CN103346691B - 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 PDFInfo
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- CN103346691B CN103346691B CN201310278120.3A CN201310278120A CN103346691B CN 103346691 B CN103346691 B CN 103346691B CN 201310278120 A CN201310278120 A CN 201310278120A CN 103346691 B CN103346691 B CN 103346691B
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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
Technical field
The present invention relates to digital control inverter, particularly relate to a kind of real-time control system and method for digital inverter, this control method can eliminate digital control middle sampling and computation delay completely on the impact of control system, improves the performance of control system; Simultaneously can also ensure that AD sampling instant and switching tube turn on and off the time interval that at least there is for 1/4 sampling period between the moment, thus efficiently avoid switching noise and enter sampled signal, enhance antijamming capability.
Background technology
Adopt inverter to be that load equipment is powered, the higher quality of power supply and power supply reliability can be obtained, be therefore applied widely, as ac variable frequency speed regulation, uninterrupted power supply (UPS) etc.The main power of inverter is made up of power electronic device usually, and by control realization power conversion, thus export satisfactory AC energy.In order to realize complicated control logic, current inverter power supply adopts digital control usually.Compared with analogue enlargement, digital controlly have that integrated level is high, control algolithm is flexible, reliability is high, be easy to realize the advantages such as communication and monitoring function.But also there is intrinsic shortcoming while of digital control, namely exist and control time delay.This is because numerically controlled A/D sampling and control algolithm need a period of time just can complete, therefore the usual conditioning signal calculated sampling based on this regulates when upper once sampling beginning again.Therefore in control loop, there is the time delay in a sampling period, this time delay seriously can reduce the phase margin of control loop, restriction controls bandwidth, control system can be caused time serious to vibrate even loss of stability, and computation delay of therefore sampling is a key issue of restriction numerical control system performance.
Summary of the invention
For improving stability and the reliability of numerical control system, improving dynamic responding speed, the invention provides a kind of digital inverter real-time control system of the sampling computation delay that disappears.
Another object of the present invention is to provide a kind of control method.
To achieve these goals, the concrete technical scheme that the present invention takes is:
Disappear sampling computation delay a digital inverter real-time control system, this system comprises,
A/D sampling module, for sampling to the output voltage of main power circuit, and is converted into digital feedback signal v
of;
Digital voltage regulation module, for described digital feedback signal v
ofcarry out computing and obtain modulation signal v
r, and export to real-time control module and DPWM module respectively;
Real-time control module, for reading described modulation signal v
rwith the triangle carrier signal v in DPWM module
triand compare, and produce the enabling signal v of A/D sampling module
sam, detailed process is as follows: according to modulation signal v
rsize and triangle carrier signal v
triamplitude V
mbetween relation, work as v
r> V
mwhen/2, at triangle carrier signal v
trithe moment arriving trough exports the enabling signal v of A/D sampling module
sam; Work as v
r≤ V
mwhen/2, at triangle carrier signal v
trithe enabling signal v of A/D sampling module is exported when arriving crest
sam;
DPWM module, for described modulation signal v
rcarry out modulation and form duty cycle signals d
y, and by this duty cycle signals d
ycontrol the break-make of main power circuit breaker in middle pipe; Complete the adjustment of the closed loop to main power circuit.
Disappear sampling computation delay a digital inverter real-time control method, the method comprises the following steps:
1) output voltage of main power circuit is sampled, and be converted into digital feedback signal v
of;
2) to digital feedback signal v
ofcarry out voltage modulated and obtain modulation signal v
r, and export to real-time control module and DPWM module respectively;
3) to modulation signal v
rcarry out modulation and form duty cycle signals d
y, and by this duty cycle signals d
ycontrol the break-make of main power circuit breaker in middle pipe, the carrying out of main power circuit is regulated;
4) described modulation signal v is detected
rwith the triangle carrier signal v in DPWM module
triand compare, and producing the enabling signal of A/D sampling module, detailed process is as follows: according to modulation signal v
rsize and triangle carrier signal v
triamplitude V
mbetween relation, work as v
r> V
mwhen/2, at triangle carrier signal v
trithe moment arriving trough exports the enabling signal v of A/D sampling module
sam; Work as v
r≤ V
mwhen/2, at triangle carrier signal v
trithe enabling signal v of A/D sampling module is exported when arriving crest
sam.
Wherein, step 3) in, modulation signal v
radopt load mode immediately to run, thus upgrade duty cycle signals d immediately
y.Step 3) in, setting duty cycle signals d
ywith modulation signal v
rsize be directly proportional.
Wherein, step 4) in, the carrier wave first setting DPWM inside modules is set as triangle carrier signal v
tri, its amplitude is V
m.
First set the operational mode of DPWM module in the present invention, the carrier wave of this inside modules is set as triangle carrier signal v
tri, and with input modulation signal v
rcarry out pulse-width modulation (PWM) together, thus the enabling signal v of A/D sampling module
sam.In order to realize real-time control, also need the size and the modulation signal v that make this duty ratio
rsize be directly proportional, and duty ratio adopts the mode of loading immediately.
Next increases real-time control module, and the sampling instant of adjustment A/D sampling module, its control logic is according to modulation signal v
rsize and triangular carrier v
triamplitude V
mbetween relation, the specific moment send A/D sample enabling signal, open A/D sampling.
The present invention compared with prior art, its major advantage and remarkable result as follows:
Main part and the conventional method of this real-time system are compatible, that is, first the output of digital inverter main power circuit is carried out to A/D sampling and is converted into digital signal, then obtain modulation signal v through the computing of digital voltage regulation module
r, this modulation signal forms duty cycle signals d through the modulation of DPWM module
y, control the break-make of main power circuit breaker in middle pipe finally by driver module, thus complete closed-loop adjustment.
Due in above-mentioned closed-loop adjustment process, A/D sampling and execution control algolithm certainly exist time delay, the conditioning signal that traditional method normally calculates sampling based on this sends into when upper once sampling beginning the break-make that DPWM CMOS macro cell duty ratio removes to regulate master power switch pipe again, and therefore delayed time delay is clapped in control loop existence one.The present invention is in order to avoid A/D sampling and perform the time delay of control algolithm to the impact of control system, increase the sampling instant of real-time control module to A/D sampling module to adjust, thus make DPWM module that this conditioning signal calculated of sampling can be utilized to generate duty ratio immediately at current sample period, thus regulate the break-make of master power switch pipe in real time.
1) the present invention completely eliminates sampling and computation delay that A/D sampling module and digital voltage regulation module introduce to the impact of closed-loop control system, thus improves stability and the rapidity of control system;
2) allow A/D sampling module and digital voltage regulation module to there is sampling and the computing time in 1/4 sampling period, reduce the performance requirement to A/D sampling A/D chip and digital processing unit;
3) ensure that AD sampling instant and switching tube turn on and off the time interval that at least there is for 1/4 sampling period between the moment, thus efficiently avoid switching noise and enter sampled signal, enhance antijamming capability;
4) realize simply, and the disturbance of duty-cycle limit or other form can not be introduced.
Accompanying drawing explanation
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 allowing 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.
Fig. 7 (a) is when adopting a traditional bat Delay control, the output voltage v of inverter power supply
o
With load current i
ooscillogram.
Fig. 7 (b) is after adopting real-time control system of the present invention, the output voltage of inverter power supply
V
owith load current i
ooscillogram.
Embodiment
See Fig. 1, be the Real-time Digital Control System that the present invention adopts, this system comprises: this control system comprises A/D sampling module, digital voltage regulation module, DPWM module and real-time control module.Each module loads in dsp chip with software mode, and dsp chip can adopt TMS320F2812 chip.This system is also connected to form a closed-loop system by the main power circuit of driver module and inverter, and driver module can adopt M57962L driving chip.
Function and the operation principle of the modules of above-mentioned real-time control system are as follows:
After A/D sampling module receives the A/D sampling enabling signal of real-time control module, output voltage current to inverter main power circuit immediately carries out sampling and keeps, and quantizes this analog voltage, is finally converted into digital signal v
ofk () passes to digital voltage regulation module, then wait for enabling signal next time.The process of this sample quantization and communication certainly exists certain time delay, and dissimilar A/D sampling A/D chip conversion rate is widely different, and when quantization digit is identical, conversion rate is higher, and its chip price is more expensive.Meanwhile, because A/D sampling can only obtain the sampled signal values of discrete time point, if therefore there is larger noise, by the adjustment process of severe jamming closed loop in this moment point sampled signal.
Digital voltage regulation module is by the sinusoid fiducial table v of storage inside
refk () deducts the sampled signal v that A/D sampling module exports
ofk (), obtains the voltage error value e (k) of current sample period, then by this error amount through PID arithmetic, obtain the modulation signal v of current sample period
rk (), above-mentioned computing also certainly exists certain time delay.
Digital voltage regulation module is obtained modulation signal and loads immediately by DPWM module, at current sample period, upgrades duty ratio d immediately
y(k).
For avoiding sampling and computation delay to impact control system, real-time control module must adjust the method for synchronization between the sampling instant of A/D sampling module and the triangular carrier of DPWM module.This method of synchronization is divided into two kinds:
One is that trough is synchronous, and the PWM schematic diagram of its correspondence as shown in Figure 2.Wherein, T
sfor the sampling period; v
samfor the burst enable signal of A/D sampling, namely arrive trough times at DPWM module triangular carrier and sample; V'
rfor desirable modulation signal, namely there is not the modulation signal ideally obtained of time delay in hypothesis sampling and calculating, and the moment that therefore this modulation signal starts in A/D sampling is just updated to the new result obtained based on present sample calculated signals immediately; v
rfor the obtainable modulation signal of reality, consider sampling and computing time, it always will lag behind v'
ra period of time t
delay; v
trifor triangular carrier; Modulation signal and carrier signal are compared, duty cycle signals d can be obtained
y.In order to ensure the positive logic of PWM link, namely duty ratio size is directly proportional to the size of modulation signal, d
ythe time period being greater than carrier wave at modulation signal exports high level.As shown in Figure 2, if can at duty ratio d
yafterwards before saltus step, calculate modulation signal v
rand upgrade duty ratio immediately, namely set duty cycle signals d
yminimum value be D
min, and meet:
t
delay<D
minT
s/2 (1)
Then adopt actual modulated signal v
rwith desirable modulation signal v'
rthe accounting signal d produced
yby identical, also just say, the time delay t of this sampling and calculating
delaycan not impact control system, thus reach the target controlled in real time.
It two is that trough is synchronous, and the PWM schematic diagram of its correspondence as shown in Figure 3.Similar, if can at duty ratio d
ycalculate duty ratio before the saltus step of forward position and upgrade immediately, namely setting duty cycle signals d
ymaximum be D
max, and meet:
t
delay<(1-D
max)T
s/2 (2)
Also the target controlled in real time can be reached.
If but adopt the wherein a certain method of synchronization separately, real-time control be realized, must limit duty ratio.According to formula (1) and (2), allow the relation curve of sampling computation delay under different duty can be drawn out, as shown in phantom in figure 4.As seen from the figure, for the trough method of synchronization, when duty ratio is larger, the time delay of permission is larger; On the contrary, for the crest method of synchronization, more hour, the time delay of permission is larger for duty ratio.
In order to eliminate duty-cycle limit, the present invention forms mixed synchronization mode in conjunction with above-mentioned two kinds of methods of synchronization, namely, suitable sample mode is selected according to duty ratio size, make the duration curve of permission as shown in solid line in Fig. 4, thus realize, when duty ratio is from 0 to 1 gamut change, still ensureing that the minimum value allowing time delay is T
s/ 4.
See Fig. 5, it is the digital PWM schematic diagram of composite sync mode.Wherein V
mfor the amplitude of triangular carrier.Then when D>=0.5, i.e. v
r>=V
mwhen/2, adopt the trough method of synchronization; Work as D<0.5, i.e. v
r<V
mwhen/2, adopt the crest method of synchronization.Visible employing composite sync mode can realize instant control, can not cause restriction again to duty ratio, meanwhile, because sampling instant is always at the intermediate time of switch motion, and T of being at least separated by with switching time
s/ 4, therefore, it is possible to effectively avoid switching noise on the impact of sampled signal.
Obtain the duty cycle signals d regulated in real time
yafter, by the break-make of the switching tube of driver module control inverter main power circuit, thus complete real-time closed-loop adjustment process.
Embodiment one:
See Fig. 6, for example of the present invention, wherein digital processing unit adopts TI company's T MS320F2812 chip, this integrated chip A/D sample circuit and DPWM circuit, therefore only need set corresponding function register and program storage, each functional module of the present invention can realize.Driver module adopts M57962L chip, and main power circuit selects full-bridge inverter, band rectified load, and its major parameter is as follows:
● input voltage V
in=360V;
● output voltage V
o=220VAC;
● rated power P
o=6kW;
● switching frequency f
sw=15kHz;
● filter inductance L
f=360 μ H;
● filter capacitor C
f=10 μ H;
● master power switch pipe: IGBT module CM100DY-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 multiple-frequency modulation method, equivalent switching frequency is doubled, therefore sample frequency chooses the switching frequency of 2 times too, i.e. 30kHz, and the corresponding sampling period is 33.33 μ s.Through actual measurement, total time delay that A/D sampling and digital voltage regulation cause close to 4 μ s, and adopts instant control to obtain 0.25T
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 and traditional to clap compared with Delay control, can effectively improve control system stable state and dynamic property.
Be when adopting traditional one to clap Delay control see Fig. 7 (a), the output voltage v of inverter power supply
owith load current i
owaveform.Exist because sampling calculates the delayed time delay of a bat caused, limit the performance index such as the bandwidth sum Phase margin of control system, when being therefore with rectified load, there is larger distortion in output voltage, its THD is 4.2%.
See Fig. 7 (b) for after employing real-time control of the present invention, the output voltage v of inverter power supply
owith load current i
owaveform, owing to eliminating sampling computation delay, greatly can improve the performance index such as the bandwidth sum Phase margin of control system, therefore output voltage distortion less, THD reduces to 0.98%.
Claims (5)
1. eliminate a digital inverter real-time control system for sampling computation delay, it is characterized in that: this system comprises,
A/D sampling module, for sampling to the output voltage of main power circuit, and is converted into digital feedback signal v
of;
Digital voltage regulation module, for described digital feedback signal v
ofcarry out computing and obtain modulation signal v
r, and export to real-time control module and DPWM module respectively;
Real-time control module, for reading described modulation signal v
rwith the triangle carrier signal v in DPWM module
triand compare, and produce the enabling signal v of A/D sampling module
sam, detailed process is as follows: according to modulation signal v
rsize and triangle carrier signal v
triamplitude V
mbetween relation, work as v
r> V
mwhen/2, at triangle carrier signal v
trithe moment arriving trough exports the enabling signal v of A/D sampling module
sam; Work as v
r≤ V
mwhen/2, at triangle carrier signal v
trithe enabling signal v of A/D sampling module is exported when arriving crest
sam;
DPWM module, for described modulation signal v
rcarry out modulation and form duty cycle signals d
y, and by this duty cycle signals d
ycontrol the break-make of main power circuit breaker in middle pipe; Complete the adjustment of the closed loop to main power circuit.
2. adopt system described in claim 1 a control method, the method comprises the following steps:
1) output voltage of main power circuit is sampled, and be converted into digital feedback signal v
of;
2) to digital feedback signal v
ofcarry out voltage modulated and obtain modulation signal v
r, and export to real-time control module and DPWM module respectively;
3) to modulation signal v
rcarry out modulation and form duty cycle signals d
y, and by this duty cycle signals d
ycontrol the break-make of main power circuit breaker in middle pipe, the carrying out of main power circuit is regulated;
4) described modulation signal v is detected
rwith the triangle carrier signal v in DPWM module
triand compare, and produce the enabling signal v of A/D sampling module
sam, detailed process is as follows: according to modulation signal v
rsize and triangle carrier signal v
triamplitude V
mbetween relation, work as v
r> V
mwhen/2, at triangle carrier signal v
trithe moment arriving trough exports the enabling signal v of A/D sampling module
sam; Work as v
r≤ V
mwhen/2, at triangle carrier signal v
trithe enabling signal v of A/D sampling module is exported when arriving crest
sam.
3. control method according to claim 2, wherein,
Step 3) in, modulation signal v
radopt load mode immediately to run, thus upgrade duty cycle signals d immediately
y.
4. control method according to claim 2, wherein,
Step 3) in, setting duty cycle signals d
ywith modulation signal v
rsize be directly proportional.
5. control method according to claim 2, wherein,
Step 4) in, the carrier wave first setting DPWM inside modules is set as triangle carrier signal v
tri, its amplitude is V
m.
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| CN101202446A (en) * | 2007-06-25 | 2008-06-18 | 耿华 | Method and system for delayed processing active electric power filter |
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| JP5016360B2 (en) * | 2007-04-12 | 2012-09-05 | 新電元工業株式会社 | Switching power supply circuit, switching power supply circuit control method, and control program |
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