CN104242609A - Disturbance rejection device of buck circuit - Google Patents
Disturbance rejection device of buck circuit Download PDFInfo
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- CN104242609A CN104242609A CN201410477643.5A CN201410477643A CN104242609A CN 104242609 A CN104242609 A CN 104242609A CN 201410477643 A CN201410477643 A CN 201410477643A CN 104242609 A CN104242609 A CN 104242609A
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Abstract
The invention discloses a disturbance rejection device of a buck circuit. A buck circuit module, a voltage acquisition module, a PID control module, a compensation module and a PWM generating module are sequentially connected. One output end of the voltage acquisition module and the output end of the compensation module are connected with a disturbance observer module. The output end of the disturbance observer module is connected with one input end of the compensation module. According to the disturbance rejection device, a control signal can be adjusted in time, the accuracy of output voltage can be improved, and adjusting time can be shortened. Meanwhile, a disturbance observer has the advantages that no extra acquisition circuit needs to be arranged, the structure is simple, the operation amount is small, and implementation is convenient.
Description
Technical field
The present invention relates to supply voltage control field, particularly eliminate theoretical method and the realizing circuit of power supply external disturbance.
Background technology
In recent years, reduction voltage circuit is widely used in the fields such as vehicle power, solar cell, Medical Devices.When input voltage fluctuation or load change, tradition changes greatly based on the output voltage of the reduction voltage circuit that PID controls, and it is longer to return to the time required near desired value.Under the environment of serious interference, the problems referred to above are more outstanding, are difficult to meet high-precision voltage stabilizing control overflow.This problem has become the key issue that current stabilized voltage power supply needs solution badly.
Disturbance observation technology be the difference equivalence that exports of the practical object that causes by external disturbance and model are perturbed and nominal model (nominal plant model) to control input end, then introducing equivalent compensation in the controlling, realizing the suppression to disturbing.From existing document, disturbance observation method, as a kind of instrument of disturbance suppression, is widely used in fields such as DC servo motor control, disk drive, robot, numerical controls.Meanwhile, disturbance observation technology, due to the sensor feature that amount of calculation is little, do not need installation extra, is highly suitable for the antijamming capability improving control system.
In view of above advantage, disturbance observation technology is applied in the control of reduction voltage circuit, does not need the acquisition node increasing voltage or electric current, just can eliminate the impact that external disturbance causes circuit very easily.
Summary of the invention
The object of the invention is when running into sudden change disturbance in running, such as shock load, reduction voltage circuit based on pid control module is difficult to the accuracy ensureing that output voltage is followed the tracks of, and return to desired value and need the long period, for above-mentioned technical problem, the invention provides a kind of disturbance observation compensation policy and circuit realiration thereof, improve the Disturbance Rejection ability of reduction voltage circuit, make traditional PID control reduction voltage circuit output voltage precision higher, stability is better, and response speed have also been obtained lifting simultaneously.
A Disturbance Rejection device for reduction voltage circuit, comprises reduction voltage circuit module, module, disturbance observer module occurs voltage acquisition module, pid control module, compensating module, PWM; Described reduction voltage circuit model calling voltage acquisition module, described voltage acquisition module connects pid control module, described pid control module connects compensating module, described compensating module connects PWM and module occurs, there is model calling reduction voltage circuit module in described PWM, an output of described voltage acquisition module, the output of compensating module are connected with described disturbance observer module respectively, and the output of described disturbance observer module connects an input of described compensating module;
Described voltage acquisition module adopts high-precision resistance to carry out dividing potential drop, regulates dividing ratios, gathers voltage equal with reference voltage after making circuit stability; Described voltage acquisition module input is reduction voltage circuit actual output voltage U
l, output will gather voltage U
0send into the input of PID module and disturbance observer module respectively;
Described PID module is used for according to reference voltage U
refand the difference between acquisition module gained voltage carries out scale amplifying, integration and differentiation, obtains controlled quentity controlled variable; Described PID module input signal is reference voltage U
ref, PID is by output voltage signal u
rsend into compensating module;
Described disturbance observer module, in order to by acquisition module gained voltage, obtains disturbance estimated value by operational amplifier, and compensates controlled quentity controlled variable; The input of described disturbance observer module is for gathering voltage U
0with control signal u, the output of described disturbance observer module is by disturbance compensation amount
send into compensating module;
Module occurs described PWM is compare with the sawtooth waveforms of comparator by the controlled quentity controlled variable after compensation and amplitude 5V, and produce PWM ripple, module input occurs described PWM is control signal u, and pwm signal δ is sent into the input of reduction voltage circuit by output.
Further, described disturbance observer module comprises second-order low-pass filter module, second-order low-pass filter link and second differentiator serial module structure, comparison module, described second-order low-pass filter module is in series by two inertial element circuit and forms, and the input of described second-order low-pass filter module is connected with the output of PID module, described first inertial element circuit be resistance R202 is in parallel with electric capacity C201 after be connected to input negative terminal and the output of operational amplifier U8B, again resistance R201 one end is connected to the input negative terminal of operational amplifier U8B, as the input of inertial element, the output of operational amplifier U8B is as the output of the first inertial element circuit, described second inertial element circuit be resistance R204 is in parallel with electric capacity C202 after be connected to input negative terminal and the output of operational amplifier U7B, again resistance R203 one end is connected to the input negative terminal of operational amplifier U7B, as the input of inertial element, the output of operational amplifier U7B is as the output of second-order low-pass filter module.
Described second-order low-pass filter link and second differentiator serial module structure comprise the 3rd, the 4th inertial element circuit, proportion differential circuit, an add circuit, first by the 3rd, the 4th inertial element circuit connected in series, again with proportion differential circuit connected in series, first of add circuit input is connected with the output of proportion differential circuit, second input and the 3rd, the 4th inertial element circuit input end of add circuit are connected, and as the input of described second-order low-pass filter link and second differentiator serial module structure, the output of described add circuit is as the output of described second-order low-pass filter link and second differentiator serial module structure, described 3rd inertial element circuit be resistance R102 is in parallel with electric capacity C101 after be connected to input negative terminal and the output of operational amplifier U2A, again resistance R101 one end is connected to the input negative terminal of operational amplifier U2A, as the input of inertial element, the output of operational amplifier U2A is as the output of the 3rd inertial element circuit, described 4th inertial element circuit be resistance R104 is in parallel with electric capacity C102 after be connected to input negative terminal and the output of operational amplifier U2B, again resistance R103 one end is connected to the input negative terminal of operational amplifier U2B, as the input of inertial element, the output of operational amplifier U2B is as the output of inertial element circuit, described proportion differential circuit is the input negative terminal and the output that are connected respectively to operational amplifier U3A after being connected with resistance R107 by resistance R106, again by electric capacity C103 one end ground connection, the electric capacity C103 other end is connected between resistance R106 and resistance R107, finally resistance R105 one end is inputted negative terminal with operational amplifier U3A to be connected, the other end of resistance R105 is connected with the output of the second inertial element circuit, described add circuit is made up of resistance R108, R109, R110 and operational amplifier U4B, resistance R110 one end is connected with operational amplifier U4B output, the resistance R110 other end and operational amplifier U4B input negative terminal and are connected, resistance R108 one end as add circuit first input end and input negative terminal with operational amplifier U4B and be connected, the resistance R108 other end is connected with operational amplifier U3A output, resistance R109 one end is as add circuit second input and input negative terminal with operational amplifier U4B and be connected, and the described resistance R109 other end is connected with the output of voltage acquisition module.
Described comparison module comprises an add circuit, the input of described comparison module is connected with the output of second differentiator serial module structure with described second-order low-pass filter module, second-order low-pass filter link respectively, and the operational amplifier U3A output of described comparison module is as the output of whole disturbance observer module; Resistance R303 one end is connected with operational amplifier U3B output, the resistance R303 other end and operational amplifier U3B input negative terminal and are connected, resistance R301 one end as add circuit first input end and input negative terminal with operational amplifier U3B and be connected, the resistance R301 other end is connected with operational amplifier U7B output; Resistance R302 one end is as add circuit second input and input negative terminal with operational amplifier U3B and be connected, and the resistance R302 other end is connected with the output of operational amplifier U4B.
Further, described compensating module comprises operational amplifier U6A, resistance R401, resistance R402, resistance R403, resistance R404, using the estimation interference value of disturbance observer gained as compensation rate, pid control signal is compensated, then export the control signal after compensating; Resistance R403 one end and operational amplifier are inputted anode be connected, the other end ground connection of resistance R403; Resistance R401 one end and operational amplifier U6A input anode and are connected, and the other end of resistance R401 is as compensating module first input end; Resistance R404 one end is connected with operational amplifier U6A output, and the other end and the operational amplifier U6A of resistance R404 input negative terminal and be connected; Resistance R402 one end and operational amplifier U6A input negative terminal and are connected, the other end of resistance R402 is as compensating module second input, using operational amplifier U6A output as compensating module output, described compensating module first input end is connected with PID module output, and described compensating module second input is connected with disturbance observer module output.
The combination of above-mentioned disturbance observer module and compensating module, by disturbance observation compensation policy and circuit realiration thereof, improves the Disturbance Rejection ability of reduction voltage circuit.
Further, described PWM generation module comprises comparator U9A, resistance R6, resistance R7, resistance R8, controlled voltage source V3; Resistance R8 one end is inputted anode with comparator U9A be connected, the other end of resistance R8 is connected with compensating module output; Resistance R7 one end is connected with sawtooth signal source, the resistance R7 other end is connected with comparator U9A negative terminal, controlled voltage source V3 is inputted negative terminal be connected with comparator U9A chip power negative terminal, controlled voltage source V3 inputs anode and is connected with comparator U9A output, pwm signal will be obtained by comparator U9A, again pwm signal is received the input of controlled voltage source V3, finally positive and negative for the output of controlled voltage source V3 end is connected with the grid G of power MOSFET, drain D respectively.
Further, described voltage acquisition module is by parallel with load resistance RL again after high-precision resistance R1, R2 series connection, voltage acquisition module be input as reduction voltage circuit output voltage, the output of reduction voltage circuit can be reduced to and can match with reference voltage by the dividing potential drop of high-precision resistance R1, R2, draw acquisition module output plus terminal between two precision resisters R1, R2, ground end is as the output negative terminal of acquisition module.
Further, described pid control module is realized by a proportion integration differentiation circuit and a reference voltage source V2, after being connected with electric capacity C3 by resistance R5, then with the output of operational amplifier U1A with input negative terminal and be connected; Resistance R4 is inputted negative terminal with the one end after electric capacity C2 parallel connection with operational amplifier U1A be connected, the other end after resistance R4 is in parallel with electric capacity C2 is as the first input end of pid control module, reference voltage source V2 anode is inputted anode with operational amplifier U1A be connected, the negative terminal of reference voltage source V2 is as pid control module second input, and operational amplifier U1A output is as pid control module output.
By the adjustment of pid control module, stability is better, and control precision is greatly improved, and response speed have also been obtained lifting simultaneously.
Beneficial effect of the present invention is: the method and the realizing circuit that provide a kind of reduction voltage circuit system disturbance suppression.For solving the problem running into interference and model perturbation when reduction voltage circuit runs.In running, suppose that load occurs to be changed, during the interference of input voltage fluctuation, can be observed by interference, method that control signal compensates, adjust control signal in time, improve output voltage accuracy, shorten regulating time.Disturbance observer has without the need to arranging extra Acquisition Circuit simultaneously, and structure is simple, and operand is little, is convenient to the advantages such as realization.
Accompanying drawing explanation
Fig. 1 reduction voltage circuit Disturbance Rejection of the present invention control principle block diagram;
Fig. 2 reduction voltage circuit Disturbance Rejection controls each modular structure block diagram;
Fig. 3 is circuit theory diagrams of the present invention;
Fig. 4 is disturbance observer theory diagram;
Fig. 5 is disturbance observer modular structure block diagram;
Fig. 6 is PID control circuit schematic diagram;
Fig. 7 is PWM work wave;
Fig. 8 is PWM operation principle.
Embodiment
The invention provides method and the realizing circuit of a kind of reduction voltage circuit system disturbance suppression.For making object of the present invention, technical scheme and effect clearly, clearly, referring to accompanying drawing examples, the present invention is described in more detail.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, a kind of Disturbance Rejection method of reduction voltage circuit and circuit realiration thereof.Using reduction voltage circuit as generalized object, obtain reduction voltage circuit external disturbance and model Perturbation by disturbance observer, be converted into disturbance estimated value, then PID module control signal is compensated, timely elimination disturbance, realizes the Ability of Resisting Disturbance of reduction voltage circuit.
The concrete implementation step of Fig. 1 is introduced in detail below in conjunction with Fig. 2-3.
As Figure 2-3, by 24V direct voltage source V1, electric capacity C1, inductance L 1, the reduction voltage circuit module that load resistance RL, fast recovery diode D1, power MOSFET Q1 are formed; The Acquisition Circuit be made up of high-precision resistance R1, R2; By operational amplifier U1A, reference voltage source V2, resistance R4, R5, the PID control circuit that electric capacity C2, C3 are formed; By operational amplifier (LM358) U2A, U2B, U3A, U3B, U4B, U7B, U8B, resistance R101, R102, R103, R104, R105, R106, R107, R108, R109, R110, R201, R202, R203, R204, R301, R302, R303, electric capacity C101, C102, C103, C201, C202, the disturbance observer circuit of formation; By comparator U9A, controlled voltage source V3, resistance R6, R7, R8, the pwm circuit that sawtooth signal source V5 is formed.
The Disturbance Rejection device of described reduction voltage circuit, comprises reduction voltage circuit module, module, disturbance observer module occurs voltage acquisition module, pid control module, compensating module, PWM; Described reduction voltage circuit model calling voltage acquisition module, described voltage acquisition module connects pid control module, described pid control module connects compensating module, described compensating module connects PWM and module occurs, there is model calling reduction voltage circuit module in described PWM, an output of described voltage acquisition module, the output of compensating module are connected with described disturbance observer module respectively, and the output of described disturbance observer module connects an input of described compensating module;
Described voltage acquisition module adopts high-precision resistance to carry out dividing potential drop, regulates dividing ratios, gathers voltage equal with reference voltage after making circuit stability; Described voltage acquisition module input is reduction voltage circuit actual output voltage U
l, output will gather voltage U
0send into the input of PID module and disturbance observer module respectively;
Described PID module is used for according to reference voltage U
refand the difference between acquisition module gained voltage carries out scale amplifying, integration and differentiation, obtains controlled quentity controlled variable; Described PID module input signal is reference voltage U
ref, PID is by output voltage signal u
rsend into compensating module;
Described disturbance observer module, in order to by acquisition module gained voltage, obtains disturbance estimated value by operational amplifier, and compensates controlled quentity controlled variable; The input of described disturbance observer module is for gathering voltage U
0with control signal u, the output of described disturbance observer module is by disturbance compensation amount
send into compensating module;
Module occurs described PWM is compare with the sawtooth waveforms of comparator by the controlled quentity controlled variable after compensation and amplitude 5V, and produce PWM ripple, module input occurs described PWM is control signal u, and pwm signal δ is sent into the input of reduction voltage circuit by output.
As shown in Figure 3 and Figure 5, described disturbance observer module comprises second-order low-pass filter module, second-order low-pass filter link and second differentiator serial module structure, comparison module, described second-order low-pass filter module is in series by two inertial element circuit and forms, and the input of described second-order low-pass filter module is connected with the output of PID module, described first inertial element circuit be resistance R202 is in parallel with electric capacity C201 after be connected to input negative terminal and the output of operational amplifier U8B, again resistance R201 one end is connected to the input negative terminal of operational amplifier U8B, as the input of inertial element, the output of operational amplifier U8B is as the output of the first inertial element circuit, described second inertial element circuit be resistance R204 is in parallel with electric capacity C202 after be connected to input negative terminal and the output of operational amplifier U7B, again resistance R203 one end is connected to the input negative terminal of operational amplifier U7B, as the input of inertial element, the output of operational amplifier U7B is as the output of second-order low-pass filter module.
Described second-order low-pass filter link and second differentiator serial module structure comprise the 3rd, the 4th inertial element circuit, proportion differential circuit, an add circuit, first by the 3rd, the 4th inertial element circuit connected in series, again with proportion differential circuit connected in series, first of add circuit input is connected with the output of proportion differential circuit, second input and the 3rd, the 4th inertial element circuit input end of add circuit are connected, and as the input of described second-order low-pass filter link and second differentiator serial module structure, the output of described add circuit is as the output of described second-order low-pass filter link and second differentiator serial module structure, described 3rd inertial element circuit be resistance R102 is in parallel with electric capacity C101 after be connected to input negative terminal and the output of operational amplifier U2A, again resistance R101 one end is connected to the input negative terminal of operational amplifier U2A, as the input of inertial element, the output of operational amplifier U2A is as the output of the 3rd inertial element circuit, described 4th inertial element circuit be resistance R104 is in parallel with electric capacity C102 after be connected to input negative terminal and the output of operational amplifier U2B, again resistance R103 one end is connected to the input negative terminal of operational amplifier U2B, as the input of inertial element, the output of operational amplifier U2B is as the output of inertial element circuit, described proportion differential circuit is the input negative terminal and the output that are connected respectively to operational amplifier U3A after being connected with resistance R107 by resistance R106, again by electric capacity C103 one end ground connection, the electric capacity C103 other end is connected between resistance R106 and resistance R107, finally resistance R105 one end is inputted negative terminal with operational amplifier U3A to be connected, the other end of resistance R105 is connected with the output of the second inertial element circuit, described add circuit is made up of resistance R108, R109, R110 and operational amplifier U4B, resistance R110 one end is connected with operational amplifier U4B output, the resistance R110 other end and operational amplifier U4B input negative terminal and are connected, resistance R108 one end as add circuit first input end and input negative terminal with operational amplifier U4B and be connected, the resistance R108 other end is connected with operational amplifier U3A output, resistance R109 one end is as add circuit second input and input negative terminal with operational amplifier U4B and be connected, and the described resistance R109 other end is connected with the output of voltage acquisition module.
Described comparison module comprises an add circuit, the input of described comparison module is connected with the output of second differentiator serial module structure with described second-order low-pass filter module, second-order low-pass filter link respectively, and the operational amplifier U3A output of described comparison module is as the output of whole disturbance observer module; Resistance R303 one end is connected with operational amplifier U3B output, the resistance R303 other end and operational amplifier U3B input negative terminal and are connected, resistance R301 one end as add circuit first input end and input negative terminal with operational amplifier U3B and be connected, the resistance R301 other end is connected with operational amplifier U7B output; Resistance R302 one end is as add circuit second input and input negative terminal with operational amplifier U3B and be connected, and the resistance R302 other end is connected with the output of operational amplifier U4B.
Described compensating module comprises operational amplifier U6A, resistance R401, resistance R402, resistance R403, resistance R404, using the estimation interference value of disturbance observer gained as compensation rate, compensates pid control signal, then exports the control signal after compensating; Resistance R403 one end and operational amplifier are inputted anode be connected, the other end ground connection of resistance R403; Resistance R401 one end and operational amplifier U6A input anode and are connected, and the other end of resistance R401 is as compensating module first input end; Resistance R404 one end is connected with operational amplifier U6A output, and the other end and the operational amplifier U6A of resistance R404 input negative terminal and be connected; Resistance R402 one end and operational amplifier U6A input negative terminal and are connected, the other end of resistance R402 is as compensating module second input, using operational amplifier U6A output as compensating module output, described compensating module first input end is connected with PID module output, and described compensating module second input is connected with disturbance observer module output.
There is module and comprise comparator U9A, resistance R6, resistance R7, resistance R8, controlled voltage source V3 in described PWM; Resistance R8 one end is inputted anode with comparator U9A be connected, the other end of resistance R8 is connected with compensating module output; Resistance R7 one end is connected with sawtooth signal source, the resistance R7 other end is connected with comparator U9A negative terminal, controlled voltage source V3 is inputted negative terminal be connected with comparator U9A chip power negative terminal, controlled voltage source V3 inputs anode and is connected with comparator U9A output, pwm signal will be obtained by comparator U9A, again pwm signal is received the input of controlled voltage source V3, finally positive and negative for the output of controlled voltage source V3 end is connected with the grid G of power MOSFET, drain D respectively.
Described voltage acquisition module is by parallel with load resistance RL again after high-precision resistance R1, R2 series connection, voltage acquisition module be input as reduction voltage circuit output voltage, the output of reduction voltage circuit can be reduced to and can match with reference voltage by the dividing potential drop of high-precision resistance R1, R2, draw acquisition module output plus terminal between two precision resisters R1, R2, ground end is as the output negative terminal of acquisition module.
Described pid control module is realized by a proportion integration differentiation circuit and a reference voltage source V2, after being connected with electric capacity C3 by resistance R5, then with the output of operational amplifier U1A with input negative terminal and be connected; Resistance R4 is inputted negative terminal with the one end after electric capacity C2 parallel connection with operational amplifier U1A be connected, the other end after resistance R4 is in parallel with electric capacity C2 is as the first input end of pid control module, reference voltage source V2 anode is inputted anode with operational amplifier U1A be connected, the negative terminal of reference voltage source V2 is as pid control module second input, and operational amplifier U1A output is as pid control module output.
The operation principle of device of the present invention is:
According to the circuit theory diagrams shown in Fig. 3, in described voltage acquisition module, adopt the mode of dividing potential drop to form acquisition module, can acquisition range be improved in this way.According to user's required voltage U
1, and reference voltage U
ref, according to
adjust R
1and R
2resistance, R
1both end voltage is for gathering voltage U
0.Concrete grammar is, due to R
1and R
2dividing potential drop, collection terminal export U
0with reduction voltage circuit actual output voltage U
lratio is
The disturbance observer module shown in Fig. 5 is built: first form Gd by U2A, U2B, U3A according to the disturbance observer theory diagram shown in Fig. 4
-1the realizing circuit of (s) * Q (s).According to the actual ideal model of reduction voltage circuit
design the inverse Gd of its nominal model
-1s (), chooses Gn (s)=Gd (s) herein.Be second-order system by the known reduction voltage circuit system of Gn (s), therefore design low pass filter Q (s) is
consider that load variations, input voltage change frequency are all lower, therefore T chooses 10
-5.
The inverse implementation of nominal model is: in order to reduce the quantity of operational amplifier, simplifies circuit, first by Gd
-1s () * Q (s) reduces, obtain
again by two inertial element circuit, a proportion differential circuit, an add circuit forms Gd
-1(s) * Q (s).Its input signal is for gathering voltage U
0.
The feature of disturbance observation realizing circuit is: by an add circuit, by Gd
-1s the output signal of () * Q (s) and the output signal summation of Q (s), obtain disturbance compensation amount
again by a subtraction circuit and pid control signal u
rask poor, obtain the control signal u after disturbance compensation.
In order to simplify circuit, reduce operational amplifier quantity, first by Gd
-1s () * Q (s) simplifies, make
During design, first obtain with a proportion differential circuit and a second-order low-pass filter circuit connected in series
obtain with an add circuit again
on the other hand, by same second-order low-pass filter, it is input as the output Ur of PID module.Then these two second-order low-pass filter output signals are subtracted each other, obtain disturbance estimation signal
After obtaining disturbance estimation signal, then by a subtraction circuit, by PID module output voltage u
rwith disturbance estimation signal
subtract each other, the control signal u after being compensated.
Fig. 6 is pid control module schematic diagram, by operational amplifier, and resistance, electric capacity composition integral differential circuit, wherein operational amplifier anode and reference voltage U
refconnect, negative terminal and collection voltage U
0connect, output end voltage
wherein e=U
ref-U
0,
t=R
5c
3, τ=R
4c
2.Work as U
0higher than U
reftime, U
rautomatically will reduce, otherwise rise.Such collection voltage is stabilized near reference voltage the most at last, thus makes the actual output of circuit meet the expectation output.
Fig. 7 is PWM schematic diagram, its principle is: compared by the sawtooth waveforms of comparator by control signal u and 5V amplitude, in each switch periods, when u is greater than sawtooth waveforms clock signal, output pulse is high level, when clock signal rises, when being greater than u, output pulse is low level, and the PWM duty ratio obtained like this is directly proportional to u, and frequency is identical with sawtooth waveforms frequency.Finally by controlled voltage source, pwm signal amplitude is improved, to open power MOSFET.
Specifically be embodied as: compared by the sawtooth waveforms of a control signal u and 5V tentering value, when control signal u is greater than sawtooth signal, comparator LM393 will export high level, otherwise, output low level.So control signal u is directly proportional in undersaturated situation to the pwm signal δ of generation.The work wave of input signal u and pwm signal δ can with reference to Fig. 8.Finally using the input signal of δ as controlled voltage source V3, open power MOSFET Q1.
Although the present invention is described according to various embodiment, one of skill in the art will appreciate that the present invention can implement with the amendment in the scope of claims.
Claims (6)
1. a Disturbance Rejection device for reduction voltage circuit, is characterized in that: comprise reduction voltage circuit module, module, disturbance observer module occur voltage acquisition module, pid control module, compensating module, PWM; Described reduction voltage circuit model calling voltage acquisition module, described voltage acquisition module connects pid control module, described pid control module connects compensating module, described compensating module connects PWM and module occurs, there is model calling reduction voltage circuit module in described PWM, an output of described voltage acquisition module, the output of compensating module are connected with described disturbance observer module respectively, and the output of described disturbance observer module connects an input of described compensating module;
Described voltage acquisition module adopts high-precision resistance to carry out dividing potential drop, regulates dividing ratios, gathers voltage equal with reference voltage after making circuit stability; Described voltage acquisition module input is reduction voltage circuit actual output voltage U
l, output will gather voltage U
0send into the input of PID module and disturbance observer module respectively;
Described PID module is used for according to reference voltage U
refand the difference between acquisition module gained voltage carries out scale amplifying, integration and differentiation, obtains controlled quentity controlled variable; Described PID module input signal is reference voltage U
ref, PID is by output voltage signal u
rsend into compensating module;
Described disturbance observer module, in order to by acquisition module gained voltage, obtains disturbance estimated value by operational amplifier, and compensates controlled quentity controlled variable; The input of described disturbance observer module is for gathering voltage U
0with control signal u, the output of described disturbance observer module is by disturbance compensation amount
send into compensating module;
Module occurs described PWM is compare with the sawtooth waveforms of comparator by the controlled quentity controlled variable after compensation and amplitude 5V, and produce PWM ripple, module input occurs described PWM is control signal u, and pwm signal δ is sent into the input of reduction voltage circuit by output.
2. the Disturbance Rejection device of a kind of reduction voltage circuit according to claim 1, is characterized in that: described disturbance observer module comprises second-order low-pass filter module, second-order low-pass filter link and second differentiator serial module structure, comparison module;
Described second-order low-pass filter module is in series by two inertial element circuit and forms, and the input of described second-order low-pass filter module is connected with the output of PID module, described first inertial element circuit be resistance R202 is in parallel with electric capacity C201 after be connected to input negative terminal and the output of operational amplifier U8B, again resistance R201 one end is connected to the input negative terminal of operational amplifier U8B, as the input of inertial element, the output of operational amplifier U8B is as the output of the first inertial element circuit, described second inertial element circuit be resistance R204 is in parallel with electric capacity C202 after be connected to input negative terminal and the output of operational amplifier U7B, again resistance R203 one end is connected to the input negative terminal of operational amplifier U7B, as the input of inertial element, the output of operational amplifier U7B is as the output of second-order low-pass filter module,
Described second-order low-pass filter link and second differentiator serial module structure comprise the 3rd, the 4th inertial element circuit, proportion differential circuit, an add circuit, first by the 3rd, the 4th inertial element circuit connected in series, again with proportion differential circuit connected in series, first of add circuit input is connected with the output of proportion differential circuit, second input and the 3rd, the 4th inertial element circuit input end of add circuit are connected, and as the input of described second-order low-pass filter link and second differentiator serial module structure, the output of described add circuit is as the output of described second-order low-pass filter link and second differentiator serial module structure, described 3rd inertial element circuit be resistance R102 is in parallel with electric capacity C101 after be connected to input negative terminal and the output of operational amplifier U2A, again resistance R101 one end is connected to the input negative terminal of operational amplifier U2A, as the input of inertial element, the output of operational amplifier U2A is as the output of the 3rd inertial element circuit, described 4th inertial element circuit be resistance R104 is in parallel with electric capacity C102 after be connected to input negative terminal and the output of operational amplifier U2B, again resistance R103 one end is connected to the input negative terminal of operational amplifier U2B, as the input of inertial element, the output of operational amplifier U2B is as the output of inertial element circuit, described proportion differential circuit is the input negative terminal and the output that are connected respectively to operational amplifier U3A after being connected with resistance R107 by resistance R106, again by electric capacity C103 one end ground connection, the electric capacity C103 other end is connected between resistance R106 and resistance R107, finally resistance R105 one end is inputted negative terminal with operational amplifier U3A to be connected, the other end of resistance R105 is connected with the output of the second inertial element circuit, described add circuit is made up of resistance R108, R109, R110 and operational amplifier U4B, resistance R110 one end is connected with operational amplifier U4B output, the resistance R110 other end and operational amplifier U4B input negative terminal and are connected, resistance R108 one end as add circuit first input end and input negative terminal with operational amplifier U4B and be connected, the resistance R108 other end is connected with operational amplifier U3A output, resistance R109 one end is as add circuit second input and input negative terminal with operational amplifier U4B and be connected, and the described resistance R109 other end is connected with the output of voltage acquisition module,
Described comparison module comprises an add circuit, the input of described comparison module is connected with the output of second differentiator serial module structure with described second-order low-pass filter module, second-order low-pass filter link respectively, and the operational amplifier U3A output of described comparison module is as the output of whole disturbance observer module; Resistance R303 one end is connected with operational amplifier U3B output, the resistance R303 other end and operational amplifier U3B input negative terminal and are connected, resistance R301 one end as add circuit first input end and input negative terminal with operational amplifier U3B and be connected, the resistance R301 other end is connected with operational amplifier U7B output; Resistance R302 one end is as add circuit second input and input negative terminal with operational amplifier U3B and be connected, and the resistance R302 other end is connected with the output of operational amplifier U4B.
3. the Disturbance Rejection device of a kind of reduction voltage circuit according to claim 1, it is characterized in that: described compensating module comprises operational amplifier U6A, resistance R401, resistance R402, resistance R403, resistance R404, using the estimation interference value of disturbance observer gained as compensation rate, pid control signal is compensated, then exports the control signal after compensating; Resistance R403 one end and operational amplifier are inputted anode be connected, the other end ground connection of resistance R403; Resistance R401 one end and operational amplifier U6A input anode and are connected, and the other end of resistance R401 is as compensating module first input end; Resistance R404 one end is connected with operational amplifier U6A output, and the other end and the operational amplifier U6A of resistance R404 input negative terminal and be connected; Resistance R402 one end and operational amplifier U6A input negative terminal and are connected, the other end of resistance R402 is as compensating module second input, using operational amplifier U6A output as compensating module output, described compensating module first input end is connected with PID module output, and described compensating module second input is connected with disturbance observer module output.
4. the Disturbance Rejection device of a kind of reduction voltage circuit according to claim 1, is characterized in that: described PWM module occurs and comprises comparator U9A, resistance R6, resistance R7, resistance R8, controlled voltage source V3; Resistance R8 one end is inputted anode with comparator U9A be connected, the other end of resistance R8 is connected with compensating module output; Resistance R7 one end is connected with sawtooth signal source, the resistance R7 other end is connected with comparator U9A negative terminal, controlled voltage source V3 is inputted negative terminal be connected with comparator U9A chip power negative terminal, controlled voltage source V3 inputs anode and is connected with comparator U9A output, pwm signal will be obtained by comparator U9A, again pwm signal is received the input of controlled voltage source V3, finally positive and negative for the output of controlled voltage source V3 end is connected with the grid G of power MOSFET, drain D respectively.
5. the Disturbance Rejection device of a kind of reduction voltage circuit according to claim 1, it is characterized in that: described voltage acquisition module is by parallel with load resistance RL again after high-precision resistance R1, R2 series connection, voltage acquisition module be input as reduction voltage circuit output voltage, the output of reduction voltage circuit can be reduced to and can match with reference voltage by the dividing potential drop of high-precision resistance R1, R2, draw acquisition module output plus terminal between two precision resisters R1, R2, ground end is as the output negative terminal of acquisition module.
6. the Disturbance Rejection device of a kind of reduction voltage circuit according to claim 1, it is characterized in that: described pid control module is realized by a proportion integration differentiation circuit and a reference voltage source V2, after resistance R5 is connected with electric capacity C3, then with the output of operational amplifier U1A with input negative terminal and be connected; Resistance R4 is inputted negative terminal with the one end after electric capacity C2 parallel connection with operational amplifier U1A be connected, the other end after resistance R4 is in parallel with electric capacity C2 is as the first input end of pid control module, reference voltage source V2 anode is inputted anode with operational amplifier U1A be connected, the negative terminal of reference voltage source V2 is as pid control module second input, and operational amplifier U1A output is as pid control module output.
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| CN106712100A (en) * | 2017-03-02 | 2017-05-24 | 江苏大学 | Perturbation observation-based control method for virtual grid-connected synchronous inverter and control system |
| CN113009213A (en) * | 2021-02-02 | 2021-06-22 | 深圳车库电桩科技有限公司 | Voltage transmitter |
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| CN104852576B (en) * | 2015-04-27 | 2017-05-03 | 江苏大学 | Boost circuit device based on disturbance observation |
| CN106712100A (en) * | 2017-03-02 | 2017-05-24 | 江苏大学 | Perturbation observation-based control method for virtual grid-connected synchronous inverter and control system |
| CN113009213A (en) * | 2021-02-02 | 2021-06-22 | 深圳车库电桩科技有限公司 | Voltage transmitter |
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