CN112421965B - DC-DC power supply control method capable of avoiding system oscillation - Google Patents

DC-DC power supply control method capable of avoiding system oscillation Download PDF

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CN112421965B
CN112421965B CN202011315277.5A CN202011315277A CN112421965B CN 112421965 B CN112421965 B CN 112421965B CN 202011315277 A CN202011315277 A CN 202011315277A CN 112421965 B CN112421965 B CN 112421965B
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control
power supply
pid
deviation
frequency
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CN112421965A (en
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杨沛豪
柴琦
王小辉
寇水潮
高峰
黄鹏
王羚宇
贺婷
孙梦瑶
张立松
赵俊博
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Xian Thermal Power Research Institute Co Ltd
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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
    • H02M3/33569—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 having several active switching elements
    • 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
    • H02M1/00—Details of apparatus for conversion
    • H02M1/38—Means for preventing simultaneous conduction of switches
    • 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
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0003—Details of control, feedback or regulation circuits
    • H02M1/0006—Arrangements for supplying an adequate voltage to the control circuit of converters
    • 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
    • H02M1/00—Details of apparatus for conversion
    • H02M1/38—Means for preventing simultaneous conduction of switches
    • H02M1/385—Means for preventing simultaneous conduction of switches with means for correcting output voltage deviations introduced by the dead time

Abstract

The invention discloses a DC-DC power supply control method capable of avoiding system oscillation, which comprises the following steps: the establishment comprises the following steps: a proportional link, a differential link and an integral link of the PID control system of the high-frequency DC-DC power supply; when the deviation between the actual output of the controlled system and the reference instruction is small, the integral function of a PID algorithm of a frequency DC-DC power supply PID control system is cancelled, the conditions of PID control and PD control adopted by high-frequency DC-DC power supply control are set, and the high-frequency DC-DC power supply integral separation PID control system is obtained; introducing a dead zone in a high-frequency DC-DC power supply integration and separation PID control system; the obtained integral separation PID control algorithm with the dead zone is applied to a high-frequency DC-DC power supply control system, and the effect of avoiding system oscillation is achieved. The invention adopts an integral separation improved PID control algorithm to avoid high-frequency DC-DC power supply control of system oscillation.

Description

DC-DC power supply control method capable of avoiding system oscillation
Technical Field
The invention relates to a DC-DC power supply control method capable of avoiding system oscillation, in particular to a high-frequency DC-DC power supply control method capable of avoiding system oscillation by adopting an integral separation improved PID control algorithm.
Background
The traditional PID control has a good control effect on time-varying and nonlinear systems, and is particularly suitable for high-frequency power supply control systems. Although the PID control combined with the fuzzy control idea, namely the fuzzy PID control, can utilize fuzzy logic to set the PID parameters in real time, so that the PID parameters can be adjusted correspondingly according to errors and error change rates to adapt to different requirements of the system on the control parameters, the method has better control effect in the theoretical aspect, but in practice, because a controlled object model is not determined, the parameters after self-setting can not meet the actual requirements, and therefore, the method is rarely adopted in the actual system.
The purpose of adopting an integral link in the traditional PID controller can eliminate static errors in a control period, thereby improving the control precision. However, in the beginning of the system, there is a large deviation between the preset value of the controlled object and the actual output, and at this time, the integration link may cause the integration function of the PID controller to be accumulated, so that the controlled amount exceeds the error allowable range of the controlled object, causing a large overshoot, causing system oscillation, and finally causing system instability.
Disclosure of Invention
The invention aims to provide a DC-DC power supply control method for avoiding system oscillation, which adopts an integral separation improved PID control algorithm to avoid high-frequency DC-DC power supply control of the system oscillation. Dead zones are introduced in the improved PID controller of integral separation, and the service life of the controlled object is prolonged.
The invention is realized by adopting the following technical scheme:
a DC-DC power supply control method capable of avoiding system oscillation comprises the following steps:
1) the establishment comprises the following steps: a proportional link, a differential link and an integral link of the PID control system of the high-frequency DC-DC power supply;
2) when the deviation between the actual output of the controlled system and the reference instruction is large, the integral function of the PID algorithm of the high-frequency DC-DC power supply PID control system in the step 1) is cancelled, the conditions of PID control and PD control adopted by the high-frequency DC-DC power supply control are set, and the high-frequency DC-DC power supply integral separation PID control system is obtained;
3) in order to prolong the service life of a controlled object, the output of a PID controller in a set range is required to be kept unchanged, and a dead zone is introduced into a high-frequency DC-DC power supply integration and separation PID control system in the step 2);
4) the integral separation PID control algorithm with the dead zone obtained in the step 3) is applied to a high-frequency DC-DC power supply control system, and the effect of avoiding system oscillation is achieved.
The further improvement of the invention is that the specific implementation method of the step 1) is as follows: the PID control strategy comprises a PID controller and a controlled object, the deviation between the actual output of the controlled object and a reference instruction is used as the input of PID control, and the PID control obtains a corresponding control rate u (t) according to a control algorithm, wherein the control rate u (t) is as follows:
Figure GDA0003416802670000021
wherein: kPIs a proportionality coefficient; t isIIs an integration time constant; t isDIs a differential time constant; writing the control rate u (t) in the form of a difference equation:
Figure GDA0003416802670000022
wherein: t is sampling period, k is sampling number, e (k-1) and e (k) are deviation signals obtained by sampling at the (k-1) th time and the k (k) th time respectively, and then the (k-1) th time outputs:
Figure GDA0003416802670000023
the incremental PID algorithm equation is obtained as follows: Δ u (K) ═ KPΔe(k)+KIe(k)+KD[Δe(k)-Δe(k-1)](ii) a Wherein: kI＝KPT/TI、KD＝KPTD/T、Δe(k)＝e(k)-e(k-1)。
The invention has the further improvement that the proportion link reflects the deviation of the actual output of the controlled object and the reference instruction in proportion, and the proportion controller reacts to the deviation instantly as long as the deviation is generated, so that the controlled object moves to the position of the reference instruction; increasing the scale factor, and increasing the speed of the controlled object moving to the reference instruction position; on the contrary, the proportional coefficient is reduced, the movement speed is slowed down, and the adjustment time of the system is increased.
The invention is further improved in that the differential element influences the variation trend of the displacement deviation of the controlled object when the controlled object is subjected to the variation trendWhen the control object moves towards a certain direction, the change direction of the controlled object is predicted in advance, and the overshoot is reduced; differential coefficient KD＝KPTDThe damping ratio of a controlled object control system is influenced, the damping ratio is too small, the oscillation is intensified when the floating stage is interfered, and the relative stability of the system is deteriorated; increasing the damping means increasing the differential coefficient, which is selected such that the damping ratio is between 0.5 and 1, which is too large and results in a too long system settling time and the differential action amplifies the disturbances in the feedback signal.
The invention has the further improvement that the integration link takes the accumulation of the displacement deviation of the controlled object as output, and is used for eliminating the static error of the system and improving the zero-error degree of the system; integral coefficient KI＝KP/TIThe larger the displacement deviation, the smaller the system static difference, but at the same time, the system dynamic response becomes slower, and the integral saturation is easily caused when the displacement deviation is larger.
The further improvement of the invention is that the specific implementation method of the step 2) is as follows: the integral separation PID control algorithm is as follows: u (k) ═ ae (k) + g (k-1); wherein:
Figure GDA0003416802670000031
g(k-1)＝u(k-1)-Be(k-1)+Ce(k-2)、
Figure GDA0003416802670000032
when the deviation between the actual output of the controlled system and the reference instruction is large, the integral action of the PID algorithm of the high-frequency DC-DC power supply PID control system in the step 1) is cancelled, the PID control algorithm of integral separation is adopted to effectively ensure the control precision of the system, and the algorithm is written as follows: u (k) ═ a' e (k) — f (k-1); wherein:
Figure GDA0003416802670000033
f (k-1) ═ B 'e (k-1), B' ═ e (k-1); setting conditions of PID control and PD control adopted by high-frequency DC-DC power supply control, and when the conditions are met: de (t)/dt > 0 and e (t) > 0, de (t)/dt < 0 and e (t) < 0, adopting a PID control algorithm, and when the following conditions are met: de (t)/dt is less than 0, e (t) > 0, de (t)/dt is greater than 0, e (t) < 0, and the system adopts PD control to obtain the high-frequency DC-DC power supply integration and separation PID control system.
The further improvement of the invention is that the specific implementation method of the step 3) is as follows: in order to increase the service life of a controlled object, the output of a PID controller in a set range is required to be kept unchanged, and a dead zone is introduced into a high-frequency DC-DC power supply integration and separation PID control system in step 2): | e0| is dead zone parameter, when | e (k) | is less than or equal to | e |0When the current output is greater than the preset value, | the regulated output of the controller is kept unchanged from the last output; epsilon is an integral separation parameter, and epsilon is more than or equal to | e0L, |; when the deviation of the actual output from the reference command value is less than e0When the output quantity of the previous period is kept, namely | e (k) | ≦ e0|，u(k)＝u(k-1)。
The further improvement of the invention is that the specific implementation method of the step 4) is as follows: the integral separation PID control algorithm with the dead zone obtained in the step 3) is applied to a high-frequency DC-DC power supply control system, the control system is kept not to act to prolong the service life of the control system when the deviation between the set value and the detection value is less than a certain value, and integral is required to be ineffective when the deviation is more than a certain value, so that the control quantity calculated by a controller is prevented from exceeding the limit control of the possible maximum action range of the control system, and the system is prevented from being greatly overshot or even oscillating. Compared with the prior art, the invention has at least the following beneficial technical effects:
1. the invention provides a high-frequency DC-DC power supply control method which adopts an integral separation improved PID control algorithm and avoids system oscillation.
2. The invention introduces dead zone in the improved PID controller of integral separation, and increases the service life of the controlled object.
Drawings
FIG. 1 is a schematic diagram of a PID control system;
FIG. 2 is a flow chart of a scaling factor adjustment criterion;
FIG. 3 is a deviation curve;
FIG. 4 is a PID control strategy based on integral separation;
FIG. 5 is a simulation model of a high frequency power control system;
FIG. 6 is a graph of the control algorithm output versus waveform with 5% fluctuation in input;
FIG. 7 is a graph of the output comparison waveform of the control algorithm with 0.5% fluctuation in the input.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings.
As shown in FIG. 1, r (t) is a reference instruction; y (t) is the actual output; e (t) is the deviation value of the reference instruction and the actual output; u (t) is the corresponding control rate.
The traditional PID control strategy comprises a PID controller and a controlled object, wherein the deviation between the actual output of the controlled object and a reference instruction is used as the input of PID control, and the PID control obtains a corresponding control rate u (t) according to a control algorithm, wherein the control rate u (t) is as follows:
Figure GDA0003416802670000051
in formula (1): kPIs a proportionality coefficient; t isIIs an integration time constant; t isDIs the differential time constant.
Writing equation (1) in the form of a difference equation:
Figure GDA0003416802670000052
in formula (2): t is sampling period, k is sampling number, e (k-1) and e (k) are deviation signals obtained by sampling at the (k-1) th time and the k time respectively. Then, at (k-1) th time, the output can be expressed as:
Figure GDA0003416802670000053
the incremental PID algorithm equation can be obtained by the formula (2) and the formula (3):
Δu(k)＝KPΔe(k)+KIe(k)+KD[Δe(k)-Δe(k-1)] (4)
in formula (4): kI＝KPT/TI、KD＝KPTD/T、Δe(k)＝e(k)-e(k-1)。
And the proportional link is used for reflecting the deviation between the actual output of the controlled object and the reference instruction in proportion, and the proportional controller reacts to the deviation instantly as long as the deviation is generated, so that the controlled object moves to the position of the reference instruction. Increasing the scale factor, and increasing the speed of the controlled object moving to the reference instruction position; on the contrary, the proportional coefficient is reduced, the movement speed is slowed down, and the adjustment time of the system is increased. However, near the equilibrium position, if the scale factor is selected too large, the movement speed of the controlled object is too fast, resulting in a large overshoot, and possibly even making the system unstable.
The differential link influences the variation trend of the displacement deviation of the controlled object, and when the controlled object moves to a certain direction, the variation direction of the controlled object is predicted in advance, so that the overshoot is effectively reduced. Differential coefficient (K)D＝KPTD) The damping ratio of a controlled object control system is influenced, the damping ratio is too small, the oscillation is intensified when the floating stage is interfered, and the relative stability of the system is deteriorated. Increasing the damping means increasing the differential coefficient, too much damping will result in too long system settling time and the differential action will amplify the disturbance in the feedback signal and therefore not too much, and generally the appropriate differential coefficient is chosen to make the damping ratio between 0.5 and 1.
In the integration link, the accumulation of the displacement deviation of the controlled object is used as output, and the integration link is mainly used for eliminating the static error of the system and improving the zero-error degree of the system. Integral coefficient (K)I＝KP/TI) The larger the displacement deviation, the smaller the system static difference, but at the same time, the system dynamic response becomes slower, and the integral saturation is easily caused when the displacement deviation is larger.
As shown in fig. 2, when a disturbance occurs, both the deviation and the change rate of the deviation are large. When the product of the deviation and the deviation change rate is larger than 0, the output quantity deviates from the reference instruction, and at the moment, the proportionality coefficient K is increasedPEliminating the influence of disturbance on the system; when the product of the deviation and the deviation change rate is less than 0 and the deviation is smaller, the output quantity is close to the reference instruction, and at the moment, the regulator reduces the proportionality coefficient KPAnd overshoot oscillation is avoided as much as possible, the adjusting time is shortened, and the system stability is improved.
As shown in fig. 3, the integration in the classical PID control can eliminate the static error and improve the control accuracy of the PID controller. However, in the beginning stage, the deviation between the actual output value of the system and the reference instruction is large, and at this time, the integral in the PID operation is accumulated by the integral, so that the overshoot of the system is increased, and even oscillation is caused.
When the deviation between the actual output and the reference instruction is large, the integral action of the PID control algorithm is disabled, the overshoot is reduced, and the control performance is improved. During the two periods (a, b) and (b, c), overshoot occurs, and the conventional PID control reduces the system overshoot by increasing the negative number. However, since the interval (0, a) has a cumulative effect of the deviation, the integration of the intervals (a, b) and (b, c) needs to compensate for the effect of the interval (0, a) first, so that the transition time is extended; in the two sections of the intervals (c, d) and (d, e), the integration action moves the output quantity in the direction of the reference command. However, when the integration influence continues to increase in the sections (d, e), the system will overshoot again as a result.
In view of the defects of the traditional PID control algorithm, the PID control based on integral separation only adopts an integral link in the intervals (a, b), (c, d), (e, f) (g, h), thus not only effectively avoiding the overshoot of the system, but also improving the corresponding speed of the system, and the control algorithm can be written as follows:
u(k)＝Ae(k)+g(k-1) (5)
in formula (5):
Figure GDA0003416802670000071
g(k-1)＝u(k-1)-Be(k-1)+Ce(k-2)、
Figure GDA0003416802670000072
Figure GDA0003416802670000073
when the deviation between the actual output of the controlled system and the reference instruction is small, the integral action of the improved PID algorithm is cancelled, the PID control algorithm with integral separation can effectively ensure the control precision of the system, and the algorithm can be written as follows:
u(k)＝A'e(k)-f(k-1) (6)
in formula (6):
Figure GDA0003416802670000074
f(k-1)＝B'e(k-1)、B'＝e(k-1)。
when the following conditions are met, the system adopts PID control:
1. de (t)/dt > 0 and e (t) > 0;
2. de (t)/dt < 0 and e (t) < 0.
The system employs PD control when the following conditions are satisfied:
1. de (t)/dt < 0 and e (t) > 0;
2. de (t)/dt > 0 and e (t) < 0.
As shown in fig. 4, | e0| is dead zone parameter, when | e (k) | is less than or equal to | e |0When l, the adjusted output of the controller is to keep the last output unchanged. Epsilon is an integral separation parameter, and epsilon is more than or equal to | e0L. For a controlled system, the frequent control action can cause system oscillation, thereby greatly shortening the service life of the controlled object. In order to increase the lifetime of the controlled object, the output of the improved PID controller within a set range is required to be kept constant, and therefore, the concept of introducing a dead zone in the improved PID controller is necessary. The core of the algorithm is to introduce a parameter e0When the deviation of the actual output from the reference command value is larger than e0When the output quantity of the previous period is kept, namely | e (k) | ≦ e0|，u(k)＝u(k-1)。
The improved integral separation PID algorithm has set practical application significance by combining the integral separation PID control algorithm and the PID control thought with the dead zone. In practical application, the control system is required to be kept inactive to prolong the service life when the deviation between the set value and the detection value is smaller than a certain value, and the integral is required to be ineffective when the deviation is larger than a certain value, so that the control quantity calculated by the controller is prevented from exceeding the limit control of the possible maximum action range of the control system, and the system is prevented from being greatly overshot or even shocked. The advantages of the integral separation PID and the dead zone PID are integrated to obtain the improved integral separation PID control algorithm with the advantages of the two PIDs.
As shown in FIG. 5, in MATLAB/SIMULINK, a high-frequency power supply system simulation model is established, which is closer to an actual physical system. The simulation model of the system mainly comprises a direct current power supply module, a full-bridge inverter module, a step-up transformer, a rectification circuit, a driving signal generation module and an improved PID control module, and the load of the system can be equivalent to a capacitor C0And a resistor R0In a parallel form.
The power module has the function of providing direct current for the high-frequency power supply. In the module, three-phase alternating current is changed into direct current through an uncontrolled rectifying circuit and then passes through a filter capacitor C1Is input into the high-frequency inverter as the supply voltage of the high-frequency inverter. The Bridge module is a full-Bridge inverter circuit formed by packaging four IGBT devices, and mainly realizes an inversion process. And a complementary PWM waveform of an upper bridge arm and a lower bridge arm is obtained through a driving signal generation module (PFM) and is used as a driving signal for effectively driving the full-bridge inverter circuit, and the frequency can be changed by adjusting D so as to control the output voltage.
DC bus input voltage V of high-frequency power supplyin500V, output voltage Vo60kV, operating switching frequency fsThe load side is connected with a 2uF capacitor and a resistor 72k omega at 20kHz, and the initial setting parameters of the PID control system based on integration and separation are as follows: kP0＝0.02、KI0＝200。
As shown in fig. 6, when the dc bus voltage fluctuates within a range of ± 5%, that is, within a range of 470V to 520V, other parameters are not changed, and when the dc bus input voltage reaches 520V, the conventional PID control output voltage has a large overshoot, the maximum value of the output voltage reaches 68.28kV, and the overshoot reaches 13.8% and may cause system oscillation. Similarly, when the input voltage of the direct current bus is reduced by 5%, the output voltage also has a large overshoot. And PID control based on integral separation has no overshoot, and no overshoot phenomenon exists no matter the input voltage of the direct current bus is increased by 5% or reduced by 5%, the adjusting time is short, and the whole transition process is more stable.
As shown in fig. 7, when the dc bus voltage fluctuates within ± 0.5%, i.e. within the range of 497.5V-502.5V, other parameters are not changed, and when the dc bus input voltage reaches 502.5V, the response deviation of the conventional PID control output voltage issues an action command to the IGBT component. The PID control algorithm based on integral separation does not respond to voltage with a small fluctuation range due to the introduction of dead zone parameters, plays a role in avoiding frequent actions of components, effectively avoids system oscillation caused by frequent actions of a control system, and has better anti-interference capability compared with the conventional PID control.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims (4)

1. A DC-DC power control method for avoiding system oscillation is characterized by comprising the following steps:
1) the establishment comprises the following steps: a proportional link, a differential link and an integral link of the PID control system of the high-frequency DC-DC power supply; the PID control strategy comprises a PID controller and a controlled object, the deviation between the actual output of the controlled object and a reference instruction is used as the input of PID control, and the PID control obtains a corresponding control rate u (t) according to a control algorithm, wherein the control rate u (t) is as follows:
Figure FDA0003416802660000011
wherein: kPIs a proportionality coefficient; t isIIs an integration time constant; t isDIs a differential time constant; writing the control rate u (t) in the form of a difference equation:
Figure FDA0003416802660000012
wherein: t is sampling period, k is sampling number, e (k-1) and e (k) are deviation signals obtained by sampling at the (k-1) th time and the k (k) th time respectively, and then the (k-1) th time outputs:
Figure FDA0003416802660000013
the incremental PID algorithm equation is obtained as follows: Δ u (K) ═ KPΔe(k)+KIe(k)+KD[Δe(k)-Δe(k-1)](ii) a Wherein: kI＝KPT/TI、KD＝KPTD/T、Δe(k)＝e(k)-e(k-1)；
2) When the deviation between the actual output of the controlled system and the reference instruction is large, the integral function of the PID algorithm of the high-frequency DC-DC power supply PID control system in the step 1) is cancelled, the conditions of PID control and PD control adopted by the high-frequency DC-DC power supply control are set, and the high-frequency DC-DC power supply integral separation PID control system is obtained; the integral separation PID control algorithm is as follows: u (k) ═ ae (k) + g (k-1); wherein:
Figure FDA0003416802660000014
g(k-1)＝u(k-1)-Be(k-1)+Ce(k-2)、
Figure FDA0003416802660000015
when the deviation between the actual output of the controlled system and the reference instruction is large, the integral action of the PID algorithm of the high-frequency DC-DC power supply PID control system in the step 1) is cancelled, the PID control algorithm of integral separation is adopted to effectively ensure the control precision of the system, and the algorithm is written as follows: u (k) ═ a' e (k) — f (k-1); wherein:
Figure FDA0003416802660000016
f (k-1) ═ B 'e (k-1), B' ═ e (k-1); setting conditions of PID control and PD control adopted by high-frequency DC-DC power supply control, and when the conditions are met: de (t)/dt > 0 and e (t) > 0, de (t)/dt < 0 and e (t) < 0, adopting a PID control algorithm, and when the following conditions are met: de (t)/dt is less than 0, e (t) is greater than 0, de (t)/dt is greater than 0, e (t) is less than 0, and the system is controlled by PD to obtain a high-frequency DC-DC power supply integration and separation PID control system;
3) in order to prolong the service life of a controlled object, the output of a PID controller in a set range is required to be kept unchanged, and a dead zone is introduced into a high-frequency DC-DC power supply integration and separation PID control system in the step 2); | e0| is dead zone parameter, when | e (k) | is less than or equal to | e |0When the current output is greater than the preset value, | the regulated output of the controller is kept unchanged from the last output; epsilon is an integral separation parameter, and epsilon is more than or equal to | e0L, |; when the deviation of the actual output from the reference command value is less than e0When it is in use, makeThe controller maintains the output of the previous cycle, i.e., when | e (k) | ≦ e0|，u(k)＝u(k-1)；
4) The integral separation PID control algorithm with the dead zone obtained in the step 3) is applied to a high-frequency DC-DC power supply control system, the control system is kept not to act to prolong the service life of the control system when the deviation between the set value and the detection value is less than a certain value, and integral is required to be ineffective when the deviation is more than a certain value, so that the control quantity calculated by a controller is prevented from exceeding the limit control of the possible maximum action range of the control system, and the system is prevented from being greatly overshot or even oscillating.
2. The method as claimed in claim 1, wherein the proportional element is used for proportionally reflecting the deviation between the actual output of the controlled object and the reference command, and the proportional controller instantly reacts to the deviation as long as the deviation is generated to move the controlled object to the reference command position; increasing the scale factor, and increasing the speed of the controlled object moving to the reference instruction position; on the contrary, the proportional coefficient is reduced, the movement speed is slowed down, and the adjustment time of the system is increased.
3. The method according to claim 2, wherein the derivative element influences the variation trend of the displacement deviation of the controlled object, and when the controlled object moves in a certain direction, the variation direction of the controlled object is predicted in advance to reduce the overshoot; differential coefficient KD＝KPTDThe damping ratio of a controlled object control system is influenced, the damping ratio is too small, the oscillation is intensified when the floating stage is interfered, and the relative stability of the system is deteriorated; increasing the damping means increasing the differential coefficient, which is selected such that the damping ratio is between 0.5 and 1, which is too large and results in a too long system settling time and the differential action amplifies the disturbances in the feedback signal.
4. The method as claimed in claim 3, wherein the integrating element is configured to integrate the DC-DC power supplyThe accumulation of the displacement deviation of the controlled object is used as output for eliminating the static error of the system and improving the zero-error degree of the system; integral coefficient KI＝KP/TIThe larger the displacement deviation, the smaller the system static difference, but at the same time, the system dynamic response becomes slower, and the integral saturation is easily caused when the displacement deviation is larger.
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