CN103346691A - Digital inverter power supply real-time control system and method for eliminating sampling calculation delay - Google Patents

Digital inverter power supply real-time control system and method for eliminating sampling calculation delay Download PDF

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CN103346691A
CN103346691A CN2013102781203A CN201310278120A CN103346691A CN 103346691 A CN103346691 A CN 103346691A CN 2013102781203 A CN2013102781203 A CN 2013102781203A CN 201310278120 A CN201310278120 A CN 201310278120A CN 103346691 A CN103346691 A CN 103346691A
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杨东升
阮新波
吴恒
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Abstract

The invention discloses a digital inverter power supply real-time control system and method for eliminating sampling calculation delay. The digital inverter power supply real-time control system and method is characterized in that the control system comprises an A/D sampling module, a digital pressure regulating module, a DPWM module and a real-time control module. The A/D sampling module is used for sampling the output voltage of a main power circuit and converting the voltage into digital signals vof, modulating signals vr are obtained after calculation of the digital pressure regulating module, duty ratio signals dy are formed through the DPWM module, and finally connection and disconnection of a switching tube in the main power circuit are controlled through a drive circuit, so that a closed-loop regulating process is finished. The real-time control module regulates the sampling time of the A/D sampling module by detecting the modulating signals vr and triangle carrier signals vtri, so that the influence on the closed-loop control system from sampling and calculating delay is eliminated completely, and switching noise is prevented from entering sampling signals effectively. The implement method of the real-time control system is simple, and the stability, the rapidity and the anti-jamming capability of the control system are improved greatly.

Description

Eliminate sampling and calculate digital inverter real-time control system and the method for time-delay
Technical field
The present invention relates to digital control inverter, relate in particular to a kind of real-time control system and method for digital inverter, this control method can be eliminated digital control middle sampling fully and calculate time-delay to the influence of control system, improves the performance of control system; Can also guarantee simultaneously that there are the time interval in 1/4 sampling period in AD sampling instant and switching tube between turning on and off constantly at least, thereby avoid switching noise to enter sampled signal effectively, strengthen antijamming capability.
Background technology
Adopting inverter is the load equipment power supply, can obtain the higher quality of power supply and power supply reliability, has therefore obtained extensive use, as ac variable frequency speed regulation, uninterrupted power supply (ups) Unity etc.The main power of inverter is made of power electronic device usually, and realizes the power conversion by control, thereby exports satisfactory AC energy.In order to realize complicated control logic, inverter power supply adopts digital control usually at present.Compare with simulation control, digital controlly have the integrated level height, control algolithm is flexible, reliability is high, be easy to realize advantages such as communication and monitoring function.But also there is intrinsic shortcoming in the digital control while, namely has the control time-delay.This is because numerically controlled A/D sampling and control algolithm need a period of time just can finish, and therefore will regulate when sampling beginning based on the conditioning signal that this sampling calculates usually next time again.So there is the time-delay in a sampling period in the control loop, this time-delay can seriously reduce the phase margin of control loop, restriction control bandwidth, can cause control system that vibration even loss of stability take place when serious, therefore the key issue that time-delay is restriction numerical control system performance is calculated in sampling.
Summary of the invention
For improving stability and the reliability of numerical control system, improve dynamic responding speed, the invention provides a kind of sampling that disappears and calculate the digital inverter real-time control system of time-delay.
Another object of the present invention provides a kind of control method.
To achieve these goals, the concrete technical scheme taked of the present invention is:
The digital inverter real-time control system of time-delay is calculated in a kind of sampling that disappears, and this system comprises,
The A/D sampling module is used for the output voltage of main power circuit is sampled, and is converted into digital feedback signal vof;
The digital voltage regulation module is used for that described digital feedback signal vof is carried out computing and obtains modulation signal vr, and exports to real-time control module and DPWM module respectively;
Control module is used for reading the triangular carrier signal vtri of described modulation signal vr and DPWM module and comparing in real time, and produces the enabling signal vsam of output A/D sampling;
The DPWM module is used for described modulation signal v is modulated formation duty cycle signals dy, and controls the break-make of switching tube in the main power circuit by this duty cycle signals dy; Finish the adjusting to the closed loop of main power circuit.
The digital inverter real-time control method of time-delay is calculated in a kind of sampling that disappears, and this method may further comprise the steps:
1) output voltage of main power circuit is sampled, and be converted into digital feedback signal vof;
2) digital feedback signal vof is carried out voltage modulated and obtain modulation signal vr, and export to real-time control module and DPWM module respectively;
3) modulation signal vr is modulated form duty cycle signals dy, and control the break-make of switching tube in the main power circuit by this duty cycle signals dy, to regulating of main power circuit;
4) detect the triangular carrier signal vtri in described modulation signal vr and the DPWM module and comparing, and produce the enabling signal of output A/D sampling.
Wherein, in the step 3), modulation signal adopts load mode operation immediately, thereby upgrades duty cycle signals immediately.In the step 3), set duty cycle signals dy and be directly proportional with the size of modulation signal vr.
Wherein, in the step 4), the carrier wave of at first setting the DPWM inside modules is set at triangular wave vtri, and its amplitude is Vm.
In the step 4), modulation signal vr and triangular carrier signal vtri comparison procedure are as follows: according to the relation between the amplitude Vm of the size of modulation signal vr and triangular carrier vtri, when vr＞Vm/2, arrive the enabling signal vsam of the moment output A/D sampling of trough at triangular carrier vtri; When vr≤Vm/2, the enabling signal of output A/D sampling when triangular carrier vtri arrives crest v Sam
At first set the operational mode of DPWM module among the present invention, the carrier wave of this inside modules is set at triangular wave v Tri , and with the input modulation signal v r Carry out pulse-width modulation (PWM) together, thus the enabling signal of output A/D sampling v Sam In order to realize real-time control, also need to make size and the modulation signal of this duty ratio v r Size be directly proportional, and duty ratio adopts the mode of loading immediately.
Next increases real-time control module, adjusts the sampling instant of A/D sampling module, and its control logic is according to modulation signal v r Size and triangular carrier v Tri Amplitude V mBetween relation, in the specific A/D sampling enabling signal of constantly sending, open the A/D sampling.
The present invention compared with prior art, its major advantage and remarkable result are as follows:
Main part and the conventional method of this real-time system are compatible, namely, at first the output of digital inverter master power circuit is carried out the A/D sampling and is converted into digital signal, computing through the digital voltage regulation module obtains modulation signal again, this modulation signal forms duty cycle signals through the modulation of DPWM module, control the break-make of switching tube in the main power circuit at last by driver module, thereby finish closed-loop adjustment.
Because in the above-mentioned closed-loop adjustment process, A/D sampling and execution control algolithm certainly exist time-delay, traditional method normally will be sent into the DPWM module again based on the conditioning signal that this sampling calculates next time and generate the break-make that duty ratio removes to regulate the master power switch pipe when sampling beginning, so there is the time-delay of a bat hysteresis in control loop.The present invention is for fear of the A/D sampling and carry out the time-delay of control algolithm to the influence of control system, increasing real-time control module adjusts the sampling instant of A/D sampling module, thereby the conditioning signal that makes the DPWM module can utilize this sampling to calculate generates duty ratio immediately in the current sampling period, thereby regulates the break-make of master power switch pipe in real time.
1) the present invention has eliminated the sampling of A/D sampling module and the introducing of digital voltage regulation module fully and has calculated time-delay to the influence of closed-loop control system, thereby improves stability and the rapidity of control system;
2) allow A/D sampling module and digital voltage regulation module to have sampling and the computing time in 1/4 sampling period, reduced the performance requirement to A/D sampling A and digital processing unit;
3) guarantee that there are the time interval in 1/4 sampling period in AD sampling instant and switching tube between turning on and off constantly at least, thereby avoided switching noise to enter sampled signal effectively, strengthened antijamming capability;
4) realize simply, and can not introduce the disturbance of duty ratio restriction or other form.
Description of drawings
Accompanying drawing 1 is the closed-loop structure block diagram of real-time digital control system of the present invention.
Accompanying drawing 2 is digital PWM schematic diagrams of the trough method of synchronization.
Accompanying drawing 3 is digital PWM schematic diagrams of the crest method of synchronization.
Accompanying drawing 4 is the relation curves that allow time-delay and duty ratio.
Accompanying drawing 5 is digital PWM schematic diagrams of composite sync mode.
Accompanying drawing 6 is specific embodiments of the present invention.
When Fig. 7 (a) lags behind control for adopting a traditional bat, the output voltage vo of inverter power supply and the oscillogram of load current io.
Fig. 7 (b) is after adopting real-time control system of the present invention, the output voltage vo of inverter power supply and the oscillogram of load current io.
Embodiment
Referring to Fig. 1, be the real-time digital control system that the present invention adopts, this system comprises: this control system comprises the A/D sampling module, digital voltage regulation module, DPWM module and real-time control module.Each module loads in the dsp chip with software mode, and dsp chip can adopt the TMS320F2812 chip.This system also is connected to form a closed-loop system by the main power circuit of driver module and inverter, and driver module can adopt M57962L to drive chip.
Function and the operation principle of each module of above-mentioned real-time control system are as follows:
After the A/D sampling module receives the A/D sampling enabling signal of real-time control module, quantize immediately to the maintenance of sampling of the current output voltage of inverter master power circuit, and to this aanalogvoltage, finally be converted into digital signal v Of ( k) pass to the digital voltage regulation module, wait for enabling signal next time then.The process of this sample quantization and communication certainly exists certain time-delay, and dissimilar A/D sampling A conversion rates is widely different, and under the identical situation of quantization digit, conversion rate is more high, and its chip price is just more expensive.Simultaneously, because the A/D sampling can only obtain the sampled signal values of discrete time point, therefore if there is bigger noise in this moment point sampled signal, the adjustment process of closed loop will be disturbed seriously.
The digital voltage regulation module is with the sinusoid fiducial table of storage inside v Ref ( k) deduct the sampled signal of A/D sampling module output v Of ( k), obtain the voltage error value in current sampling period e( k), again with this error amount process PID computing, obtain the modulation signal in current sampling period v r ( k), above-mentioned computing also certainly exists certain time-delay.
The DPWM module obtains modulation signal with the digital voltage regulation module and loads immediately, in the current sampling period, upgrades duty ratio immediately d y ( k).
For avoiding sampling and calculating time-delay control system is impacted, control module must be adjusted the method for synchronization between the triangular carrier of the sampling instant of A/D sampling module and DPWM module in real time.This method of synchronization is divided into two kinds:
One is that trough is synchronous, and its corresponding PWM schematic diagram as shown in Figure 2.Wherein, T s Be the sampling period; v Sam Be the burst enable signal of A/D sampling, namely arrive trough at DPWM module triangular carrier and sample constantly; V' r Be desirable modulation signal, i.e. there are not the modulation signal that ideally obtains of time-delay in hypothesis sampling and calculating, so this modulation signal just is updated to the new result who calculates based on current sampled signal immediately in the moment that the A/D sampling starts; v r Be the obtainable modulation signal of reality, consider sampling and computing time, it always will lag behind V' r A period of time t Delay v Tri Be triangular carrier; Modulation signal and carrier signal are compared, can obtain duty cycle signals d y In order to guarantee the positive logic of PWM link, namely the duty ratio size is directly proportional with the size of modulation signal, d y At the time period output high level of modulation signal greater than carrier wave.As shown in Figure 2, if can be in duty ratio d y The back modulation signal that calculates before the saltus step v r And upgrade duty ratio immediately, namely set duty cycle signals d y Minimum value be D Min , and satisfy:
Figure 637860DEST_PATH_IMAGE001
(1)
Then adopt the actual modulated signal v r With desirable modulation signal V' r The accounting signal that produces d y With identical, also just say the time-delay of this sampling and calculating t Delay Can not impact control system, thereby reach the target of real-time control.
It two is that trough is synchronous, and its corresponding PWM schematic diagram as shown in Figure 3.Similarly, if can be in duty ratio d y Calculate duty ratio and renewal immediately before the saltus step of forward position, namely set duty cycle signals d y Maximum be D Max , and satisfy:
Figure 555000DEST_PATH_IMAGE002
(2)
Also can reach the target of real-time control.
If but adopt the wherein a certain method of synchronization separately, realize real-time control, must limit duty ratio.According to formula (1) and (2), can draw out the relation curve that allows sampling calculating time-delay under the different duty, shown in the dotted line among Fig. 4.As seen from the figure, for the trough method of synchronization, when duty ratio was more big, the time-delay of permission was more big; On the contrary, for the crest method of synchronization, duty ratio more hour, the time-delay of permission is more big.
In order to eliminate the duty ratio restriction, the present invention constitutes the mixing method of synchronization in conjunction with above-mentioned two kinds of methods of synchronization, namely, select suitable sample mode according to the duty ratio size, make the duration curve of permission shown in solid line among Fig. 4, thereby when being implemented in the variation of duty ratio from 0 to 1 gamut, can guarantee that still the minimum value that allows to delay time is T s / 4.
Referring to Fig. 5, be the digital PWM schematic diagram of composite sync mode.Wherein V mAmplitude for triangular carrier.Then work as D〉=0.5, namely v r 〉= V m, adopt the trough method of synchronization at/2 o'clock; When D＜0.5, namely v r ＜ V m, adopt the crest method of synchronization at/2 o'clock.As seen adopt the composite sync mode can realize instant control, can not cause restriction to duty ratio again, simultaneously since sampling instant always in the middle of switch motion constantly, and be separated by with switching time at least T s / 4, therefore can avoid switching noise to the influence of sampled signal effectively.
Obtain the duty cycle signals of adjusting in real time d y After, the break-make of the switching tube by driver module control inverter master power circuit, thus real-time closed-loop adjustment process finished.
Embodiment one:
Referring to Fig. 6, be example of the present invention, wherein digital processing unit adopts TI company's T MS320F2812 chip, this chip is integrated A/D sample circuit and DPWM circuit, therefore only need to set corresponding function register and program storage, each functional module of the present invention can realize.Driver module adopts the M57962L chip, and main power circuit is selected full-bridge inverter, the band rectified load, and its major parameter is as follows:
Input voltage V In =360V;
Output voltage V o =220VAC;
Rated power P o =6 kW;
Switching frequency f Sw =15 kHz;
Filter inductance L f =360 μH;
Filter capacitor C f =10 μH;
Master power switch pipe: IGBT module CM 100DY 24NF
Switching tube driver module: M57962L;
In order to improve the switching frequency of equivalence, reduce the volume of filter, the inverter in this example adopts unipolarity times frequency modulation method, make equivalent switching frequency double, therefore sample frequency is chosen 2 times switching frequency too, i.e. 30kHz, and the corresponding sampling period is 33.33 μS.Through actual measurement, total time-delay that A/D sampling and digital voltage regulation cause is near 4 μ s, and adopts instant control can obtain 0.25 T s , i.e. the sampling of 8.3 μ s and computing time, therefore can realize instant control.
Adopt real-time control system of the present invention to compare with traditional bat hysteresis control, can effectively improve control system stable state and dynamic property.
When lagging behind control referring to Fig. 7 (a) for adopting a traditional bat, the output voltage vo of inverter power supply and the waveform of load current io.Because clapping the time-delay that lags behind and exist of causing calculated in sampling, limited performance index such as the bandwidth of control system and Phase margin, when therefore being with rectified load, there is bigger distortion in output voltage, and its THD is 4.2%.
Referring to Fig. 7 (b) for after adopting real-time control of the present invention, the output voltage vo of inverter power supply and the waveform of load current io, calculate time-delay owing to eliminated sampling, can improve performance index such as the bandwidth of control system and Phase margin greatly, therefore the output voltage distortion is less, and THD reduces to 0.98%.

Claims (6)

1. the digital inverter real-time control system of time-delay is calculated in the sampling that disappears, and it is characterized in that: this system comprises,
The A/D sampling module is used for the output voltage of main power circuit is sampled, and is converted into digital feedback signal vof;
The digital voltage regulation module is used for that described digital feedback signal vof is carried out computing and obtains modulation signal vr, and exports to real-time control module and DPWM module respectively;
Control module is used for reading the triangular carrier signal vtri of described modulation signal vr and DPWM module and comparing in real time, and produces the enabling signal vsam of output A/D sampling;
The DPWM module is used for described modulation signal v is modulated formation duty cycle signals dy, and controls the break-make of switching tube in the main power circuit by this duty cycle signals dy; Finish the adjusting to the closed loop of main power circuit.
One kind adopt the described system of claim 1 control method, this method may further comprise the steps:
1) output voltage of main power circuit is sampled, and be converted into digital feedback signal vof;
2) digital feedback signal vof is carried out voltage modulated and obtain modulation signal vr, and export to real-time control module and DPWM module respectively;
3) modulation signal vr is modulated form duty cycle signals dy, and control the break-make of switching tube in the main power circuit by this duty cycle signals dy, to regulating of main power circuit;
4) detect the triangular carrier signal vtri in described modulation signal vr and the DPWM module and comparing, and produce the enabling signal of output A/D sampling.
3. control method according to claim 2, wherein,
In the step 3), modulation signal adopts load mode operation immediately, thereby upgrades duty cycle signals immediately.
4. control method according to claim 2, wherein,
In the step 3), set duty cycle signals dy and be directly proportional with the size of modulation signal vr.
5. control method according to claim 2, wherein,
In the step 4), the carrier wave of at first setting the DPWM inside modules is set at triangular wave vtri, and its amplitude is Vm.
6. control method according to claim 2, wherein,
In the step 4), modulation signal vr and triangular carrier signal vtri comparison procedure are as follows: according to the relation between the amplitude Vm of the size of modulation signal vr and triangular carrier vtri, when vr＞Vm/2, arrive the enabling signal vsam of the moment output A/D sampling of trough at triangular carrier vtri; When vr≤Vm/2, the enabling signal of output A/D sampling when triangular carrier vtri arrives crest v Sam
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106208784A (en) * 2016-07-26 2016-12-07 中国科学院等离子体物理研究所 A kind of converter controls the control method of operating lag
CN109765421A (en) * 2019-01-24 2019-05-17 顺丰科技有限公司 A kind of electric machine phase current method of sampling and device

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US20040150431A1 (en) * 2003-01-22 2004-08-05 Denso Corporation Semiconductor integrated circuit device having a sampling signal generation circuit
CN101202446A (en) * 2007-06-25 2008-06-18 耿华 Method and system for delayed processing active electric power filter
JP2008263713A (en) * 2007-04-12 2008-10-30 Shindengen Electric Mfg Co Ltd Switching power circuit, and control method and control program for switching power circuit

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Publication number Priority date Publication date Assignee Title
US20040150431A1 (en) * 2003-01-22 2004-08-05 Denso Corporation Semiconductor integrated circuit device having a sampling signal generation circuit
JP2008263713A (en) * 2007-04-12 2008-10-30 Shindengen Electric Mfg Co Ltd Switching power circuit, and control method and control program for switching power circuit
CN101202446A (en) * 2007-06-25 2008-06-18 耿华 Method and system for delayed processing active electric power filter

Cited By (3)

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Publication number Priority date Publication date Assignee Title
CN106208784A (en) * 2016-07-26 2016-12-07 中国科学院等离子体物理研究所 A kind of converter controls the control method of operating lag
CN109765421A (en) * 2019-01-24 2019-05-17 顺丰科技有限公司 A kind of electric machine phase current method of sampling and device
CN109765421B (en) * 2019-01-24 2021-11-23 丰翼科技(深圳)有限公司 Motor phase current sampling method and device

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