CN110149056A - Ultrasonic power output signal frequency tracking system based on fuzzy PI hybrid control technology - Google Patents
Ultrasonic power output signal frequency tracking system based on fuzzy PI hybrid control technology Download PDFInfo
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- CN110149056A CN110149056A CN201910446806.6A CN201910446806A CN110149056A CN 110149056 A CN110149056 A CN 110149056A CN 201910446806 A CN201910446806 A CN 201910446806A CN 110149056 A CN110149056 A CN 110149056A
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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
- H02M5/00—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases
- H02M5/40—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc
- H02M5/42—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters
- H02M5/44—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac
- H02M5/453—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal
- H02M5/458—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M5/4585—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only having a rectifier with controlled elements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
- Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes
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Abstract
The ultrasonic power output signal frequency tracking system based on fuzzy PI hybrid control technology that the invention discloses a kind of, it is made of hardware circuit and software program two parts, hardware circuit includes: the voltage and current sample circuit being connected in turn, bandwidth-limited circuit, phase discriminator (the phase difference of collection voltages and electric current, realize digital phase-locked loop), STM32 chip and IGBT drive circuit and the display screen to link together with STM32 chip, fuzzy PI hybrid control technology is realized in form of software programs, software program is executed by STM32 chip, primary control program includes: system initialization routine, display screen program, phase information captures program and PWM frequency control output program (including: PWM output program and fuzzyPI program).Frequency-tracking system disclosed by the invention can be such that ultrasonic power output signal frequency changes as energy converter resonance frequency changes, and realize and automatically, accurately and quickly track to energy converter resonance frequency.
Description
Technical field
The present invention relates to a kind of ultrasonic power output signal frequency tracking systems, and in particular to one kind is based on fuzzy PI control
The ultrasonic power output signal frequency tracking system of technology processed, belongs to electroporation field.
Background technique
Ultrasonic power is commonly referred to as ultrasonic wave generating source, supersonic generator, its effect be convert electrical current into
The high-frequency ac electric signal that ultrasonic transducer (hereinafter referred to as energy converter) matches.
Important products one of of the ultrasonic power as ultrasonic technique, in fields such as cleaning, medical treatment, welding using extremely
Extensively.With the fast development of ultrasonic technique, requirement of the people to performances such as the efficiency, precision, service life of ultrasonic power is also got over
Come higher.In order to improve the working efficiency of ultrasonic power, the signal frequency of inverter output should be with energy converter resonance frequency one
It causes.But for industrial ultrasonic power supply, energy converter generate heat at work obvious, load variation range it is big and
Energy converter mechanical loss is also extremely serious due to working environment, these resonant frequency drifts that all energy converter can be caused intrinsic
It moves, in order to greatly improve the production efficiency and service life of ultrasonic power supply, ultrasonic power supply will have essence
Function that is quasi-, fast and automatically tracking energy converter resonance frequency.
Traditional ultrasonic power output signal frequency tracking system mostly uses analog phase-locked look formula, but this kind of mode frequency
Following range is narrow, low-response, control is not flexible and can not realize tracking to the energy converter of different frequency characteristic.
Automatic frequency tracking is realized currently, either still controlling by current maxima by phase difference, is all adopted mostly
With traditional PI algorithm, but the influence factor of energy converter resonance frequency drift is numerous, and offset is difficult with accurate mathematical modulo
Type indicates, so, classical control theory method is not able to satisfy the demand of frequency-tracking correction high precision and fast response.
Summary of the invention
To solve the deficiencies in the prior art, the purpose of the present invention is to provide one kind can make ultrasonic power output signal frequency
Rate changes as energy converter resonance frequency changes, and realizes ultrasound that is automatic to energy converter resonance frequency, accurately and quickly tracking
Wave power output signal frequency-tracking system.
In order to achieve the above objectives, the present invention adopts the following technical scheme that:
A kind of ultrasonic power output signal frequency tracking system based on fuzzy PI hybrid control technology, which is characterized in that should
Tracking system is made of hardware circuit and software program two parts, and fuzzy PI hybrid control technology is realized in form of software programs,
In:
Hardware circuit includes: voltage and current sample circuit, bandwidth-limited circuit, phase discriminator, STM32 chip, IGBT drive
Dynamic circuit and display screen, wherein phase discriminator is for the phase difference of collection voltages and electric current, realizes digital phase-locked loop, electricity
Current voltage sample circuit, bandwidth-limited circuit, phase discriminator, STM32 chip and IGBT drive circuit pass sequentially through signal wire company
It is connected together, display screen is linked together by other signal wire and STM32 chip；
Software program is executed by STM32 chip, and the primary control program of STM32 chip includes: system initialization routine, display screen
Program, phase information capture program and PWM frequency control output program, and it includes: PWM that PWM frequency controls output program again
Output program and fuzzyPI program, in which:
In phase information capture program, directional information flag is sent directly into STM32 chip, acquires through STM32 chip
" 1 " and " 0 " two states are exported after processing, the former is voltage-phase leading current, and the latter is voltage-phase lagging current, numerical value
Information Δ θ is present in square-wave signal, needs to obtain and the duty ratio to square-wave signal measures, first sets program
It is set to rising edge triggering, after entering interruption, the time interval between a (t+1) moment and interruption a (t) moment last time is
Then program setting is failing edge by square-wave cycle T1, into after interruption, the difference at b (t+1) moment and rising edge a (t) moment
As high level time T2, high level time T2 are the duty ratio of square-wave signal divided by square-wave cycle T1, which is transmitted to
PWM frequency controls output program processing, can indicate the size of the absolute value of Δ θ after treatment；
In fuzzyPI program, acquisition phase difference θ first and the change rate e (θ) for calculating phase difference are then right
Phase difference and phase change rate carry out Fuzzy processing, then fuzzy tuning goes out the changing value of two parameters of Kp and Ki, then counts
New Kp and Ki are calculated and exported, finally output signal frequency parameter is adjusted.
Ultrasonic power output signal frequency tracking system above-mentioned based on fuzzy PI hybrid control technology, which is characterized in that
Aforesaid voltage current sampling circuit is adopted by Hall voltage sensor P1, Hall current sensor P2, voltage detection resistances R2, electric current
Sample resistance R1 and voltage sample resistance R3 composition, in which:
Connect after the 1 pin serial connection voltage detection resistances R2 of Hall voltage sensor P1 with the side of energy converter, 3 pins with
The other side of energy converter connects, i.e. Hall voltage sensor P1 is by 1 pin and 3 pins in parallel in the two sides of energy converter, 2 pins
It is connected with power supply, 4 pins are grounded after connecting with voltage sample resistance R3, are drawn and are adopted between sampling resistor R3 and 4 pins
The output of sample voltage；
Hall current sensor P2 passes through 1 pin and 3 pin serial connections between energy converter and matching network, 2 pins and confession
Power supply is connected, and 4 pins are grounded after connecting with current sampling resistor R1, and sampling electricity is drawn between sampling resistor R1 and 4 pins
The output of stream.
Ultrasonic power output signal frequency tracking system above-mentioned based on fuzzy PI hybrid control technology, which is characterized in that
Aforementioned bandwidth-limited circuit is made of two amplifier LF444 and two RC filter networks, in which:
The amplifier LF444 of front is high-pass filter, and subsequent amplifier LF444 is low-pass filter, and band-pass gain is set as
1；
Value by the way that RC filter network is arranged is that can determine the bound frequency of the bandwidth-limited circuit.
Ultrasonic power output signal frequency tracking system above-mentioned based on fuzzy PI hybrid control technology, which is characterized in that
Aforementioned phase discriminator is made of circuit protection unit, phase discriminator, trigger 74LS74 and XOR gate 74LS86, in which:
Circuit protection unit is made of adjustable resistance RL1, protects phase discriminator by adjusting the amplitude of input signal；
Phase discriminator by follower LF353, zero-crossing comparator LM339 and zero-crossing comparator LM339 peripheral circuit three parts
Composition, wherein follower LF353 is for improving driving and anti-interference ability, and zero-crossing comparator LM339 is for exporting height
Low level simultaneously forms amplitude as 3.3V square-wave signal, first passes through follower by the voltage and current signal that circuit protection unit exports
LF353 enters back into zero-crossing comparator LM339；
The end D and the end CLK of trigger 74LS74 connects the current signal and voltage signal of phase discriminator output, voltage and current respectively
Signal generates after passing through trigger 74LS74 with dephased directional information flag, and voltage is advanced, then electric current is high level, instead
Electric current be low level, direction information flag inputs to STM32 chip processing；
Two input terminals of XOR gate 74LS86 connect the current signal and voltage signal of phase discriminator output, voltage and current respectively
Signal passes through the square-wave signal phase of one same frequency of formation after XOR gate 74LS86, and duty ratio indicates that phase difference θ's is exhausted
To the size of value, square-wave signal phase inputs to STM32 chip processing.
Ultrasonic power output signal frequency tracking system above-mentioned based on fuzzy PI hybrid control technology, which is characterized in that
Aforementioned IGBT drive circuit is made of EXB841 driving chip and its peripheral circuit, and peripheral circuit is again by triode Q1, optical coupling
Device U2, resistance R1, resistance R2, resistance R3, capacitor C1, capacitor C2, diode D1, diode D2, driving resistance RG1 and driving electricity
Hinder RG2 composition, in which:
The base stage of triode Q1 connects the output end of STM32 chip, and collector connects 14 pins of EXB841 driving chip, transmitting
Pole connects 3 pins of photo-coupler U2；
Another termination 20V power supply of 1 pin the connecting resistance R3, resistance R4 of photo-coupler U2,2 pins connect EXB841 driving core
5 pins of piece, 3 pins ground connection, another termination+5V power supply of 4 pin connecting resistance R2, resistance R2；
15 pins of a termination EXB841 driving chip of resistance R1, another termination 20V power supply；
The anode and cathode of capacitor C1 connect 2 pins and 9 pins of EXB841 driving chip respectively, and capacitor C2's is positive and negative
Pole connects 1 pin and 9 pins of EXB841 driving chip respectively；
The anode and cathode of diode D1 connects 6 pins of EXB841 driving chip and the collector of IGBT switch respectively；
Driving resistance RG1 is in parallel with driving resistance RG2 again after connecting with diode D2, a termination of the parallel circuit
The grid of 3 pins of EXB841 driving chip, another termination IGBT switch, the emitter of IGBT switch connect EXB841 driving chip
1 pin.
Ultrasonic power output signal frequency tracking system above-mentioned based on fuzzy PI hybrid control technology, which is characterized in that
In PWM output program, the PWM wave of four tunnels complementation, in order to prevent inversion are generated using the advanced timer TIM1 of STM32 chip
Two bridge arm direct pass above and below circuit, are arranged certain dead time.
The invention has the beneficial effects that:
(1) fuzzy PI hybrid control technology is a kind of intelligent, advanced control technology, ultrasonic power output provided by the invention
Signal frequency tracking system is based on fuzzy PI hybrid control technology, so it can make ultrasonic power output signal frequency with changing
Energy device resonance frequency changes and changes, and realizes the automatic, tracking accurately and quickly to energy converter resonance frequency；
(2) ultrasonic power output signal frequency tracking system provided by the invention is using STM32 chip as master control core
Piece constructs a kind of digital servo-control ring type frequency-tracking strategy based on fuzzy PI hybrid control technology, can satisfy different applications
Environment, the energy converter that resonance frequency can be driven different.
Detailed description of the invention
Fig. 1 is the composed structure frame of the hardware circuit of ultrasonic power output signal frequency tracking system provided by the invention
Figure；
Fig. 2 is the circuit diagram of voltage and current sample circuit；
Fig. 3 is the circuit diagram of bandwidth-limited circuit；
Fig. 4 is the circuit diagram of phase discriminator；
Fig. 5 is the circuit diagram of IGBT drive circuit；
Fig. 6 is that primary control program constitutes schematic diagram；
Fig. 7 is the flow chart of the numerical information capture program of phase difference；
Fig. 8 is the waveform diagram of the PWM wave of two bridge arms up and down of STM32 chip output；
Fig. 9 is the basic schematic diagram of fuzzy PI hybrid control；
Figure 10 is the flow chart of fuzzyPI program；
Figure 11 is the ultrasonic power output signal frequency tracking system provided by the invention based on fuzzy PI hybrid control technology
Work flow diagram；
Figure 12 is the change curve for the frequency that emulation experiment obtains；
Figure 13 is the change curve for the phase difference that emulation experiment obtains.
Specific embodiment
Specific introduce is made to the present invention below in conjunction with the drawings and specific embodiments.
Ultrasonic power output signal frequency tracking system (following letter provided by the invention based on fuzzy PI hybrid control technology
Claim tracking system) be made of hardware circuit and software program two parts, wherein fuzzy PI hybrid control technology (i.e. fuzzyPI) with
The form of software program is realized.
Working principle: ultrasonic power works in detuning state, and flowing through the voltage and current at energy converter both ends, there are one
Fixed phase difference, and when ultrasonic power work is in resonant state, the voltage and current phase difference for flowing through energy converter both ends is
Zero, show that the signal frequency of inverter output is consistent with energy converter resonance frequency, this is the substantially former of PLL frequency-tracking
Reason, it is not perfect sine wave that ultrasonic power, which is exported in actual operation to the voltage and current waveform at energy converter both ends,
And realize that frequency-tracking then avoids the high quality requirement to voltage and current by the control to phase difference.
We respectively describe to the hardware circuit and software program that form tracking system of the invention in detail below.
First part's content: hardware circuit
Referring to Fig.1, the hardware circuit of tracking system provided by the invention includes: voltage and current sample circuit, bandpass filtering
Circuit, phase discriminator, STM32 chip, IGBT drive circuit and display screen, in which:
(1) voltage and current sample circuit, bandwidth-limited circuit, phase discriminator, STM32 chip and IGBT drive circuit be successively
It is linked together by signal wire；
(2) display screen is linked together by other signal wire and STM32 chip.
Referring to Fig.1, the course of work of the hardware circuit is as follows:
Voltage and current sample circuit samples the voltage and current at energy converter both ends respectively, and bandwidth-limited circuit is to adopting
Voltage and current after sample is filtered and (improves), and the voltage and current signals after conditioning become after phase discriminator to be had
The signal of phase information, the signal that should have phase information are transmitted to STM32 chip, STM32 chip by capturing input terminal
Data processing is carried out to the signal with phase information, the variable PWM of output frequency makes inversion to IGBT drive circuit later
Device changes as energy converter and the resonance frequency of load change, thus realize ultrasonic power output signal frequency it is automatic with
Track keeps ultrasonic power in optimal working condition always.
We are respectively described in detail each circuit for forming the hardware circuit below.
1, voltage and current sample circuit
Voltage and current sample circuit is sampled for the voltage and current to energy converter both ends.
Referring to Fig. 2, voltage and current sample circuit is by Hall voltage sensor P1, Hall current sensor P2, voltage detecting
Resistance R2, current sampling resistor R1 and voltage sample resistance R3 composition, in which:
Connect after the 1 pin serial connection voltage detection resistances R2 of Hall voltage sensor P1 with the side of energy converter, 3 pins with
The other side of energy converter connects, i.e. Hall voltage sensor P1 is by 1 pin and 3 pins in parallel in the two sides of energy converter, 2 pins
It is connected with power supply, 4 pins are grounded after connecting with voltage sample resistance R3, are drawn and are adopted between sampling resistor R3 and 4 pins
The output (U-out) of sample voltage；
Hall current sensor P2 passes through 1 pin and 3 pin serial connections between energy converter and matching network, 2 pins and confession
Power supply is connected, and 4 pins are grounded after connecting with current sampling resistor R1, and sampling electricity is drawn between sampling resistor R1 and 4 pins
The output (I-out) of stream.
Due to energy converter at work both ends be high-frequency ac voltage and current, in order to guarantee acquisition voltage and current
Undistorted, we are using Hall voltage sensor P1 and Hall current sensor P2 respectively to the voltage and current at energy converter both ends
It is sampled.
Hall voltage sensor P1 and Hall current sensor P2 concrete model by energy converter both ends voltage and current width
Depending on value.
2, bandwidth-limited circuit
The signal of ultrasonic power meeting many various frequencies of iteration in practical work process is (i.e. dry with other frequency ranges
Disturb wave), bandwidth-limited circuit is for being filtered and (improving) to the voltage and current after sampling.
Referring to Fig. 3, bandwidth-limited circuit is made of two amplifier LF444 and two RC filter networks, wherein the fortune of front
Putting LF444 is high-pass filter, and subsequent amplifier LF444 is low-pass filter, and band-pass gain is set as 1.It is filtered by setting RC
The value of network is that can determine the bound frequency of the bandwidth-limited circuit.
3, phase discriminator
Phase discriminator is the phase difference for collection voltages and electric current, realizes digital phase-locked loop.
Tracking system provided by the invention, control object is phase difference, so the acquisition of phase difference is particularly important, phase demodulation
Circuit is the core of the hardware circuit of the tracking system.
Referring to Fig. 4, phase discriminator is made of circuit protection unit, phase discriminator, trigger 74LS74 and XOR gate 74LS86,
Wherein:
(1) circuit protection unit is made of adjustable resistance RL1, protects phase discriminator by adjusting the amplitude of input signal；
(2) phase discriminator is by peripheral circuit three of follower LF353, zero-crossing comparator LM339 and zero-crossing comparator LM339
It is grouped as, wherein follower LF353 is for improving driving and anti-interference ability, and zero-crossing comparator LM339 is for exporting
Low and high level (signal is greater than zero, exports high level, otherwise exports low level) simultaneously forms amplitude for 3.3V square-wave signal, by electricity
The voltage and current signal of road protection location output first passes through follower LF353, enters back into zero-crossing comparator LM339；
(3) end D and the end CLK of trigger 74LS74 connects the current signal and voltage signal of phase discriminator output, voltage respectively
Current signal generates after passing through trigger 74LS74 with dephased directional information flag, and voltage is advanced, then electric current is high electricity
It is flat, on the contrary electric current is low level, and direction information flag inputs to STM32 chip processing；
(4) two input terminals of XOR gate 74LS86 connect the current signal and voltage signal of phase discriminator output, voltage respectively
Current signal passes through the square-wave signal phase of one same frequency of formation after XOR gate 74LS86, and duty ratio indicates phase difference θ
Absolute value size, square-wave signal phase inputs to STM32 chip processing.
Phase discriminator uses digital phase-locked loop, solves the narrow disadvantage of traditional analog phase-locked loop frequency following range, can be real
The tracking of energy converters now different to various resonance frequencies.
4, STM32 chip
STM32 chip is the main control chip of tracking system provided by the invention, is for acquisition phase difference signal, processing mould
PI algorithm is pasted, PWM drive signal is generated and drives display screen.
The primary control program of STM32 chip will be discussed in detail in the second part.
5, IGBT drive circuit
The PWM drive signal of STM32 chip output can not be used directly to driving IGBT switch, need through overdrive circuit
It is changed into suitable driving signal (square wave with positive and negative bias voltage signal), IGBT drive circuit is for STM32 chip is defeated
PWM drive signal out is changed into suitable driving signal.
Referring to Fig. 5, IGBT drive circuit is made of EXB841 driving chip and its peripheral circuit, in which:
(1) EXB841 driving chip highest driving frequency is up to 40-50kHz, and fast response time, can be by controlling it
Grid resistance reduces drive loss, improves working efficiency, in addition, current foldback circuit is carried inside EXB841 driving chip,
Periphery circuit design can be reduced in this way；
(2) peripheral circuit by triode Q1, photo-coupler U2, resistance R1, resistance R2, resistance R3, capacitor C1, capacitor C2,
Diode D1, diode D2, driving resistance RG1 and driving resistance RG2 composition, in which:
(a) base stage of triode Q1 connects the output end of STM32 chip, and collector connects 14 pins of EXB841 driving chip,
Emitter connects 3 pins of photo-coupler U2；
(b) another termination 20V power supply of 1 pin the connecting resistance R3, resistance R4 of photo-coupler U2,2 pins connect EXB841 drive
5 pins of dynamic chip, 3 pins ground connection, another termination+5V power supply of 4 pin connecting resistance R2, resistance R2；
(c) 15 pins of a termination EXB841 driving chip of resistance R1, another termination 20V power supply；
(d) anode of capacitor C1 and cathode connect 2 pins and 9 pins of EXB841 driving chip respectively, i.e. capacitor C1 is in parallel
Between 2 pins and 9 pins of EXB841 driving chip, play a filtering role；
(e) anode of capacitor C2 and cathode connect 1 pin and 9 pins of EXB841 driving chip respectively, i.e. capacitor C1 is in parallel
Between 1 pin and 9 pins of EXB841 driving chip, also play a filtering role；
(f) anode of diode D1 and cathode connect 6 pins of EXB841 driving chip and the collector of IGBT switch respectively；
(g) driving resistance RG1 is in parallel with driving resistance RG2 again after connecting with diode D2, a termination of the parallel circuit
The grid of 3 pins of EXB841 driving chip, another termination IGBT switch, the emitter of IGBT switch connect EXB841 driving chip
1 pin, when 3 pins of EXB841 driving chip export positive voltage, driving resistance RG1 is in parallel with driving resistance RG2 always electric
Resistance is reduced, and switching loss also reduces therewith, when 3 pins of EXB841 driving chip export negative voltage, driving resistance RG1 due to
The presence of diode D2 will not work, and only driving resistance RG2 work, total resistance value increase, and back bias voltage increases, such IGBT switch
It will not mislead because grid resistance is too small when shutdown.
6, display screen
Display screen is for showing present operating frequency and ultrasonic power other working indexs.
The second part: software program
Fuzzy PI hybrid control technology (i.e. fuzzyPI) is realized in form of software programs, by STM32 chip (master control core
Piece) it executes.
Referring to Fig. 6, the primary control program of STM32 chip (main control chip) include: system initialization routine, display screen program,
Phase information captures program and PWM frequency controls output program.
1, system initialization routine
Each program function is initialized, subsequently into System self-test state, if System self-test does not pass through, is then returned
It returns upper level again to initialize program function, self-test again, if System self-test passes through, bring into operation each sub- journey
Sequence, until the end of the program.
2, display screen program
It is shown including frequency setting, frequency and the display of other operating state datas of ultrasonic power detects program.
3, phase information captures program
Phase information includes: the directional information flag of phase difference and the numerical information Δ θ of phase difference, in which:
(1) directional information flag is sent directly into STM32 chip, and " 1 " and " 0 " two are exported after STM32 chip acquisition process
Kind state, the former is voltage-phase leading current, and the latter is voltage-phase lagging current；
(2) numerical information Δ θ is present in square-wave signal, needs to obtain and the duty ratio to square-wave signal measures
, it is first rising edge triggering by program setting referring to Fig. 7, after entering interruption, a (t+1) moment and last time interrupt a (t)
Time interval between moment is square-wave cycle T1, is then failing edge by program setting, into after interruption, when b (t+1)
It carves and the difference at rising edge a (t) moment is high level time T2, high level time T2 is square-wave signal divided by square-wave cycle T1
Duty ratio (i.e. T2/T1), the duty ratio be transmitted to PWM frequency control output program processing, can indicate Δ θ's after treatment
The size of absolute value.
4, PWM frequency controls output program
It includes: PWM output program and fuzzyPI program that PWM frequency, which controls output program,.
(1) PWM output program
The PWM wave that the complementation of four tunnels is generated using the advanced timer TIM1 of STM32 chip, in order to prevent above and below inverter circuit
Certain dead time is arranged in two bridge arm direct pass.The PWM wave of two bridge arms up and down of STM32 chip output is shown in Fig. 8.
(2) fuzzyPI program
Tracking system provided by the invention is based on fuzzy PI hybrid control technology, and fuzzy PI hybrid control technology exactly controls PI
It is combined with fuzzy control, PI parameter is constantly modified and adjusted, it in this way can be to avoid parameter setting to control process and control
The influence of result processed gives full play to the advantage of both algorithms.
The basic principle of fuzzy PI hybrid control technology is shown in Fig. 9.E and ec is error and error rate respectively in figure, while
It is two inputs of tracking system, it is for adjusting Kp and Ki, Ke respectively that Δ Kp and Δ Ki, which are two outputs of tracking system,
It is the proportionality coefficient of tracking system error and error rate respectively with Kec.
Since STM32 chip uses fuzzyPI, so to design suitable Fuzzy PI Controller in conjunction with tracking system.
Energy converter both end voltage current and phase difference Δ θ is the error originated from input of Fuzzy PI Controller, changes model according to real Δ θ
It encloses and determines that its basic domain is [- 90 °, 90 °], blurring domain is [- 6,6], then quantizing factor KΔθ=6/90=0.067；It is defeated
The basic domain for entering error rate e θ is [- 3,3], and blurring domain is [- 6,6], quantizing factor Keθ=2；Export ratio system
The basic domain of number correction amount Kp is [- 0.6,0.6], and obscuring domain is [- 3,3], quantizing factor Gp=0.2；Output integral
The basic domain of coefficient correction amount Ki is [- 600,600], and obscuring domain is [- 6,6], quantizing factor Gi=100.
Linguistic variable chooses 7 Linguistic Values: negative big [NB], it is negative in [NM], bear small [NS], zero [ZO], just small [PS], center
It is [PM] and honest [PB].Choose Triangleshape grade of membership function.
The design of fuzzy control rule is the core of Fuzzy PI Controller, in conjunction with Kp and Ki value size to tracking system
Influence establishes Δ Kp and Δ Ki fuzzy control rule table respectively.
According to the fuzzy control rule table and subordinating degree function value built up, finds Fuzzy PI Controller output P and I two are repaired
Positive parameter fuzzy output valve, and calculate the value of Kp and Ki.
Referring to Fig.1 0, fuzzyPI program is specific as follows:
It obtains phase difference θ first and calculates the change rate e (θ) of phase difference, then phase difference and phase difference are changed
Rate carries out Fuzzy processing, then fuzzy tuning goes out the changing value (i.e. fuzzy tuning goes out Δ Kp and Δ Ki) of two parameters of Kp and Ki,
Then new Kp and Ki are calculated and exported, finally output signal frequency parameter is adjusted.
Referring to Fig.1 and Figure 11, the ultrasonic power output signal frequency provided by the invention based on fuzzy PI hybrid control technology
The workflow of tracking system is as follows:
According to the original frequency of the parameter setting PWM wave of energy converter, STM32 chip enables PWM output program and generates four tunnels
The complementary and PWM wave with dead time generates driving signal and gives single-phase full bridge inversion to IGBT drive circuit, IGBT drive circuit
Circuit, the single-phase full bridge inverter circuit start to work generate high-frequency inversion signal, high-frequency inversion signal through high frequency transformer and
Energy converter is given after distribution network conversion, energy converter starts to vibrate work at this time.Since given original frequency is not that energy converter is fixed
Resonance frequency, energy converter both end voltage electric current generate phase difference, through voltage and current Acquisition Circuit, bandwidth-limited circuit and mirror
Circuitry phase, which is acquired, captures input terminal to STM32 chip.STM32 chip first passes through the directional information flag determination frequency of phase difference
Then change direction carries out Fuzzy processing by numerical information Δ θ of the fuzzyPI program to phase difference, modifies later
PWM wave original frequency repeats the above process, and STM32 chip output PWM frequency is made to keep one with energy converter resonance frequency always
It causes, to reach automatically tracking for ultrasonic power output signal frequency, ultrasonic power is made to be in optimal work shape always
State.
In fuzzyPI program, PI is controlled and is combined with fuzzy control by we, PI parameter is constantly modified with
Adjustment, efficiently avoids influence of the parameter setting to control process and control result, has given full play to the excellent of both algorithms
Gesture.
Part III content: emulation experiment
We have carried out impedance analysis to the energy converter that laboratory has 40kHz, obtain its parameter and are as follows:
| C0(nF) | Cm(nF) | Lm(mH) | R1(Ω) | fs(Hz) |
| 3.073 | 0.5553 | 27.59 | 7.06 | 40652 |
We have built ultrasonic power output signal frequency Tracking System Simulation model, and the parameter of energy converter is substituted into
In the simulation model, traditional PI algorithm routine (i.e. conventional PI control) and fuzzyPI program (i.e. fuzzy PI hybrid control) are used respectively
Automatically tracking for output signal frequency is carried out, the change curve of obtained frequency is shown in Figure 12, the change curve of obtained phase difference
See Figure 13.
By frequency and phase difference change curve:
(1) either conventional PI control or fuzzy PI hybrid control, have finally all traced near energy converter resonant frequency point,
Energy converter both end voltage current and phase difference is attributed to zero；
(2) the frequency-tracking curve of fuzzy PI hybrid control is shorter compared to the response time of conventional PI control；
(3) after the tracking for realizing frequency, energy converter both end voltage current and phase difference is still shaken in zero point small range, this
Itself adjustment process of tracking system provided by the invention is reacted.
Simulation results show: it is provided by the invention based on the ultrasonic power output signal frequency of fuzzy PI hybrid control technology with
Track system can be such that ultrasonic power output signal frequency changes as energy converter resonance frequency changes, and may be implemented to energy converter
Resonance frequency is automatic, accurately and quickly tracks, and thereby may be ensured that ultrasonic power supply efficiently, is steadily run.
It should be noted that the above embodiments do not limit the invention in any form, it is all to use equivalent replacement or equivalent change
The mode changed technical solution obtained, falls within the scope of protection of the present invention.
Claims (6)
1. a kind of ultrasonic power output signal frequency tracking system based on fuzzy PI hybrid control technology, which is characterized in that should be with
Track system is made of hardware circuit and software program two parts, and fuzzy PI hybrid control technology is realized in form of software programs, in which:
Hardware circuit includes: voltage and current sample circuit, bandwidth-limited circuit, phase discriminator, STM32 chip, IGBT driving electricity
Road and display screen, wherein phase discriminator is for the phase difference of collection voltages and electric current, realizes digital phase-locked loop, voltage electricity
Stream sample circuit, bandwidth-limited circuit, phase discriminator, STM32 chip and IGBT drive circuit pass sequentially through signal wire and are connected to
Together, display screen is linked together by other signal wire and STM32 chip；
Software program is executed by STM32 chip, and the primary control program of STM32 chip includes: system initialization routine, display screen journey
Sequence, phase information capture program and PWM frequency control output program, and it includes: PWM defeated that PWM frequency controls output program again
Program and fuzzyPI program out, in which:
In phase information capture program, directional information flag is sent directly into STM32 chip, through STM32 chip acquisition process
" 1 " and " 0 " two states are exported afterwards, the former is voltage-phase leading current, and the latter is voltage-phase lagging current, numerical information
Δ θ is present in square-wave signal, needs to obtain and the duty ratio to square-wave signal measures, is by program setting first
Rising edge triggering, after entering interruption, the time interval between a (t+1) moment and interruption a (t) moment last time is square wave
Then program setting is failing edge by cycle T 1, into after interruption, the difference at b (t+1) moment and rising edge a (t) moment is
High level time T2, high level time T2 are the duty ratio of square-wave signal divided by square-wave cycle T1, which is transmitted to PWM frequency
Rate controls output program processing, can indicate the size of the absolute value of Δ θ after treatment；
In fuzzyPI program, acquisition phase difference θ first and the change rate e (θ) for calculating phase difference, then to phase
Difference and phase change rate carry out Fuzzy processing, then fuzzy tuning goes out the changing value of two parameters of Kp and Ki, then calculates simultaneously
New Kp and Ki are exported, finally output signal frequency parameter is adjusted.
2. the ultrasonic power output signal frequency tracking system according to claim 1 based on fuzzy PI hybrid control technology,
It is characterized in that, the voltage and current sample circuit is by Hall voltage sensor P1, Hall current sensor P2, voltage detecting electricity
Hinder R2, current sampling resistor R1 and voltage sample resistance R3 composition, in which:
It is connect after the 1 pin serial connection voltage detection resistances R2 of Hall voltage sensor P1 with the side of energy converter, 3 pins and transducing
The other side of device connects, i.e. Hall voltage sensor P1 is by 1 pin and 3 pins in parallel in the two sides of energy converter, 2 pins and confession
Power supply is connected, and 4 pins are grounded after connecting with voltage sample resistance R3, and sampling electricity is drawn between sampling resistor R3 and 4 pins
The output of pressure；
For Hall current sensor P2 through 1 pin and 3 pin serial connections between energy converter and matching network, 2 pins and power supply are electric
Source is connected, and 4 pins are grounded after connecting with current sampling resistor R1, and sample rate current is drawn between sampling resistor R1 and 4 pins
Output.
3. the ultrasonic power output signal frequency tracking system according to claim 1 based on fuzzy PI hybrid control technology,
It is characterized in that, the bandwidth-limited circuit is made of two amplifier LF444 and two RC filter networks, in which:
The amplifier LF444 of front is high-pass filter, and subsequent amplifier LF444 is low-pass filter, and band-pass gain is set as 1；
Value by the way that RC filter network is arranged is that can determine the bound frequency of the bandwidth-limited circuit.
4. the ultrasonic power output signal frequency tracking system according to claim 1 based on fuzzy PI hybrid control technology,
It is characterized in that, the phase discriminator is made of circuit protection unit, phase discriminator, trigger 74LS74 and XOR gate 74LS86,
Wherein:
Circuit protection unit is made of adjustable resistance RL1, protects phase discriminator by adjusting the amplitude of input signal；
Phase discriminator is made of the peripheral circuit three parts of follower LF353, zero-crossing comparator LM339 and zero-crossing comparator LM339,
Wherein, follower LF353 is for improving driving and anti-interference ability, and zero-crossing comparator LM339 is for exporting height electricity
Putting down and forming amplitude is 3.3V square-wave signal, first passes through follower by the voltage and current signal that circuit protection unit exports
LF353 enters back into zero-crossing comparator LM339；
The end D and the end CLK of trigger 74LS74 connects the current signal and voltage signal of phase discriminator output, voltage and current signal respectively
By generating after trigger 74LS74 with dephased directional information flag, voltage is advanced, then electric current is high level, otherwise electricity
Stream is low level, and direction information flag inputs to STM32 chip processing；
Two input terminals of XOR gate 74LS86 connect the current signal and voltage signal of phase discriminator output, voltage and current signal respectively
By forming the square-wave signal phase of a same frequency after XOR gate 74LS86, duty ratio indicates the absolute value of phase difference θ
Size, square-wave signal phase inputs to STM32 chip processing.
5. the ultrasonic power output signal frequency tracking system according to claim 1 based on fuzzy PI hybrid control technology,
It is characterized in that, the IGBT drive circuit is made of EXB841 driving chip and its peripheral circuit, peripheral circuit is again by three poles
Pipe Q1, photo-coupler U2, resistance R1, resistance R2, resistance R3, capacitor C1, capacitor C2, diode D1, diode D2, driving resistance
RG1 and driving resistance RG2 composition, in which:
The base stage of triode Q1 connects the output end of STM32 chip, and collector connects 14 pins of EXB841 driving chip, and emitter connects
3 pins of photo-coupler U2；
Another termination 20V power supply of 1 pin the connecting resistance R3, resistance R4 of photo-coupler U2,2 pins connect EXB841 driving chip
5 pins, 3 pins ground connection, another termination+5V power supply of 4 pin connecting resistance R2, resistance R2；
15 pins of a termination EXB841 driving chip of resistance R1, another termination 20V power supply；
The anode and cathode of capacitor C1 connect 2 pins and 9 pins of EXB841 driving chip, the anode and cathode point of capacitor C2 respectively
1 pin and 9 pins of EXB841 driving chip are not connect；
The anode and cathode of diode D1 connects 6 pins of EXB841 driving chip and the collector of IGBT switch respectively；
Driving resistance RG1 is in parallel with driving resistance RG2 again after connecting with diode D2, and a termination EXB841 of the parallel circuit drives
The emitter of the grid of 3 pins of dynamic chip, another termination IGBT switch, IGBT switch connects 1 pin of EXB841 driving chip.
6. the ultrasonic power output signal frequency tracking system according to claim 1 based on fuzzy PI hybrid control technology,
It is characterized in that, the PWM wave of four tunnels complementation is generated using the advanced timer TIM1 of STM32 chip in PWM output program,
Two bridge arm direct pass above and below inverter circuit in order to prevent, are arranged certain dead time.
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