CN108925013B - LED street lamp dimming control method and system based on disturbance observer - Google Patents

LED street lamp dimming control method and system based on disturbance observer Download PDF

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CN108925013B
CN108925013B CN201811189691.9A CN201811189691A CN108925013B CN 108925013 B CN108925013 B CN 108925013B CN 201811189691 A CN201811189691 A CN 201811189691A CN 108925013 B CN108925013 B CN 108925013B
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street lamp
led street
interference
observer
state model
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王悦
杨帆
马玉林
甄玉龙
陈涛
王旭
张亮
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Beijing Institute of Radio Metrology and Measurement
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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
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    • H05B45/00—Circuit arrangements for operating light-emitting diodes [LED]
    • H05B45/10—Controlling the intensity of the light
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Abstract

The embodiment of the application provides an LED street lamp dimming control method based on a disturbance observer, which comprises the following steps: constructing an LED street lamp state model based on an equivalent RCL circuit of the LED street lamp circuit; constructing a disturbance observer under external light intensity interference based on the LED street lamp state model; and performing feedback compensation on the dimming control quantity by using an interference estimation value output by the interference observer to obtain a new control quantity, and performing dimming control on the LED street lamp by using the new control quantity. This scheme can be directed against the problem that current wisdom street lamp control mode is backward, under the condition of considering outside proruption interference light source, will disturb observer and PID controller and combine together, carries out dimming control to the LED street lamp to improve the energy-conserving performance of street lamp.

Description

LED street lamp dimming control method and system based on disturbance observer
Technical Field
The application relates to the field of LED lamp control, in particular to a method and a system for dimming control of an LED street lamp by combining a disturbance observer and a PID.
Background
1 hundred million of street lamps in the country account for 30% of lighting power consumption, reach 10% of the total national power consumption, and are equivalent to the annual energy production of 1 three gorges hydropower station, which exceeds 7 times of the annual energy production of a nuclear power station in the great Asia bay. According to statistics, about 35% of street lamp electric energy is wasted due to the problem of not turning off the power timely. At present, the work of realizing urban energy-saving illumination by using intelligent street lamps is urgent.
The energy-saving control technology used by the existing intelligent street lamp has the following problems:
1. the control mode falls behind: most of intelligent street lamps adopt time control and centralized control, and dimming parameters can not change in a flexible way, and when season and environmental change, need personnel's remote control, can not realize real intelligent control.
2. The electric energy waste is serious: on-demand lighting cannot be achieved, and excessive lighting and unreasonable lighting time lead to serious waste of electric energy.
Disclosure of Invention
In order to solve one of the problems, the application provides a method and a system for dimming control of an LED street lamp based on a disturbance observer.
According to a first aspect of the embodiments of the present application, there is provided a method for controlling dimming of an LED street lamp based on a disturbance observer, the method including:
constructing an LED street lamp state model based on an equivalent RCL circuit of the LED street lamp circuit;
constructing a disturbance observer under external light intensity interference based on the LED street lamp state model;
and performing feedback compensation on the dimming control quantity by using an interference estimation value output by the interference observer to obtain a new control quantity, and performing dimming control on the LED street lamp by using the new control quantity.
According to a first aspect of the embodiments of the present application, there is provided a LED street lamp dimming control system based on a disturbance observer, the system including:
the modeling module is used for constructing an LED street lamp state model based on an equivalent RCL circuit of the LED street lamp circuit;
the observer constructing module is used for constructing a disturbance observer under external light intensity interference based on the LED street lamp state model;
and the control quantity output module is used for performing feedback compensation on the dimming control quantity by using the interference estimation value output by the interference observer to obtain a new control quantity and performing dimming control on the LED street lamp by using the new control quantity.
Compared with the prior art, the invention has the advantages that:
(1) according to the scheme, the low-frequency interference amount of the system is effectively observed by using the interference observer, and feedback compensation is performed. The method for constructing the interference observer is simple and small in calculation amount, and the robustness and the anti-interference capability of the system can be effectively improved.
(2) This scheme can effectually observe and restrain external light intensity's interference, can use under the circumstances of multisource external disturbance. For example, when the LED lamp is subjected to two types of external light intensity interference at the same time, the designed interference observer can have the capability of observing multi-source interference at the same time, and has a wide application range.
(3) According to the scheme, the PID control method of the fusion disturbance observer is used, and the autonomous dimming process of resisting the external light intensity interference of the LED street lamp is realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic diagram illustrating a dimming control method of an LED street lamp according to the present embodiment;
fig. 2 shows a schematic diagram of the dimming control system of the LED street lamp according to the present scheme.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The core idea of the scheme is that the light intensity interference of the automobile and the like at night on the LED automatic dimming street lamp is estimated by using the interference observer on the low-frequency (relative to the control frequency) light intensity interference component and is used as the interference estimator
Figure BDA0001827186680000031
Output, using the interference estimate
Figure BDA0001827186680000032
Feedback compensation dimming control quantity u0The effect of interference suppression is achieved, and the anti-interference automatic dimming process of the street lamp is achieved.
The scheme discloses an LED street lamp control method based on an interference observer, which can perform feedback compensation control on the interference problem caused by external light intensity interference on an LED street lamp system. The method can improve the robustness of the system, and has good estimation and control effects on system modeling errors, parameter perturbation and various external interferences.
In the scheme, firstly, RCL equivalent treatment is carried out by utilizing a voltage dimming type LED street lamp circuit; secondly, establishing a control system state model by using the physical characteristics of the voltage dimming type LED street lamp equivalent circuit, and designing an interference observer aiming at external light intensity interference; thirdly, the disturbed two-dimensional state vector is used as the input of the disturbance observer, and the disturbance estimation value output by the disturbance observer is utilized
Figure BDA0001827186680000033
Feedback compensation dimming control quantity u0Using the new control quantity u2Instead of the original control quantity uiAnd finishing the automatic dimming control process.
As shown in fig. 1, the method can be implemented as follows:
step 1, equating voltage dimming type LED street lamp circuit
A single LED street lamp bead loop can be equivalent to an RCL circuit after a PN junction is conducted, and the dimming voltage ui(t) as the loop input voltage, the loop current is i (t), then:
Figure BDA0001827186680000041
step 2, establishing a state model of the LED street lamp system
And (3) simultaneously performing derivation on t by two sides of an expression of the equivalent RCL circuit:
Figure BDA0001827186680000042
let x1＝i(t),x2I' (t), then:
Figure BDA0001827186680000043
selecting
Figure BDA00018271866800000413
Vector as state quantityThe state model is represented as:
Figure BDA0001827186680000045
simplifying the model to obtain an LED street lamp state model:
Figure BDA0001827186680000046
wherein the content of the first and second substances,
Figure BDA0001827186680000047
and (5) vector quantity. Which is considered herein as the equivalent control quantity of the system.
Step 3, constructing an interference observer of external light intensity interference
The street lamp receives the illumination interference of passing vehicle on the highway night, and light intensity sensor can't distinguish normal illumination and interference illumination, disturb through PID feedback loop coupling to the system in, consequently will consider the system state model of external light interference to express as:
Figure BDA0001827186680000048
in the formula, the interference amount
Figure BDA0001827186680000049
Inverse of input voltage
Figure BDA00018271866800000410
Same dimension, d and u0Acting together in a dimming system, d for
Figure BDA00018271866800000411
The output of (a) causes interference. The traditional PID control method cannot resist external interference, and causes mistaken dimming of the street lamp.
According to the state model established in the above step, the disturbance variable d can be expressed as:
Figure BDA00018271866800000412
designing an interference estimator
Figure BDA0001827186680000051
Satisfies the equation:
Figure BDA0001827186680000052
wherein, L is a gain matrix of the disturbance observer, and the selection of L influences the estimation performance and stability of the observer. Let the intermediate variable
Figure BDA0001827186680000053
Then there are:
Figure BDA0001827186680000054
combining the above formula to obtain:
Figure BDA0001827186680000055
in a system, L is often taken as a diagonal matrix:
L＝diag{L1，L2}
in summary, the disturbance observer is designed as follows:
Figure BDA0001827186680000056
the disturbance observer is represented in detail by the following equations a and b.
a. Intermediate variable z differential equation
Figure BDA0001827186680000057
b. Interference observation
Figure BDA0001827186680000058
Calculation formula
Figure BDA0001827186680000059
In addition, in order to ensure the robust stability of the disturbance observer, the gain matrix L has a certain value range. L is demonstrated by the Lyapunov theorem of stabilityi>At 0(i ═ 1,2), the error differential equation of the disturbance observer remains globally asymptotically stable. At Li>The matrix L is adjusted under the constraint of 0(i is 1 and 2), so that the accurate and quick observation performance of the disturbance observer on the vibration disturbance can be improved.
And 4, carrying out feedback compensation on the dimming control quantity by using the interference estimation value output by the interference observer to obtain a new control quantity, and carrying out dimming control on the LED street lamp by using the new control quantity.
Using disturbance observer output values
Figure BDA0001827186680000061
Feedback to dimming control u0In the above, the compensated system control vector u is obtained, and the specific implementation method is as follows:
Figure BDA0001827186680000062
wherein the content of the first and second substances,
Figure BDA0001827186680000063
uip (Δ y) + D (Δ (Δ y)) is the output of the light intensity PD controller, Δ y is the deviation of the measured light intensity from the target light intensity, and thus the new controlled quantity u2：
Figure BDA0001827186680000064
Using u2Instead of the original control quantity uiAnd the final anti-interference control can be finished.
This scheme further discloses a LED street lamp control system that adjusts luminance based on interference observer, and this system includes: the modeling module is used for constructing an LED street lamp state model based on an equivalent RCL circuit of the LED street lamp circuit; the observer constructing module is used for constructing a disturbance observer under external light intensity interference based on the LED street lamp state model; and the control quantity output module is used for performing feedback compensation on the dimming control quantity by using the interference estimation value output by the interference observer to obtain a new control quantity and performing dimming control on the LED street lamp by using the new control quantity.
As shown in fig. 2, the block diagram is a structural block diagram of the disturbance observer + PID street lamp control method, and the block diagram explicitly shows an action mechanism of the control method in the street lamp dimming system. And the LED street lamp is subjected to dimming control by utilizing the constructed system state model and the interference observer and further combining the PID controller and the system measurement model.
From the perspective of the system state model, utilize
Figure BDA0001827186680000065
Feeding back the compensation interference d to obtain the compensated system state vector
Figure BDA0001827186680000066
edAn error is estimated for the interference. The gain matrix L enables interference estimation
Figure BDA0001827186680000067
Approaching the true interference d, the state x is affected by the interference d approaching 0.
From the system measurement model
y＝mx1+k
Wherein y is the output light intensity of the LED lamp, the parameters m and k depend on the current-light intensity curve of the LED lamp, and x1The less the influence of interference, the more accurate the light intensity output of the street lamp.
In conclusion, the scheme can combine the interference observer and the PID controller to perform dimming control on the LED street lamp aiming at the problem that the existing intelligent street lamp is backward in control mode under the condition of considering the external burst interference light source, so that the energy-saving performance of the street lamp is improved.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The present invention is not limited to the above embodiments, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included in the scope of the claims of the present invention which are filed as the application.

Claims (2)

1. A method for controlling dimming of an LED street lamp based on a disturbance observer is characterized by comprising the following steps:
constructing an LED street lamp state model based on an equivalent RCL circuit of the LED street lamp circuit;
constructing a disturbance observer under external light intensity interference based on the LED street lamp state model;
performing feedback compensation on the dimming control quantity by using an interference estimation value output by the interference observer to obtain a new control quantity, and performing dimming control on the LED street lamp by using the new control quantity;
the step of constructing the LED street lamp state model based on the equivalent RCL circuit of the LED street lamp circuit comprises the following steps:
with the return circuit of every LED street lamp pearl, the expression of the equivalent RCL circuit under the PN junction switches on is:
Figure FDA0002356287330000011
wherein the dimming voltage ui(t) as loop input voltage, loop current is i (t);
obtaining an LED street lamp state model according to an expression of the equivalent RCL circuit:
Figure FDA0002356287330000012
wherein the content of the first and second substances,
Figure FDA0002356287330000013
vector quantity;
the LED street lamp state model is obtained according to the expression of the equivalent RCL circuit:
Figure FDA0002356287330000014
comprises the following steps:
two sides of the expression of the equivalent RCL circuit are derived for t:
Figure FDA0002356287330000015
let x1＝i(t),x2I' (t), then:
Figure FDA0002356287330000016
selecting
Figure FDA0002356287330000017
The vector is taken as a state quantity, and the state model is expressed as:
Figure FDA0002356287330000018
simplifying the model to obtain an LED street lamp state model:
Figure FDA0002356287330000019
wherein the expression of the disturbance observer is:
Figure FDA0002356287330000021
wherein the differential equation of the variable z is:
Figure FDA0002356287330000022
interference observation
Figure FDA0002356287330000023
The calculation formula is as follows:
Figure FDA0002356287330000024
l is a gain matrix, and L is a gain matrix,
Figure FDA0002356287330000025
is an input to the disturbance observer;
the step of performing feedback compensation on the dimming control quantity by using the interference estimation value output by the interference observer to obtain a new control quantity, and performing dimming control on the LED street lamp by using the new control quantity comprises the following steps of:
using disturbance observer output values
Figure FDA0002356287330000026
Feedback to dimming control u0And obtaining a compensated system control vector u:
Figure FDA0002356287330000027
wherein the content of the first and second substances,
Figure FDA0002356287330000028
uip · (Δ y) + D · (Δ (Δ y)) is the output of the light intensity PD controller, Δ y is the deviation of the measured light intensity from the target light intensity; new control quantity u2：
Figure FDA0002356287330000029
2. The utility model provides a LED street lamp dimming control system based on disturbance observer which characterized in that, this system includes:
the modeling module is used for constructing an LED street lamp state model based on an equivalent RCL circuit of the LED street lamp circuit;
the observer constructing module is used for constructing a disturbance observer under external light intensity interference based on the LED street lamp state model;
the control quantity output module is used for performing feedback compensation on the dimming control quantity by using the interference estimation value output by the interference observer to obtain a new control quantity and performing dimming control on the LED street lamp by using the new control quantity;
the modeling module specifically executes the following steps:
with the return circuit of every LED street lamp pearl, the expression of the equivalent RCL circuit under the PN junction switches on is:
Figure FDA0002356287330000031
wherein the dimming voltage ui(t) as loop input voltage, loop current is i (t);
obtaining the state of the LED street lamp according to the expression of the equivalent RCL circuitModel:
Figure FDA0002356287330000032
wherein the content of the first and second substances,
Figure FDA0002356287330000033
vector quantity;
and obtaining an LED street lamp state model according to the expression of the equivalent RCL circuit:
Figure FDA0002356287330000034
comprises the following steps:
two sides of the expression of the equivalent RCL circuit are derived for t:
Figure FDA0002356287330000035
let x1＝i(t),x2I' (t), then:
Figure FDA0002356287330000036
selecting
Figure FDA0002356287330000037
The vector is taken as a state quantity, and the state model is expressed as:
Figure FDA0002356287330000038
simplifying the model to obtain an LED street lamp state model:
Figure FDA0002356287330000039
wherein the expression of the disturbance observer is:
Figure FDA00023562873300000310
wherein the differential equation of the variable z is:
Figure FDA00023562873300000311
interference observation
Figure FDA00023562873300000312
The calculation formula is as follows:
Figure FDA00023562873300000313
l is a gain matrix, and L is a gain matrix,
Figure FDA00023562873300000314
is an input to the disturbance observer;
the control quantity output module specifically executes the following steps:
using disturbance observer output values
Figure FDA0002356287330000041
Feedback to dimming control u0And obtaining a compensated system control vector u:
Figure FDA0002356287330000042
wherein the content of the first and second substances,
Figure FDA0002356287330000043
uip · (Δ y) + D · (Δ (Δ y)) is the output of the light intensity PD controller, Δ y is the deviation of the measured light intensity from the target light intensity;
new control quantity u2：
Figure FDA0002356287330000044
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