CN108667309B - DC-DC control method for tramcar auxiliary converter system - Google Patents
DC-DC control method for tramcar auxiliary converter system Download PDFInfo
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- CN108667309B CN108667309B CN201810678616.2A CN201810678616A CN108667309B CN 108667309 B CN108667309 B CN 108667309B CN 201810678616 A CN201810678616 A CN 201810678616A CN 108667309 B CN108667309 B CN 108667309B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
- H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
- H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
- H02M3/325—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
- H02M3/335—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
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Abstract
The invention relates to a DC-DC control method for an auxiliary converter system of a tramcar, which comprises the following steps of collecting output voltage Umeas, and performing hysteresis judgment on the output voltage Umeas; judging whether the output voltage Umeas is larger than a set overvoltage hysteresis upper threshold value Uover _ h or not; if the output voltage Umeas is larger than the overvoltage hysteresis upper threshold value Uover _ h, entering an overvoltage processing mode; if the output voltage Umeas is smaller than the set overvoltage hysteresis lower threshold value Uover _ l, entering a normal processing mode; judging whether the output voltage Umeas is smaller than a set undervoltage hysteresis lower threshold value Uless _ l or not; if the output voltage Umeas is smaller than the threshold value Uless _ l under the undervoltage hysteresis, entering an undervoltage processing mode; and if the output voltage Umeas is larger than the set undervoltage hysteresis upper threshold value Uless _ h, entering a normal processing mode. The invention discriminates the overvoltage mode and the undervoltage mode, does not change the original hardware design, does not increase an additional control loop, only needs to adjust the control parameters and discriminates and processes different modes, can meet the requirement of dynamic response speed, and realizes the accurate control of the output alternating voltage.
Description
Technical Field
The invention belongs to the technical field of variable flow control of rail vehicles, relates to a variable flow control technology of a tramcar, and particularly relates to a DC-DC control method for an auxiliary variable flow system of the tramcar.
Background
The modern tramcar is a medium-capacity transportation vehicle with novel design, environmental friendliness and resource conservation, and is mature and applied at home and abroad at present. The auxiliary converter system is used for converting different types of electric energy into three-phase alternating current electric energy for a medium-voltage alternating current load of the train. Modern tram middling pressure exchanges load and is diversified and the structure is complicated, and the most main load form is pump class load, including air conditioner, air pump and compressor etc.. The impact power of the pump load during starting and unloading is considered, and higher requirements are provided for the output voltage waveform quality and the system stability of the load converter system.
The main circuit topology of the modern tramcar auxiliary converter system mainly comprises two forms: the first is a common topological structure of the DC-AC + power frequency transformer, the structure utilizes the electromagnetic isolation characteristic, namely the buck-boost characteristic, of the power frequency transformer, and has the advantages of simple application, stability, reliability and the like, but the structure has the defects of large volume, heavy weight, difficulty in maintenance, high noise and the like. The second topological structure is a DC-DC + DC-AC structure, and referring to fig. 1, the DC-DC structure adopts a high-frequency transformer to perform primary and secondary side isolation, and has the advantages of small volume, light weight, low noise and the like, but a DC-DC intermediate link is introduced, and the intermediate DC-DC link is required to have quick response capability in the process of starting and unloading the load of a vehicle pump, so as to maintain the fluctuation of the alternating current output voltage in a reasonable range. Therefore, a reliable DC-DC control method with fast response capability is urgently needed.
The DC-DC control part adopts a proportional integral derivative (PID for short) control algorithm to output a desired output value (namely target voltage) UcmdAs a given value, the output voltage value detected by the voltage sensor is taken as a measured value UmeasThe difference of the two UerrAnd sending the signals to a PID controller. For a direct current system, although conventional PID control can realize no-static-error tracking, rapid tracking is difficult to realize at the moment of starting and unloading a pump load, and an output value needs a long time to reach a steady state, thereby affecting the quality of an output alternating current voltage.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a DC-DC control method for the auxiliary converter system of the tramcar, which has the advantages of dynamic response speed block and accurate control.
In order to achieve the above object, the present invention provides a DC-DC control method for a tramcar auxiliary converter system, comprising the steps of:
collecting output voltage Umeas, and performing hysteresis judgment on the output voltage Umeas;
judging whether the output voltage Umeas is larger than a set overvoltage hysteresis upper threshold value Uover _ h or not; if the output voltage Umeas is larger than the overvoltage hysteresis upper threshold value Uover _ h, entering an overvoltage processing mode; if the output voltage Umeas is smaller than the set overvoltage hysteresis lower threshold value Uover _ l, entering a normal processing mode;
judging whether the output voltage Umeas is smaller than a set undervoltage hysteresis lower threshold value Uless _ l or not; if the output voltage Umeas is smaller than the threshold value Uless _ l under the undervoltage hysteresis, entering an undervoltage processing mode; and if the output voltage Umeas is larger than the set undervoltage hysteresis upper threshold value Uless _ h, entering a normal processing mode.
Preferably, the overpressure treatment modes are: blocking pulse for PWM module of DC-DC link of auxiliary converter system, and clearing output result and integral term result of PID controller to obtain output voltage UmeasIs less than the overvoltage hysteresis lower threshold value Uover_lAnd then entering a normal processing mode.
Preferably, the under-voltage processing mode includes a primary under-voltage processing mode, and the primary under-voltage processing mode is: increasing the proportionality coefficient Kp to Kpmax1Integral coefficients Ki to KimaxAnd at the output voltage UmeasAfter the normal processing mode is recovered for the first time, the output result value of the PID controller is locked, meanwhile, the output result value of the PID controller is endowed with an integral term result, and the coefficient of the PID controller is reset to a proportional coefficient Kp, an integral coefficient Ki and a differential coefficient Kd.
Furthermore, the undervoltage processing mode further comprises a secondary undervoltage processing mode, and after the adjustment of the primary undervoltage processing mode, if the output voltage U is outputmeasDecreases again and is lower than the secondary under-voltage hysteresis lower threshold value U0And entering a secondary under-voltage processing mode.
Preferably, the secondary under-voltage processing mode is as follows: increasing the proportionality coefficient Kp to Kpmax2，Kpmax2Less than Kpmax1Without locking the output result value of the PID controller, the voltage U to be outputmeasGreater than the set undervoltage delay upper threshold value Uless_hThereafter, the PID controller coefficients are reset to the proportionality coefficient Kp.
Further, the under-voltage processing mode carries out counting processing, and when the times of under-voltage processing exceed a certain limit N, the normal processing mode is operated, wherein N is more than or equal to 3 and less than or equal to 5.
Furthermore, the output result of the PID controller and the output result of the integral term are subjected to amplitude limiting processing.
Preferably, the normal processing mode is a normal PID control by a PID controller.
Compared with the prior art, the invention has the advantages and positive effects that:
(1) according to the control method provided by the invention, no additional control loop is added on the control strategy, the control parameters of the PID controller are only required to be adjusted, the undervoltage mode and the overvoltage mode are distinguished and processed, the requirement on the corresponding speed can be met, and the digital application is realized easily.
(2) The control method provided by the invention is based on a DC-DC + DC-AC topological structure, on the basis of the existing traditional PID control method, an over-voltage mode and an under-voltage mode are discriminated, and a hysteresis comparison link, a proportional fractional coefficient adjustment link, an integral value setting link and a secondary under-voltage processing link are introduced, so that on the basis of unchanged original hardware design, the dynamic response speed of a DC-DC control unit is improved, the output voltage adjustment time can reach a steady state basically within about 10ms, the voltage drop is less than 30V, and the accurate control of the output alternating voltage is realized.
(3) The control method provided by the invention has the advantages of being obvious in volume, weight and noise in comparison with a power frequency transformer topological structure aiming at a tramcar auxiliary converter system and having a DC-DC + DC-AC topological structure.
Drawings
FIG. 1 is a schematic view of a DC-DC + DC-AC topological structure of an existing tramcar auxiliary converter system.
Fig. 2 is a flow chart of a DC-DC control method for a tramcar auxiliary converter system according to the invention.
Fig. 3 is a control loop diagram of the DC-DC control method for the tram auxiliary converter system according to the invention.
Fig. 4 is a diagram of a hysteresis judgment processing procedure of the DC-DC control method for the tramcar auxiliary converter system according to the present invention.
Detailed Description
The invention is described in detail below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
Fig. 1 shows a modern tramcar auxiliary converter system with a main circuit adopting a DC-DC + DC-AC topological structure, and at the moment of starting or unloading a pump load, a DC-DC output voltage is pulled down or pulled up due to untimely adjustment of a DC-DC control unit.
Aiming at the modern tramcar auxiliary converter system, referring to fig. 2 and fig. 3, the invention discloses a DC-DC control method for the tramcar auxiliary converter system, which comprises the following steps:
s1, collecting the output voltage Umeas, and performing hysteresis judgment on the output voltage Umeas;
s2, judging whether the output voltage Umeas is larger than a set overvoltage hysteresis upper threshold value Uover _ h; if the output voltage Umeas is larger than the upper threshold value Uover _ h of the overvoltage hysteresis, entering an overvoltage processing mode; if the output voltage Umeas is smaller than the set overvoltage hysteresis lower threshold value Uover _ l, entering a normal processing mode;
s3, judging whether the output voltage Umeas is smaller than a set undervoltage hysteresis lower threshold value Uless _ l; if the output voltage Umeas is smaller than the threshold value Uless _ l under the undervoltage hysteresis, entering an undervoltage processing mode; and if the output voltage Umeas is larger than the set undervoltage hysteresis upper threshold value Uless _ h, entering a normal processing mode.
In the step S2, the overvoltage processing mode is: blocking pulse for PWM module of DC-DC link of auxiliary converter system, and clearing output result and integral term result of PID controller to obtain output voltage UmeasIs less than the overvoltage hysteresis lower threshold value Uover_lThen enter into normal processing mode
In the above steps S2, S3, the normal processing mode is a normal PID control by the PID controller.
In the step S3, the under-voltage processing mode includes a primary under-voltage processing mode, where the primary under-voltage processing mode is: increasing the proportionality coefficient Kp to Kpmax1Integral coefficients Ki to KimaxAnd at the output voltage UmeasAfter the normal processing mode is recovered for the first time, the output result value of the PID controller is locked, meanwhile, the output result value of the PID controller is endowed with an integral term result, and the coefficient of the PID controller is reset to a proportional coefficient Kp, an integral coefficient Ki and a differential coefficient Kd.
In the modern tramcar auxiliary converter system, the overvoltage phenomenon may occur first, and the undervoltage phenomenon may occur first, so the sequence of the steps S2 and S3 may be interchanged.
The invention respectively processes the phenomena of output voltage low and high, namely an overvoltage processing mode or an undervoltage processing mode, does not change the original hardware design of the modern tramcar auxiliary converter system, does not increase an additional control loop, and can meet the requirement of response speed by only adjusting control parameters and distinguishing and processing different modes at a low sampling rate.
In order to improve the undervoltage processing effect, as a preferred design of the method, the undervoltage processing mode further includes a secondary undervoltage processing mode, and after the adjustment of the primary undervoltage processing mode, if the output voltage U is outputmeasDecreases again and is lower than the secondary under-voltage hysteresis lower threshold value U0And entering a secondary under-voltage processing mode. Preferably, the secondary under-voltage processing mode is as follows: increasing the proportionality coefficient Kp to Kpmax2，Kpmax2Less than Kpmax1Without locking the output result value of the PID controller, the voltage U to be outputmeasGreater than the set undervoltage delay upper threshold value Uless_hThereafter, the PID controller coefficients are reset to the proportionality coefficient Kp.
In order to prevent the output voltage from oscillating repeatedly in the adjusting process, as a preferred design of the method, the under-voltage processing mode carries out counting processing, and when the times of the under-voltage processing exceed a certain limit N, the under-voltage processing mode is operated in a normal processing mode, wherein N is more than or equal to 3 and less than or equal to 5. Preferably, the operation is performed in the normal mode when the number of times of under-voltage exceeds 4. The number of times of undervoltage can be selected according to different actual conditions.
Aiming at the overvoltage processing mode and the undervoltage processing mode, in order to prevent the output saturation of the DC-DC regulation algorithm, the output result of the PID controller and the output result of the integral term are subjected to amplitude limiting processing as the preferable design of the method.
The above-described embodiments are intended to illustrate rather than to limit the invention, and any modifications and variations of the present invention are possible within the spirit and scope of the claims.
Claims (7)
1. A DC-DC control method for a tramcar auxiliary converter system is characterized by comprising the following steps:
collecting output voltage UmeasTo the output voltage UmeasPerforming delay judgment;
judging the output voltage UmeasWhether the overvoltage is larger than a set overvoltage hysteresis upper threshold value Uover_h(ii) a If the output voltage U ismeasGreater than the overvoltage hysteresis upper threshold value Uover_hEntering an overvoltage processing mode; if the output voltage U ismeasIs less than the set overvoltage hysteresis lower threshold value Uover_lEntering a normal processing mode;
judging the output voltage UmeasWhether the value is less than the set undervoltage hysteresis lower threshold value Uless_l(ii) a If the output voltage U ismeasLess than the undervoltage hysteresis lower threshold value Uless_lEntering an under-voltage processing mode; if the output voltage U ismeasGreater than the set undervoltage delay upper threshold value Uless_hEntering a normal processing mode; the undervoltage processing mode comprises a primary undervoltage processing mode, and the primary undervoltage processing mode is as follows: increasing the proportionality coefficient Kp to Kpmax1Integral coefficients Ki to KimaxAnd at the output voltage UmeasAfter the normal processing mode is recovered for the first time, locking the output result value of the PID controller, giving the output result value of the PID controller to the integral term result, and resetting the coefficient of the PID controller to a proportional coefficient Kp, an integral coefficient Ki and a differential coefficient Kd;
the DC-DC control part is realized by adopting a PID control algorithm.
2. DC-DC control method for a tram auxiliary converter system according to claim 1Wherein the overvoltage handling mode is: blocking pulse for PWM module of DC-DC link of auxiliary converter system, and clearing output result and integral term result of PID controller to obtain output voltage UmeasIs less than the overvoltage hysteresis lower threshold value Uover_lAnd when the system enters a normal processing mode, the DC-DC control part is realized by adopting a PID control algorithm.
3. The DC-DC control method for the tramcar auxiliary converter system according to claim 1, wherein the under-voltage processing mode further comprises a secondary under-voltage processing mode, and the output voltage U is obtained after the adjustment of the primary under-voltage processing modemeasDecreases again and is lower than the secondary under-voltage hysteresis lower threshold value U0And entering a secondary under-voltage processing mode.
4. The DC-DC control method for the tram auxiliary converter system according to claim 3, wherein the secondary under-voltage processing mode is as follows: increasing the proportionality coefficient Kp to Kpmax2，Kpmax2Less than Kpmax1Without locking the output result value of the PID controller, the voltage U to be outputmeasGreater than the set undervoltage delay upper threshold value Uless_hThereafter, the PID controller coefficients are reset to the proportionality coefficient Kp.
5. The DC-DC control method for the tramcar auxiliary converter system according to claim 4, wherein the under-voltage processing mode is used for counting, and when the number of times of under-voltage processing exceeds a certain limit N, the normal processing mode is used for operation, wherein N is more than or equal to 3 and less than or equal to 5.
6. The DC-DC control method for the auxiliary converter system of the tram as claimed in claim 4, characterized in that the output result of the PID controller and the output result of the integral term are subjected to amplitude limiting processing.
7. A DC-DC control method for a tram auxiliary converter system according to claim 1, 5 or 6, characterized in that the normal processing mode is a conventional PID control by a PID controller.
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