 22 sampling switch transformers; And should carry out rectification through full-bridge rectifier 23 and obtain square-wave signal, and be delivered to PID control module 3 after sample resistance 24 is taken a sample; Then; After PID control module 3 single-chip microcomputers carry out calculation process through its pid control algorithm device 31; According to the data in its PWM control register 32 of the number adjustment that calculates, and convert actual welding output valve into, through the corresponding dutycycle pulse width signal of its PWM output port 33 outputs; Control the actual output of welding machine at last according to this dutycycle pulse width signal.Like this, effectively simplify the hardware circuit of PWM, reduced the cost of hardware; And this PID control circuit dynamic response is exceedingly fast; Thereby improve the control response speed of welding machine, thereby improve welding performance, it is more reliable to work; Avoided current detecting to latch the appearance with the pwm circuit misoperation simultaneously, current spike problem of higher when solving IGBT and opening; Because of single-end circuit half period sex work, rush of current is excessive also to have avoided " arc-welding machine of single-ended current monocycle control ", and leakage inductance and distributed inductance all inspire the self induction voltage that is difficult to restrain; Minimum pulse width is uncontrollable, out of control during short circuit, becomes open loop, the problem that dash current can't be restrained.
Above content is to combine concrete optimal technical scheme to the further explain that the present invention did, and can not assert that practical implementation of the present invention is confined to these explanations.For the those of ordinary skill of technical field under the present invention, under the prerequisite that does not break away from the present invention's design, can also make some simple deduction or replace, all should be regarded as belonging to protection scope of the present invention.
Claims (10)
1.
A kind ofThe totally digitilized current mode PID control method of sampling is characterized in that, may further comprise the steps:
A. obtain fixing given signal;
B. obtain the current sample feedback signal;
C. will fix given signal and the current sample feedback signal is carried out pid control computation, and obtain the dutycycle pulse width signal, and the data of welding current, voltage, power are carried out conversion process, realize the control of the actual output of butt welding machine according to this dutycycle pulse width signal.
2. control method according to claim 1; It is characterized in that; The said current sample feedback signal of obtaining is specially: the voltage that uses the TVS pipe that sampling is obtained absorbs, and makes the current signal of Current Transformer sampling switch transformer; Through full-bridge rectification after obtain square-wave signal behind the resistance sampling, as feedback signal.
3. control method according to claim 2 is characterized in that, said pid control computation is that the mean value of gathering square-wave signal carries out calculation process.
4. according to any one described control method in the claim 1 to 3; It is characterized in that; After obtaining the dutycycle pulse width signal; Earlier this dutycycle pulse width signal is carried out processing and amplifying, according to the dutycycle pulse width signal after this amplification the data of welding current, voltage, power are carried out conversion process again.
5. according to any one described control method in the claim 1 to 3, it is characterized in that, saidly the data of welding current, voltage, power are carried out conversion process according to the dutycycle pulse width signal; Realize the control of the actual output of butt welding machine, be specially: when electric current increased suddenly, feedback signal increased simultaneously; If this moment, voltage was lower; The welding machine output power value does not also reach the maximum power value of setting, and the pulsewidth that the dutycycle pulse width signal is corresponding can not narrow, and the welding machine power output is maximum; If this moment, voltage raise, when the welding machine output power value surpassed the maximum power value of setting, the pulsewidth that the dutycycle pulse width signal is corresponding narrowed, and electric current is got back to original state, and this moment, the welding machine power output reduced.
One kind the sampling totally digitilized current mode PID control circuit; It is characterized in that; Include one and be used to obtain the current sampling unit (2) that the encoder (1) and of fixing given signal is used to obtain the current sample feedback signal; And one be used for fixing given signal and current sample feedback signal are carried out pid control computation; Obtain the dutycycle pulse width signal, and the data of welding current, voltage, power are carried out conversion process, realize the PID control module (3) of the control of the actual output of butt welding machine according to this dutycycle pulse width signal.
7. control circuit according to claim 6; It is characterized in that: said current sampling unit (2) includes the TVS pipe (21) that is used for the peak voltage that sampling obtains is absorbed; One is used for current transformer (22) that switch transformer primary current signal is sampled; One is used for the current signal of sampling is carried out the full-bridge rectifier (23) of full-bridge rectification; And one be used for the current signal after the full-bridge rectification is taken a sample and obtained the sample resistance (24) of square-wave signal, and said TVS pipe (21), current transformer (22), full-bridge rectifier (23) are connected with sample resistance (24) conducting successively.
8. according to claim 6 or 7 described control circuits, it is characterized in that: said PID control module (3) is a single-chip microcomputer, includes pid control algorithm device (31), PWM control register (32) and PWM output port (33) that conducting successively connects.
9. control circuit according to claim 6 is characterized in that: said PID control module (3) is the STM32F100C8T6 single-chip microcomputer for model.
10. control circuit according to claim 8; It is characterized in that: this control circuit also includes amplifying circuit (4), and the input of said amplifying circuit (4) is connected with the driving transformer conducting of said PWM output port (33) and electric welding machine respectively with output.
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| CN105527836A (en) * | 2015-12-23 | 2016-04-27 | 湘电风能有限公司 | PID (Proportion Integration Differentiation) control system and wind power plant group power control method |
| CN107005170A (en) * | 2014-11-17 | 2017-08-01 | 瑞典爱立信有限公司 | The method of switched-mode power supply, base station and Operation switch mode power |
| CN107962279A (en) * | 2017-11-08 | 2018-04-27 | 深圳市瑞凌实业股份有限公司 | The anti-sticking welding rod function control method of electric welding machine and electric welding machine |
| CN109514039A (en) * | 2018-12-13 | 2019-03-26 | 刘堂斌 | A kind of Study of digital welding machine power control system |
| CN110262220A (en) * | 2019-06-24 | 2019-09-20 | 华南理工大学 | One kind welding pulse current pid parameter control method based on ant group algorithm MIG |
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| CN107962279B (en) * | 2017-11-08 | 2019-09-24 | 深圳市瑞凌实业股份有限公司 | The anti-sticking welding rod function control method of electric welding machine and electric welding machine |
| CN109514039A (en) * | 2018-12-13 | 2019-03-26 | 刘堂斌 | A kind of Study of digital welding machine power control system |
| CN109514039B (en) * | 2018-12-13 | 2020-10-09 | 刘堂斌 | Power supply control system of digital welding machine |
| CN110262220A (en) * | 2019-06-24 | 2019-09-20 | 华南理工大学 | One kind welding pulse current pid parameter control method based on ant group algorithm MIG |
| CN110262220B (en) * | 2019-06-24 | 2021-09-21 | 华南理工大学 | Method for controlling PID (proportion integration differentiation) parameters of MIG (metal-inert gas) welding pulse current based on ant colony algorithm |
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