CN1281290A - Proportional-integral-derivative control method based on modulation percentage for instantaneous value and UPS - Google Patents
Proportional-integral-derivative control method based on modulation percentage for instantaneous value and UPS Download PDFInfo
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Abstract
A proportional-integral-drivative (PID) control method based on instantaneous modulation percentage and its controlled uninterrupted power supphy (UPS) are dislosed. The inverter is controlled by the combination of rapid fuzzy compensation with instantaneous value of modulation percentage PID SPWM technique. The output of linear PID regulator is used as main regulating parameter of inverter and the output of rapid fuzzy compensator is used as compensating value. They are added toobtain the control value of inverter. The present invention makes the digital control of low-cost high-performance UPS possible.
Description
The present invention relates to totally digitilized uninterrupted power supply technology, the totally digitilized uninterrupted power supply that is specifically related to a kind of inverter digital control technology and uses this technology, more particularly, relate to a kind of fuzzy compensation based on instantaneous value proportion integration differentiation (PID) control method of modulation ratio and the uninterrupted power supply (ups) Unity of control thereof.
UPS product in the market is subjected to the restriction of digital control technology, and the control method overwhelming majority of its inversion part takes analog form, divides effective value to regulate and the instantaneous value adjusting.Yet the developing direction of just present control mode generally adopts digital control technology.Because digital control technology can improve quiet, the dynamic performance index of system neatly, the job stability of enhanced system and reliability significantly, and can reduce its hardware cost and production cost, and shorten product development cycle, enlarge the products perfection space.But existing digital control technology in just present product and the document, adopt the necessary mostly cpu chip (as 32 bit DSPs) that employing speed is fast, function is strong of UPS of Digital Control, have the influence of some inevitable time delays (as sampling delay, computing relay, modulation delay etc.) waveform shaping to reduce digital circuit.Like this, because the restriction of hardware cost makes and adopts the DC/AC inverter of digital control technology to be difficult to be widely used in actual UPS product.
The object of the present invention is to provide a kind of digital control technology of uninterrupted power supply (ups) Unity, according to this control technology, can realize function uninterrupted power supply preferably with the microprocessor of lower cost, have when promptly having preferable performance that cost is low, the advantage of dependable performance.
Another object of the present invention is to provide a kind of UPS that uses above-mentioned digital control technology, it has, and cost is low, the advantage of dependable performance.
The object of the present invention is achieved like this, constructs a kind of instantaneous value PID control method based on modulation ratio, it is characterized in that, quick fuzzy compensation combined with the instantaneous value PID SPWM control method of regulating modulation ratio the UPS inverter is controlled.
According to control method provided by the invention, it is characterized in that, may further comprise the steps: calculate output voltage error e, respectively output voltage error e being carried out linear PID regulates and quick fuzzy compensation, linear PID is regulated the controlled quentity controlled variable Vi that draws after the compensation rate U2 stack of the main regulated quantity U1 of output and fuzzy compensation output fast inverter, realize control inverter output voltage Vo with controlled quentity controlled variable Vi.
According to control method provided by the invention, it is characterized in that, may further comprise the steps:
1, regulates the instantaneous value PID SPWM modulation of modulation ratio, draw the regulated quantity U1 of inverter;
A, calculating output voltage error: respectively the instantaneous value of feedback voltage V o and the instantaneous value of reference voltage Vr are taken absolute value, obtain both output voltage error e again;
B, linear PID regulate: voltage error e is carried out proportional-integral-differential (PID) regulate, calculate the required modulation ratio m of current power frequency period;
C, SPWM modulation: modulation ratio m is carried out the SPWM modulation, draw the regulated quantity U1 of inverter;
2, output voltage error e1 is carried out quick fuzzy compensation, calculate compensation rate U2;
A, calculating output voltage error e1 and output voltage error rate of change e1c: the output voltage V o of real-time reference sine wave Vr and feedback is compared, calculate output voltage error e1, to output voltage error e1 differentiate, draw output voltage error rate of change e1c again.
B, binary fuzzy compensation: output voltage error e1 and output voltage error rate of change e1c as the binary input parameter, are carried out the binary fuzzy compensation to output voltage error, and it is output as compensation rate U2.
3, calculate the controlled quentity controlled variable Vi of inverter: main regulated quantity U1 and compensation rate U2 stack with exporting behind SPWM modulation and the quick fuzzy compensation obtain the controlled quentity controlled variable Vi to inverter.
In the digital control method of above-mentioned UPS, the binary fuzzy compensation all can adopt the method for searching the binary look-up table to realize: the monobasic in the binary look-up table is represented the number range of output voltage error, another yuan represented the number range of output voltage error rate of change, search according to output voltage error and output voltage error rate of change, can draw a binary fuzzy compensation amount U2.
Another object of the present invention is to realize like this, construct a kind of uninterrupted power supply, comprise: battery, rectifier, inverter, circuit control device, charger and cut-off switch is characterized in that: described circuit control device is in conjunction with the instantaneous value PIDSPWM control of regulating modulation ratio and the numerical control device of quick fuzzy compensation.
According to UPS provided by the invention, it is characterized in that described numerical control device in conjunction with the instantaneous value PID SPWM control of regulating modulation ratio and quick fuzzy compensation comprises:
Sampler: the absolute value of the instantaneous value Vr of the reference sine wave voltage that is used to sample and feed back to the absolute value of instantaneous value Vo of the output voltage of input;
Subtracter 1: be used for the absolute value of the instantaneous value Vr of reference sine wave voltage and the absolute value of instantaneous value Vo that feeds back to the output voltage of input subtracted each other and produce output voltage error e:
Linear PID controller: the output to described subtracter is that output voltage error e carries out linear PID control, produces the modulation ratio m of current period;
The SPWM modulator: the modulation ratio m to the output of PID device carries out the SPWM modulation, and it is output as main regulated quantity U1;
Quick fuzzy compensation unit: the modulation ratio M to the output of PID device carries out quick fuzzy compensation, and it is output as compensation rate U2;
Adder: be used for the main regulated quantity U1 of SPWM modulator output and the compensation rate U2 of fuzzy compensation unit output is superimposed fast, produce the controlled quentity controlled variable Vi of inverter.
In above-mentioned control device for inverter, described quick fuzzy compensation unit comprises:
A, subtracter 2: be used for the output signal Vo of real-time reference sine wave Vr and output feedback is subtracted each other, draw output voltage error e1.
B, differentiator: be used for output voltage error e1 is carried out differential, export the rate of change e1c of described output voltage;
C, two-dimentional fuzzy compensation device are used for output voltage error e1 and output voltage error rate of change e1c according to input, produce fuzzy compensation amount U2.
Two-dimentional fuzzy compensation device in the above-mentioned UPS inverter is a binary look-up table, monobasic is wherein represented the number range of output voltage error, another yuan represented the number range of output voltage error rate of change, and the output of described binary look-up table is an offset data amount.
Implement of the present invention based on the instantaneous value PID control method of modulation ratio and the uninterrupted power supply of control thereof, owing in the PID design of Regulator, considered the time-lag effect of digital system, quiet, the dynamic stability of inverter have been guaranteed, and the fuzzy compensation utensil has stronger real-Time Compensation ability, therefore, even obtain output voltage waveforms (THD＜5%) preferably than specified rectified load (as the computer Switching Power Supply) Shi Junke of higher (greater than 3: 1) in band power factor lower (less than 0.7), current peak system value.Improved the combination property of UPS like this, effectively.Simultaneously, because UPS control technology of the present invention has adopted the quick fuzzy compensation that carries out of searching the fuzzy table of two dimension, so can go up accomplished at the CPU of less expensive (as single-chip microcomputer, 16 fixed DSPs), can lower the hardware cost of ups system so effectively, strengthen the market competitiveness of middle low capacity on line type UPS greatly.
Below in conjunction with the drawings and specific embodiments, the invention will be further described, in the accompanying drawing:
Fig. 1 be according to of the present invention based on modulation ratio instantaneous value PID control method and the principle schematic of the UPS of control;
Fig. 2 is the program flow diagram of implementing according to the instantaneous value PID control method embodiment based on modulation ratio of the present invention;
As shown in Figure 2, according to the instantaneous value PID control method based on modulation ratio provided by the invention, may further comprise the steps:
1, regulates the instantaneous value PID SPWM modulation of modulation ratio, draw the regulated quantity U1 of inverter;
A, judge whether a power frequency period T finishes (frame 601):, then recomputate the modulation ratio of new power frequency period set by step if a power frequency period T finishes; If a power frequency period T does not finish, then do not need to upgrade modulation ratio, jump directly to (frame 605) and promptly modulation ratio is carried out the SPWM modulation;
B, calculating output voltage error (frame 602): respectively the instantaneous value of feedback voltage V o and the instantaneous value of reference voltage Vr are taken absolute value, obtain both output voltage error e again;
C, linear PID regulate (frame 603): voltage error e is carried out proportional-integral-differential (PID) regulate, calculate the required modulation ratio m of current power frequency period;
D, renewal modulation ratio m (frame 604): the modulation ratio that replaces a last power frequency period with the required modulation ratio of current power frequency period;
E, SPWM modulate (frame 605): modulation ratio m is carried out the SPWM modulation, draw the regulated quantity U1 of inverter;
2, output voltage error e1 is carried out quick fuzzy compensation, calculate compensation rate U2;
A, calculating output voltage error e1 and output voltage error rate of change e1c (frame 611): the output voltage V o of real-time reference sine wave Vr and feedback is compared, calculate output voltage error e1, to output voltage error e1 differentiate, draw output voltage error rate of change e1c again.
B, binary fuzzy compensation (frame 612): the binary fuzzy compensation is to adopt the method for searching the binary look-up table to realize, monobasic in the binary look-up table is represented the number range of output voltage error e1, another yuan represented the number range of output voltage error rate of change e1c, can draw a binary fuzzy compensation amount U2 so search according to output voltage error e1 and output voltage error rate of change e1c.
3, calculate the controlled quentity controlled variable Vi (frame 630) of inverter:, obtain controlled quentity controlled variable Vi to inverter with the main regulated quantity U1 of SPWM modulation (frame 605) output and the compensation rate U2 stack of binary fuzzy compensation (frame 612) output.
Claims (10)
1, a kind of instantaneous value PID control method based on modulation ratio is characterized in that, quick fuzzy compensation is combined with the instantaneous value PID SPWM technology of regulating modulation ratio inverter is controlled.
2, according to the described method of claim 1, it is characterized in that, may further comprise the steps: calculate output voltage error e, output voltage error is carried out linear PID to be regulated and quick fuzzy compensation, the main regulated quantity U1 of the output that the compensation rate U2 of the output of described quick fuzzy compensation and described linear PID regulate superposes, and the amount (U1+U2) that superposes out is delivered to inverter as controlled quentity controlled variable VI.
3, according to the described method of claim 2, it is characterized in that, may further comprise the steps:
Regulate the instantaneous value PID SPWM modulation of modulation ratio, output regulated quantity U1;
Output voltage error e1 is carried out quick fuzzy compensation, calculate compensation rate U2;
Calculate the controlled quentity controlled variable Vi of inverter: main regulated quantity U1 and compensation rate U2 stack with exporting behind SPWM modulation and the quick fuzzy compensation obtain the controlled quentity controlled variable Vi to inverter.
According to the described method of claim 3, it is characterized in that 4, the instantaneous value PID SPWM modulation of described adjusting modulation ratio, the step of output inverter regulated quantity U1 may further comprise the steps:
A, calculating output voltage error: respectively the instantaneous value of feedback voltage V o and the instantaneous value of reference voltage Vr are taken absolute value, obtain both output voltage error e again;
B, linear PID regulate: output voltage error e is carried out proportional-integral-differential (PID) regulate, calculate the required modulation ratio m of current power frequency period;
C, SPWM modulation: modulation ratio m is carried out the SPWM modulation, draw the regulated quantity U1 of inverter.
5, according to the described method of claim 3, it is characterized in that, described to output voltage error e1 carry out quick fuzzy compensation, the step of calculating compensation rate U2 may further comprise the steps:
A, calculating output voltage error e1 and output voltage error rate of change e1c: the output voltage V o of real-time reference sine wave Vr and feedback is compared, calculate output voltage error e1, to output voltage error e1 differentiate, draw output voltage error rate of change e1c again;
B, binary fuzzy compensation: output voltage error e1 and output voltage error rate of change e1c as the binary input parameter, are carried out the binary fuzzy compensation to output voltage error, and it is output as compensation rate U2.
6, according to the described method of claim 3, it is characterized in that, described binary fuzzy compensation is to adopt the method for searching the binary look-up table to realize: the monobasic in the binary look-up table is represented the number range of output voltage error, another yuan represented the number range of output voltage error rate of change, search according to output voltage error and output voltage error rate of change, can draw a binary fuzzy compensation amount U2.
7, a kind of uninterrupted power supply comprises inverter and inverter, it is characterized in that: described circuit control device is that the instantaneous value PID SPWM control of ratio and the numerical control device of quick fuzzy compensation are regulated in a combination modulation.
According to the described uninterrupted power supply of claim 7, it is characterized in that 8, described numerical control device comprises:
Sampler: the absolute value of the instantaneous value Vr of the reference sine wave voltage that is used to sample and feed back to the absolute value of instantaneous value Vo of the output voltage of input;
Subtracter 1: be used for the absolute value of the instantaneous value Vr of reference sine wave voltage and the absolute value of instantaneous value Vo that feeds back to the output voltage of input subtracted each other and produce output voltage error e:
Linear PID controller: the output to described subtracter is that output voltage error e carries out linear PID control, produces the modulation ratio m of current period:
The SPWM modulator: the modulation ratio m to the output of PID device carries out the SPWM modulation, and it is output as main regulated quantity U1;
Quick fuzzy compensation unit: the modulation ratio M to the output of PID device carries out quick fuzzy compensation, and it is output as compensation rate U2;
Adder: be used for the main regulated quantity U1 of SPWM modulator output and the compensation rate U2 of fuzzy compensation unit output is superimposed fast, produce the controlled quentity controlled variable Vi of inverter.
9, uninterrupted power supply according to claim 8 is characterized in that, described quick fuzzy compensation unit comprises:
A, subtracter 2: be used for the output signal Vo of real-time reference sine wave Vr and output feedback is subtracted each other, draw output voltage error e1;
B, differentiator: be used for output voltage error e1 is carried out differential, export the rate of change e1c of described output voltage;
C, two-dimentional fuzzy compensation device are used for output voltage error e1 and output voltage error rate of change e1c according to input, produce fuzzy compensation amount U2.
10, according to the described uninterrupted power supply (ups) Unity of claim 9, it is characterized in that, described two-dimentional fuzzy compensation device is a binary look-up table, monobasic is wherein represented the number range of output voltage error E, another yuan represented the number range of output voltage error rate of change EC, and the output of described binary look-up table is an offset data amount.
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| CN 00117163 CN1123964C (en) | 2000-06-09 | 2000-06-09 | Proportional-integral-derivative control method based on modulation percentage for instantaneous value and UPS |
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| CN 00117163 CN1123964C (en) | 2000-06-09 | 2000-06-09 | Proportional-integral-derivative control method based on modulation percentage for instantaneous value and UPS |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100384073C (en) * | 2005-10-31 | 2008-04-23 | 华中科技大学 | Inverter of instantaneous voltage PID analogue controlled |
| CN104122503A (en) * | 2014-07-30 | 2014-10-29 | 厦门科华恒盛股份有限公司 | Constant-voltage retrospective online testing device and constant-voltage retrospective online testing method for batteries of uninterrupted power systems |
| CN106030438A (en) * | 2013-12-31 | 2016-10-12 | 施耐德电气It公司 | System and methods of grid stabilization |
| CN106385197A (en) * | 2016-11-30 | 2017-02-08 | 阳光电源股份有限公司 | Output voltage control method for inverter independent operation and controller |
| US10447073B2 (en) | 2013-01-07 | 2019-10-15 | Schneider Electric It Corporation | Power supply control |
| CN113872462A (en) * | 2021-09-24 | 2021-12-31 | 深圳市伊力科电源有限公司 | Output voltage control method and system, single-phase inverter power supply and storage medium |
-
2000
- 2000-06-09 CN CN 00117163 patent/CN1123964C/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100384073C (en) * | 2005-10-31 | 2008-04-23 | 华中科技大学 | Inverter of instantaneous voltage PID analogue controlled |
| US10447073B2 (en) | 2013-01-07 | 2019-10-15 | Schneider Electric It Corporation | Power supply control |
| CN106030438A (en) * | 2013-12-31 | 2016-10-12 | 施耐德电气It公司 | System and methods of grid stabilization |
| CN106030438B (en) * | 2013-12-31 | 2018-10-09 | 施耐德电气It公司 | The system and method for the stabilization of power grids |
| US10491034B2 (en) | 2013-12-31 | 2019-11-26 | Schneider Electric It Corporation | System and methods of grid stabilization |
| CN104122503A (en) * | 2014-07-30 | 2014-10-29 | 厦门科华恒盛股份有限公司 | Constant-voltage retrospective online testing device and constant-voltage retrospective online testing method for batteries of uninterrupted power systems |
| CN106385197A (en) * | 2016-11-30 | 2017-02-08 | 阳光电源股份有限公司 | Output voltage control method for inverter independent operation and controller |
| CN106385197B (en) * | 2016-11-30 | 2018-12-28 | 阳光电源股份有限公司 | A kind of independently operated output voltage control method of inverter and controller |
| CN113872462A (en) * | 2021-09-24 | 2021-12-31 | 深圳市伊力科电源有限公司 | Output voltage control method and system, single-phase inverter power supply and storage medium |
| CN113872462B (en) * | 2021-09-24 | 2024-05-03 | 深圳市伊力科电源有限公司 | Output voltage control method, system, single-phase inverter power supply and storage medium |
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| CN1123964C (en) | 2003-10-08 |
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Address after: Nanshan District Xueyuan Road in Shenzhen city of Guangdong province 518055 No. 1001 Nanshan Chi Park B2 building 1-4 floor, building 6-10 Patentee after: Vitamin Technology Co., Ltd. Address before: 518057 No. 1, FA Lu, Nanshan District science and Technology Industrial Park, Shenzhen Patentee before: Aimosheng Network Energy Source Co., Ltd. |
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