CN103296940A - Self-adaptive PI (proportional-integral) control method and self-adaptive PI control system - Google Patents
Self-adaptive PI (proportional-integral) control method and self-adaptive PI control system Download PDFInfo
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Abstract
The invention discloses a self-adaptive PI (proportional-integral) control method and a self-adaptive PI control system. The method includes the steps: 1), sampling and computing voltage and current of a convertor to generate corresponding voltage change rate and current change rate; 2), when the voltage change rate is lower than a voltage change rate set value and the current change rate is lower than a current change rate set rate, generating an equivalent resistance value; 3), when the voltage change rate is higher than the voltage change rate set value and the current change rate is higher than the current change rate set rate, generating an equivalent inductance value; 4), generating a proportionality coefficient and an integral coefficient of a PI controller according to a current set value, the equivalent inductance value and the equivalent resistance value; and 5), when errors of a current sampled value and the current set value of the converter are within an error set range, entering a steady-state PI control stage, and otherwise, returning to the step 2)-the step 4) to re-perform parameter identification and regenerate proportional and integral coefficients of the PI controller.
Description
Technical Field
The invention relates to the field of automatic control, in particular to the field of automatic control of a rotor excitation converter, and specifically relates to a self-adaptive PI control method and system of the rotor excitation converter based on online parameter identification.
Background
In the existing converter design, the load parameter identification function is not provided. In the traditional PI control parameter design, various control parameters are set according to a system model and expert experience.
The PI parameter control is a classical control law and is widely applied to various control systems. The PI controller may be implemented with analog circuitry or with a digital algorithm. Proportional control can achieve fast response to deviation, and integral control can eliminate static error. Combining proportional and integral control can speed up the response to the deviation while eliminating the static error. Designers of control systems often obtain fixed (or step-by-step adjustable) PI control parameters by using methods such as model reference, experience reference, experimental verification and the like according to the characteristics of a controlled system.
In the past, the PI control technology applies fixed parameters to the whole (or a certain section) control process. However, the model of the controlled object in the operating state is often constantly changing, and the control parameters cannot be continuously corrected in real time by using the conventional PI regulator, so that it is difficult to achieve a good control effect in each operating state of the system, especially when the controlled object has a rapid change process.
Disclosure of Invention
The invention aims to overcome the defect that control parameters cannot be adjusted in real time in the prior art, and provides a self-adaptive PI control method and a self-adaptive PI control system.
In order to achieve the above object, an embodiment of the present invention discloses a self-adaptive PI control method, including: step 1), sampling and calculating the voltage and the current of a converter to generate a corresponding voltage change rate and a corresponding current change rate; step 2), when the voltage change rate is smaller than a voltage change rate set value and the current change rate is smaller than a current change rate set value, performing equivalent resistance parameter identification and calculating to generate an equivalent resistance value; step 3), when the voltage change rate is greater than a voltage change rate set value and the current change rate is greater than a current change rate set value, performing equivalent inductance parameter identification, and calculating to generate an equivalent inductance value; step 4), generating a proportional coefficient and an integral coefficient of the PI controller according to the current set value, the equivalent inductance value and the equivalent resistance value; and 5) when the error between the current sampling value of the converter and the current set value is within the error set range, entering a steady state PI control stage, otherwise, returning to the step 2) to the step 4), and repeating the parameter identification and generating the proportional coefficient and the integral coefficient of the PI controller.
In order to achieve the above object, an embodiment of the present invention further discloses an adaptive PI control system, including: the sampling and change rate generating unit is used for sampling and calculating the voltage and the current of the converter and generating a corresponding voltage change rate and a corresponding current change rate; the equivalent resistance parameter identification unit is used for identifying equivalent resistance parameters and calculating to generate an equivalent resistance value when the voltage change rate is smaller than a voltage change rate set value and the current change rate is smaller than a current change rate set value; the equivalent inductance parameter identification unit is used for identifying equivalent inductance parameters and calculating to generate an equivalent inductance value when the voltage change rate is greater than a voltage change rate set value and the current change rate is greater than a current change rate set value; and the control coefficient generating unit is used for generating a proportional coefficient and an integral coefficient of the PI controller according to the current set value, the equivalent inductance value and the equivalent resistance value.
The self-adaptive PI control method and system based on online parameter identification can enable the rotor excitation controller to have good dynamic and steady-state characteristics, and can make quick and smooth response aiming at different load characteristics and excitation current settings. The problem of PI control parameter failure caused by rotor equivalent parameter change due to temperature change can be solved, and the method has strong robustness on the change of rotor equivalent inductance and resistance.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a flow chart of a method of an adaptive PI control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of voltage and current curves during a soft start phase, a fast response phase, and a steady state phase according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for calculating and generating an equivalent inductance and an equivalent resistance by performing parameter identification;
fig. 4 is a schematic structural diagram of an adaptive PI control system according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of the equivalent inductance parameter identification unit 103 in the embodiment shown in FIG. 4;
FIG. 6 is a schematic structural diagram of the control coefficient generating unit 104 in the embodiment shown in FIG. 4;
fig. 7 is a schematic structural diagram of a rotor excitation PI controller of an electric excitation motor for an electric vehicle according to an embodiment of the present invention;
fig. 8 is a control flowchart of a rotor excitation converter of an electric excitation motor for an electric vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
According to a classical circuit model and theory, a pure resistance load, the voltage or the current of the load side is changed linearly; the resistance-inductance load, the voltage leads the current by a specific phase position, and the magnitude of the phase position represents the magnitude of the resistance value and the inductance value of the load. The working state of the controller is divided into three categories, namely soft start, quick response and steady state. The equivalent inductance parameter identification is realized according to the detected load voltage and current response curves according to the step response characteristics of a soft start or quick response stage; the equivalent resistance parameter identification is realized by calculating according to the steady-state output voltage and current value. The embodiment of the invention carries out real-time calculation of the equivalent inductance of the rotor according to the voltage, the current amplitude and the change rate of the step response of the converter, carries out real-time calculation of the equivalent resistance of the rotor according to the steady-state output voltage and current of the converter, and adjusts the control parameters of the PI controller in real time on line after obtaining the proportional coefficient and the integral coefficient required by the PI controller. Therefore, the adaptive PI control method and system based on online parameter identification can give consideration to both the dynamic and steady-state performance of the system.
Fig. 1 is a flowchart of a method of an adaptive PI control method according to an embodiment of the present invention. As shown in the figure, the adaptive PI control method of the present embodiment includes:
step S101, sampling and calculating the voltage and the current of a converter to generate a corresponding voltage change rate and a corresponding current change rate; step S102, when the voltage change rate is smaller than a voltage change rate set value and the current change rate is smaller than a current change rate set value, performing equivalent resistance parameter identification, and calculating to generate an equivalent resistance value; step S103, when the voltage change rate is greater than a voltage change rate set value and the current change rate is greater than a current change rate set value, performing equivalent inductance parameter identification, and calculating to generate an equivalent inductance value; step S104, generating a proportional coefficient and an integral coefficient of the PI controller according to the current set value, the equivalent inductance value and the equivalent resistance value; and S105, entering a steady state PI control stage when the error between the current sampling value of the converter and the current set value is within an error set range, otherwise returning to the S102-S104, and re-performing parameter identification and generating a proportional coefficient and an integral coefficient of the PI controller.
In step S101 of the present embodiment, the corresponding voltage change rate and current change rate generated by sampling and calculating the voltage and current of the converter, which may be a rotor excitation converter, are instantaneous values. As shown in fig. 2, voltage and current curves are shown during the soft start phase, the fast response phase, and the steady state phase. From this curve, the instantaneous voltage and current rates of change can be derived. The voltage change rate k shown in FIG. 2v1And kv2And rate of change of current ki1And ki2Is the average value of each transient.
In step S102 of this embodiment, when the voltage change rate is smaller than the voltage change rate set value and the current change rate is smaller than the current change rate set value, performing equivalent resistance parameter identification to calculate and generate an equivalent resistance value, including: when the voltage change rate is smaller than the voltage change rate set value and the current change rate is smaller than the current change rate set value, neglecting the voltage drop on the equivalent inductor, dividing the output voltage of the converter by the output current to generate the equivalent resistance value, and using the equivalent resistance value to replace the previous calculation result as the current equivalent resistance value.
In step S103 of this embodiment, when the voltage change rate is greater than the voltage change rate set value and the current change rate is greater than the current change rate set value, performing equivalent inductance parameter identification to calculate and generate an equivalent inductance value, as shown in fig. 3, the step includes:
step S301, judging the current change rate
Whether or not it is larger than the set value K of the current change rateI-REF1If yes, the process proceeds to step S302, and if not, the process exits directly.
Step S302, judging the voltage change rateWhether or not it is greater than the set voltage change rate value KV-REF1If yes, the process proceeds to step S303, and if not, the process exits directly.
Step S303, when the voltage change rate
Greater than the set voltage change rate value KV-REF1And the rate of change of the current
Greater than the set value K of the current change rateI-REF1Using the difference between the two counter sampling intervals as the time difference delta t, using the difference between the two current sampling values as delta i, and using the formula
Calculating to generate inductance calculation coefficient Kl(ii) a Calculating the inductance by a factor KlMultiplying by a first correction factor K1And generating the equivalent inductance value L.
Step S304, judging the voltage change rate
Whether or not it is less than the set voltage change rate value KV-REF1And the rate of change of the current
Whether or not it is less than the set value K of the current change rateI-REF1If yes, the process proceeds to step S305, otherwise the steady state is not entered and the process exits.
Step S305, if the voltage change rate is smaller than the voltage change rate set value and the current change rate is smaller than the current change rate set value, that is, the output voltage and the current enter the steady state, the voltage drop across the equivalent inductor can be ignored at this time, and the output voltage of the converter is directly divided by the output current to generate the equivalent resistance value R.
It can be seen that the equivalent inductance and the equivalent resistance are not necessarily updated at the same time, but since the equivalent resistance can be updated in real time, the difference between the equivalent resistance and the actual value is not large in the transient state, and the parameter identification effect is not affected basically. The voltage change rate and the current change rate shown in FIG. 3 are instantaneous values, and the voltage change rate k in FIG. 2v1And kv2And rate of change of current ki1And ki2Is the average value of each transient. In comparison, the voltage-current change rate obtained in fig. 3 has an error with the average value in fig. 2, and in order to improve the identification degree, a method of performing multiple identification and squaring based on fig. 3 may be adopted to eliminate the PI control disorder caused by the large fluctuation of the instantaneous value.
In step S104 of this embodiment, the generating a proportional coefficient and an integral coefficient of the PI controller according to the current setting value, the equivalent inductance value, and the equivalent resistance value includes:
1) according to formula (1):
calculating a proportionality coefficient K of the PI controllerP(ii) a Wherein, VrThe voltage value is expected to be output and is obtained by multiplying the equivalent resistance value by a set current value;
Vinthe input voltage value is obtained by sampling, namely the input voltage value of the current converter;
Vosthe actual output voltage value, namely the current output voltage value of the converter is obtained by sampling;
K2a second correction factor according to the characteristics of the rotorAdjusting the sex and experimental results;
l and R are equivalent inductance and equivalent resistance obtained by parameter identification respectively.
2) According to formula (2): kI=K3KP-K4LR calculates an integral coefficient K of the PI controllerI(ii) a Wherein,
K3is the third correction coefficient, K4The fourth correction coefficient can be adjusted according to the rotor characteristic and the experimental result;
KPthe proportional coefficient of the PI controller;
l and R are equivalent inductance and equivalent resistance obtained by parameter identification respectively.
The principle used to obtain the above formula for calculating the equivalent inductance and the equivalent resistance is:
the discrete expression of the PI control system is shown in the following formula (3):
wherein u (k) is the output control quantity of the PI controller at the k time, and e (k) is the output control quantity of the PI controller at the k timeIs the controller parameter K, and the unknown quantity is the controller parameter KP，KI。
Order: Δ u (K) = u (K-1) = KP(e(k)-e(k-1))+KIe(k) （4）
Increasing equation (4) results in incremental PI control. The embodiment of the invention adopts an incremental mode. And KP，KIThe setting of the two parameters is the core of the self-adaptive PI control algorithm.
Voltage transfer ratio Duty = V according to Buck circuito/VinThen the target duty cycle of the converter is:
in order to enable the control system to be adjusted rapidly and without impact in the transient process or enable the voltage and current overshoot in the starting stage to be in a proper range, and obtain better starting characteristics, a closed-loop transfer function and a proportionality coefficient K of the Buck circuit are usedPCan be obtained by the following formula:
where Δ V is the difference between the desired output voltage and the actual output voltage, i.e., Δ V = Vr-Vos。
When parameter identification is carried out, the equivalent inductance is obtained according to the rising slope of voltage and current in a step response curve, and the equivalent resistance is obtained according to the amplitude of steady-state voltage and current. After the current equivalent inductance and resistance of the rotor are obtained, a calculation formula (1) for calculating the proportionality coefficient can be obtained according to the formulas (5) and (6):
proportional coefficient K controlled according to PIPObtaining the corresponding integral coefficient KI：
KI=K3KP-K4And (4) LR. Wherein, K3And K4All the correction coefficients are corrected coefficients, and in the actual debugging process, the correction coefficients are adjusted according to the characteristics of the rotor and the experimental result; and L and R are respectively an equivalent inductance and an equivalent resistance value obtained by parameter identification.
The above process is the setting process of the self-adaptive PI parameter, and the PI controller adjusts the PI proportion and the integral coefficient at a fixed time interval, so as to realize real-time online parameter identification and self-adaptive PI regulation.
Fig. 4 is a schematic structural diagram of an adaptive PI control system according to an embodiment of the present invention. As shown in the drawing, the control system of the present embodiment includes:
a sampling and change rate generating unit 101, configured to perform sampling calculation on the voltage and current of the converter, and generate a corresponding voltage change rate and a corresponding current change rate; an equivalent resistance parameter identification unit 102, configured to perform equivalent resistance parameter identification and calculate an equivalent resistance value when the voltage change rate is smaller than a voltage change rate set value and the current change rate is smaller than a current change rate set value; an equivalent inductance parameter identification unit 103, configured to identify an equivalent inductance parameter and calculate an equivalent inductance value when the voltage change rate is greater than a voltage change rate set value and the current change rate is greater than a current change rate set value; and a control coefficient generating unit 104, configured to generate a proportional coefficient and an integral coefficient of the PI controller according to the current setting value, the equivalent inductance value, and the equivalent resistance value.
In this embodiment, the sampling and rate-of-change generating unit 101 samples and calculates a voltage rate of change and a current rate of change of a converter, which may be a rotor excitation converter, to generate corresponding voltage rate of change and current rate of change as instantaneous values.
In this embodiment, the equivalent resistance value generating module 102 is configured to, when the voltage change rate is smaller than a voltage change rate set value and the current change rate is smaller than a current change rate set value, that is, the output voltage and the current enter a steady state, neglect a voltage drop across the equivalent inductor, and directly divide the output voltage by the output current of the converter to generate the equivalent resistance value R.
In this embodiment, as shown in fig. 5, the equivalent inductance parameter identification unit 103 includes:
an inductance calculation coefficient generating module 1031, configured to use a difference between counters in two sampling intervals as a time difference Δ t and a difference between two current sampling values as Δ i when the voltage change rate is greater than the voltage change rate setting value and the current change rate is greater than the current change rate setting value, and use a formula to calculate the inductance
Calculating to generate inductance calculation coefficient Kl。
An equivalent inductance value generation module 1032 for calculating the inductance calculation coefficient KlMultiplying by a first correction factor K1And generating the equivalent inductance value. Wherein the first correction coefficient K1Can be adjusted according to the rotor characteristics and experimental results.
In the present embodiment, as shown in fig. 6, the control coefficient generation unit 104 includes:
a proportionality coefficient generating module 1041 for generating proportionality coefficient of the PI controller according to formulaCalculating a proportionality coefficient K of the PI controllerP(ii) a Wherein,
Vrthe voltage value is expected to be output and is obtained by multiplying the equivalent resistance value by a set current value;
Vinthe input voltage value is obtained by sampling, namely the input voltage value of the current converter;
Vosthe actual output voltage value, namely the current output voltage value of the converter is obtained by sampling;
K2the second correction coefficient is adjusted according to the rotor characteristic and the experimental result;
l and R are equivalent inductance and equivalent resistance obtained by parameter identification respectively.
An integral coefficient generating module 1042 for generating an integral coefficient of the PI controller according to formula KI=K3KP-K4LR calculates an integral coefficient K of the PI controllerI(ii) a Wherein,
K3is the third correction coefficient, K4The fourth correction coefficient can be adjusted according to the rotor characteristic and the experimental result;
KPthe proportional coefficient of the PI controller;
l and R are equivalent inductance and equivalent resistance obtained by parameter identification respectively.
The specific embodiment is as follows:
the self-adaptive PI control method and the system can be used for excitation control of the wound rotor synchronous motor in the field of electric automobiles. In the motor excitation control process, the structure of the PI regulator is as shown in fig. 7, and after the converter is started, the PI controller executes the following steps:
1. firstly, entering a soft start stage, and completing corresponding parameter identification to obtain an equivalent resistance R and an equivalent inductance L of a motor rotor, wherein the specific method and the steps are shown in the embodiment;
2. calculating to obtain the proportional and integral coefficients required by the PI controller by using the equivalent resistor R, the equivalent inductor L and a current set value instruction given by the main controller, wherein the specific method and the steps are shown in the embodiment;
3. the PI regulator enters a quick response stage according to a current set value, and parameter identification of equivalent inductance and resistance of a rotor is repeatedly carried out in the quick response stage so as to ensure control precision and real-time performance;
when the error between the output current sampling value and the target current is detected to be within a set error range, the program enters a steady-state PI control algorithm to ensure the control precision and improve the anti-interference capability. In the process, the program does not identify the equivalent inductance parameter of the rotor any more, but only identifies the equivalent resistance parameter with very small calculated amount so as to reduce the calculated amount of the controller;
4. when the error between the output current sampling value and the target current is detected to be out of the set error range, the program firstly returns to execute an online parameter identification subprogram, and then enters a quick response PI control algorithm according to the calculated controller coefficient so as to ensure the dynamic response speed and inhibit the overshoot or oscillation of the output voltage and the current;
therefore, when the rotor is in normal operation, the PI controllers work in a stable constant current state, and complex rotor equivalent inductance parameter identification is not needed; the rotor equivalent inductance parameter identification is carried out again only when the converter is started or in a quick response stage, so that the controller misadjustment caused by the real-time parameter identification is avoided to a greater extent.
The control flow of the PI controller of the present embodiment is shown in fig. 8. The control algorithm has the following characteristics and processes:
1. in the whole control process, the working states of the converter are divided into three types, namely soft start, quick response and steady state, the three states are identified by state flag bits in a program, the PI controllers in the three states are the same (3 PI controllers are marked in figure 8 for convenience), and the optimal combination between the steady state control precision and the dynamic quick response is realized by different PI parameter algorithms; the parameter identification subroutines in the three states are also the same (2 are marked in fig. 8 for convenience), except for the correction coefficients K in the fast response state and the steady state2，K3And K4Are different;
2. after starting, the program will directly enter into a soft start state, in the process, the converter will start with a fixed duty ratio, in the process of voltage and current rising as shown in fig. 2, a more accurate rotor equivalent inductance value is obtained by executing a parameter identification algorithm, in the period of voltage and current stabilization as shown in fig. 2, a more accurate rotor equivalent resistance value is obtained by executing the parameter identification algorithm, the soft start normal exit condition can be a delay setting, or a voltage and current change rate smaller than a set value;
3. after the soft start is finished, the control program enters a quick response stage, in the stage, the controller calculates the coefficient of the PI controller according to the equivalent rotor parameter and the current set value obtained in the previous stage, and obtains a more accurate PI control coefficient by continuously entering a parameter identification subprogram, so that the converter is ensured to quickly and accurately track the current set value, and the normal exit condition of the stage is that the voltage and current change rate is less than the set value, and the error between the current sampling value and the set value is less than the set value;
4. in the steady-state control stage, the control program does not identify equivalent inductance parameters any more, but only identifies equivalent resistance parameters, and the control coefficient of the PI controller is kept unchanged, mainly to avoid the overcomplete control algorithm and improve the anti-interference capability. The normal exit condition of the process is the change of the current set value, if the current set value is changed, the equivalent inductance parameter identification subprogram is firstly entered, and then the fast response stage is entered, and the next adjusting process is started.
On the application occasions that the motor needs to be started and stopped frequently and the torque change is quick, the rotor excitation controller adopting the online parameter identification-based adaptive PI control method has good dynamic and steady-state characteristics, and can make quick and smooth response aiming at different load characteristics and excitation current settings. The problem of PI control parameter failure caused by rotor equivalent parameter change due to temperature change can be solved, and the method has strong robustness on the change of rotor equivalent inductance and resistance.
Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
In one or more exemplary designs, the functions described above in connection with the embodiments of the invention may be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media that facilitate transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, such computer-readable media can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store program code in the form of instructions or data structures and which can be read by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Additionally, any connection is properly termed a computer-readable medium, and, thus, is included if the software is transmitted from a website, server, or other remote source via a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wirelessly, e.g., infrared, radio, and microwave. Such discs (disk) and disks (disc) include compact disks, laser disks, optical disks, DVDs, floppy disks and blu-ray disks where disks usually reproduce data magnetically, while disks usually reproduce data optically with lasers. Combinations of the above may also be included in the computer-readable medium.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (12)
1. An adaptive PI control method, the method comprising:
step 1), sampling and calculating the voltage and the current of a converter to generate a corresponding voltage change rate and a corresponding current change rate;
step 2), when the voltage change rate is smaller than a voltage change rate set value and the current change rate is smaller than a current change rate set value, performing equivalent resistance parameter identification and calculating to generate an equivalent resistance value;
step 3), when the voltage change rate is greater than a voltage change rate set value and the current change rate is greater than a current change rate set value, performing equivalent inductance parameter identification, and calculating to generate an equivalent inductance value;
step 4), generating a proportional coefficient and an integral coefficient of the PI controller according to the current set value, the equivalent inductance value and the equivalent resistance value;
and 5) when the error between the current sampling value of the converter and the current set value is within the error set range, entering a steady state PI control stage, otherwise, returning to the step 2) to the step 4), and repeating the parameter identification and generating the proportional coefficient and the integral coefficient of the PI controller.
2. The adaptive PI control method of claim 1 wherein a real-time load equivalent resistance is calculated using output voltage and output current samples during the steady state PI control phase.
3. The adaptive PI control method according to claim 1, wherein in the step 1), the voltage change rate and the current change rate corresponding to each other generated by sampling and calculating the voltage and the current of the converter are instantaneous values.
4. The adaptive PI control method according to claim 1, wherein in the step 2), when the voltage change rate is smaller than a voltage change rate set value and the current change rate is smaller than a current change rate set value, performing equivalent resistance parameter identification and calculating to generate an equivalent resistance value, includes:
when the voltage change rate is smaller than the voltage change rate set value and the current change rate is smaller than the current change rate set value, neglecting the voltage drop on the equivalent inductor, dividing the output voltage of the converter by the output current to generate the equivalent resistance value, and using the equivalent resistance value to replace the previous calculation result as the current equivalent resistance value.
5. The adaptive PI control method of claim 1 wherein in step 3), when the voltage change rate is greater than a voltage change rate set value and the current change rate is greater than a current change rate set value, performing equivalent inductance parameter identification to calculate and generate an equivalent inductance value, comprising:
when the voltage change rate is larger than the voltage change rate set value and the current change rate is larger than the current change rate set value, the difference of the counters in the two sampling intervals is used as a time difference delta t, the difference of the two current sampling values is used as delta i, and a formula is used
Calculating to generate inductance calculation coefficient Kl；
Calculating the inductance by a factor KlMultiplying by a first correction factor K1And generating the equivalent inductance value.
6. The adaptive PI control method according to claim 1, wherein the step 4) of generating a proportional coefficient and an integral coefficient of the PI controller based on the current setting value, the equivalent inductance value, and the equivalent resistance value includes:
according to the formula
Calculating a proportionality coefficient K of the PI controllerP(ii) a Wherein,
Vrthe voltage value is expected to be output and is obtained by multiplying the equivalent resistance value by a set current value;
Vinthe input voltage value is obtained by sampling, namely the input voltage value of the current converter;
Vosthe actual output voltage value, namely the current output voltage value of the converter is obtained by sampling;
K2the second correction coefficient is adjusted according to the rotor characteristic and the experimental result;
l and R are respectively an equivalent inductance value and an equivalent resistance value obtained by parameter identification;
and the number of the first and second groups,
according to formula KI=K3KP-K4LR calculates an integral coefficient K of the PI controllerI(ii) a Wherein,
K3is the third correction coefficient, K4The fourth correction coefficient is adjusted according to the rotor characteristic and the experimental result;
KPthe proportional coefficient of the PI controller;
l and R are equivalent inductance and equivalent resistance obtained by parameter identification respectively.
7. An adaptive PI control system, the system comprising:
the sampling and change rate generating unit is used for sampling and calculating the voltage and the current of the converter and generating a corresponding voltage change rate and a corresponding current change rate;
the equivalent resistance parameter identification unit is used for identifying equivalent resistance parameters and calculating to generate an equivalent resistance value when the voltage change rate is smaller than a voltage change rate set value and the current change rate is smaller than a current change rate set value;
the equivalent inductance parameter identification unit is used for identifying equivalent inductance parameters and calculating to generate an equivalent inductance value when the voltage change rate is greater than a voltage change rate set value and the current change rate is greater than a current change rate set value;
and the control coefficient generating unit is used for generating a proportional coefficient and an integral coefficient of the PI controller according to the current set value, the equivalent inductance value and the equivalent resistance value.
8. The adaptive PI control system of claim 7 wherein a real time load equivalent resistance is calculated using output voltage and output current samples during the steady state PI control phase.
9. The adaptive PI control system of claim 7 wherein the sampling and rate of change generation unit samples the converter voltage and current to generate corresponding rates of change of voltage and current as instantaneous values.
10. The adaptive PI control system of claim 7, wherein the equivalent resistance parameter identification unit is configured to, after generating the equivalent inductance value, when the voltage change rate is smaller than a voltage change rate set value and the current change rate is smaller than a current change rate set value, neglect a voltage drop across an equivalent inductor, divide an output voltage of the converter by an output current to generate the equivalent resistance value, and the equivalent resistance value replaces a previous calculation result and is used as a current equivalent resistance value.
11. The adaptive PI control system of claim 7 wherein the equivalent inductance parameter identification unit comprises:
an inductance calculation coefficient generation module, configured to use a difference between counters in two sampling intervals as a time difference Δ t and a difference between two current sampling values as Δ i when the voltage change rate is greater than a voltage change rate set value and the current change rate is greater than a current change rate set value, and use a formula to calculate the inductance
Calculating to generate inductance calculation coefficient Kl；
An equivalent inductance value generation module for calculating the inductance calculation coefficient KlMultiplying by a first correction factor K1And generating the equivalent inductance value.
12. The adaptive PI control system of claim 7 wherein the control coefficient generation unit comprises:
a proportional coefficient generation module for generating a proportional coefficient of the PI controller according to a formulaCalculating a proportionality coefficient K of the PI controllerP(ii) a Wherein,
Vrthe voltage value is expected to be output and is obtained by multiplying the equivalent resistance value by a set current value;
Vinthe input voltage value is obtained by sampling, namely the input voltage value of the current converter;
Vosthe actual output voltage value, namely the current output voltage value of the converter is obtained by sampling;
K2the second correction coefficient is adjusted according to the rotor characteristic and the experimental result;
l and R are respectively an equivalent inductance value and an equivalent resistance value obtained by parameter identification;
and the number of the first and second groups,
an integral coefficient generation module for generating an integral coefficient of the PI controller according to formula KI=K3KP-K4LR calculates an integral coefficient K of the PI controllerI(ii) a Wherein,
K3is the third correction coefficient, K4The fourth correction coefficient is adjusted according to the rotor characteristic and the experimental result;
KPthe proportional coefficient of the PI controller;
l and R are equivalent inductance and equivalent resistance obtained by parameter identification respectively.
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