CN1329390A - Load identification based proportional plusintegral-plusderivative control method and its uninterrupted power supply - Google Patents
Load identification based proportional plusintegral-plusderivative control method and its uninterrupted power supply Download PDFInfo
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- CN1329390A CN1329390A CN 00117185 CN00117185A CN1329390A CN 1329390 A CN1329390 A CN 1329390A CN 00117185 CN00117185 CN 00117185 CN 00117185 A CN00117185 A CN 00117185A CN 1329390 A CN1329390 A CN 1329390A
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Abstract
The present invention relates to a load identification based UPS control method and its controlled UPS, and is characterized by that it utilizes the calculation of value of heavy current sampling point size count value and comparison of it with reference value A to identify UPS load type, then according to this, regulates paramter Kp of PID proportional regulator, i,e. if it is non-linear UPS load, the Kp takes higher value, and if it is linear load, the Kp takes smaller value, so that it can implement the control of output voltage waveform of inverter. The CPS controlled by using this digital control method possesses the advantages of low cost and high reliability.
Description
The present invention relates to the power supply digital control technology, be specifically related to the UPS (uninterrupted power supply) of a kind of proportion integration differentiation (PID) control method and control thereof based on load torque identification.
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, developing direction with regard to control mode, usually adopt digital control method, because digital control method 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, shorten product development cycle, enlarge the products perfection space.But in just present product and the document, existing digital control method, 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 method to be difficult to be used widely in actual UPS product.
The object of the present invention is to provide the digital control method of a kind of UPS, utilize the UPS of this digital control method, can be with the microprocessor manufacturing property of lower cost inverter preferably, cost is low, reliability is high.
Another object of the present invention is to provide a kind of UPS that uses above-mentioned digital control method, it has the advantage that cost is low, reliability is high.
Realize that purpose of the present invention is based on the recognition: when UPS band linear load, if adopt the PID controller, then the proportional controller parameter K p of PID controller can not be too big, otherwise because the restriction of microprocessor, output voltage waveforms is shake easily just; When UPS band nonlinear load, if adopt the PID controller, then the proportional controller parameter K p of PID controller can not be too little, otherwise the distortion factor of output voltage waveforms just can not (THD＜5%) up to standard.In order to make controller two kinds of loads of compatibility simultaneously, be necessary loadtype is carried out identification.Because when UPS band linear load and nonlinear load, the most tangible difference is on the load current of its output, therefore, can construct a kind of PID control method, at first discern institute's bringing onto load type, adjust the proportional controller parameter K p of PID then according to the different loads type according to the UPS load current based on load torque identification, realization is to the shaping of the output voltage waveforms of inverter, specifically, according to control method provided by the invention, may further comprise the steps:
The count value of Count of calculating big current sample in a power frequency period T;
According to different load current condition, identify the UPS loadtype, promptly count Count and reference point A of big current sample carried out size and relatively discern the UPS loadtype;
According to the UPS loadtype that identifies, adjust the proportional controller parameter K p of PID;
Calculate the controlled quentity controlled variable Vi of inverter: with the proportional controller parameter of Kp, carry out the PID adjusting, draw controlled quentity controlled variable Vi to inverter to calculating output voltage error E as PID.
In according to method provided by the invention, described according to different load current condition, UPS institute bringing onto load distinguished promptly count Count and reference point A of big current sample carried out size relatively, may further comprise the steps:
If the Count＞A of a power frequency period, then counter N=N+1;
If the Count＜=A of a power frequency period, then UPS institute bringing onto load is a linear load;
Count is counter N＞=B greater than A if lasting B power frequency period, the big current sample of each power frequency period are counted, and then UPS institute bringing onto load is a nonlinear load.
The parameter A that more than relates to, B, X can determine that wherein, B can be chosen as 3 according to concrete experiment.
In method provided by the invention, the count value of Count of the big current sample of a power frequency period T of aforementioned calculation may further comprise the steps:
Sampling load current effective value Irms is as judging the reference point that big current sample point occurs;
Each, the once sampling load current and was got its absolute value Iout interrupt cycle;
Relatively Iout and Irms: if Iout＞X*Irms thinks that then a big current sample point has appearred in load current, the big current sample Count=Count+1 that counts.
Above-mentioned according to UPS institute bringing onto load type difference, resize ratio regulator parameter Kp, concrete steps are as follows:
If UPS institute bringing onto load is a linear load, the proportional controller parameter K p of PID gets smaller value;
If UPS institute bringing onto load is a nonlinear load, the proportional controller parameter K p of PID gets higher value.
Another object of the present invention is achieved in that a kind of UPS that adopts pid number control of structure, and the inverter among this UPS has adopted the PID controller based on load torque identification control to come the control output voltage waveform, and it comprises:
Subtracter: be used for reference voltage Vref and output voltage V o are subtracted each other generation output voltage error E;
Load recognition unit: according to the difference of unequally loaded load current, UPS institute bringing onto load is distinguished, and, adjusted the parameter K p of the PID controller of output according to the loadtype difference;
Linear PID controller: with the Kp of load recognition unit output proportional controller parameter, the output voltage error E of input is carried out linear PID control, produce the controlled quentity controlled variable Vi of inverter as PID.
In according to UPS provided by the invention, above-mentioned load recognition unit comprises:
Sampler: the effective value Irms of the load current that is used to sample, as judging the reference point that big current sample point occurs;
Sampler: be used for each of once sampling load current interrupt cycle, and get its absolute value Iout;
Comparator: the size that compares Iout and X*Irms;
Counter (Count): with the comparative result enter counter of comparator, if Iout＞X*Irms thinks that then a big current sample point, Count=Count+1 have appearred in load current;
Comparator: the count size of Count and reference value A of big current sample in power frequency period T relatively:
If the Count＞A of a power frequency period of a, then counter (N): N=N+1;
If the Count＜=A of a power frequency period of b, then UPS institute bringing onto load is a linear load;
If c continues B power frequency period, the big current sample of each power frequency period Count that counts is counter N＞=B greater than A, and then UPS institute bringing onto load is nonlinear load (parameter A, B, X determine according to concrete experiment);
Counter (N): if continue B power frequency period, the big current sample of each power frequency period Count＞A that counts is N＞=B, and then UPS institute bringing onto load is a nonlinear load;
Adjuster: according to UPS institute bringing onto load type, adjust load identification control proportional controller parameter K p, if UPS institute bringing onto load is a nonlinear load, control ratio regulator parameter Kp gets higher value, if UPS institute bringing onto load is a linear load, control ratio regulator parameter Kp gets smaller value.The parameter A that relates to above, B, X can determine that wherein B can be taken as 3 according to concrete experiment.
Implement the UPS of control method of the present invention and control thereof, owing to adopt the PID control technology based on load identification, when load was linear load, effectively control ratio regulator parameter Kp was unlikely to too big; When load was nonlinear load, effectively control ratio regulator parameter Kp was unlikely to too little.Therefore, when UPS band linear load, output voltage is not prone to shake; When UPS is nonlinear load, output voltage waveforms can satisfy the requirement (THD＜5%) of the distortion factor, even also can obtain output voltage waveforms preferably in band power factor lower (less than 0.7), current peak system value during than the specified rectified load of higher (greater than 3: 1).Because it is accomplished that load identification PID control method can go up at the CPU of less expensive (as single-chip microcomputer, 16 fixed DSPs), can lower the hardware cost of ups system so effectively, the market competitiveness of low capacity on line type UPS in the enhancing.In addition, the UPS output current wave of the PID control technology of employing load identification is also more stable.
Below in conjunction with the drawings and specific embodiments, the invention will be further described, in the accompanying drawing:
Fig. 1 is the inverter control principle schematic diagram that adopts the UPS of load identification PID control;
Fig. 2 is load identification and PID coefficient adjustment flow chart;
Fig. 3 calculates the flow chart that big current sample is counted.
As shown in Figure 1, in the UPS that controls according to the PID control method of debating knowledge based on load provided by the invention, comprise that a subtracter 10 is used for reference voltage Vref and output voltage V o are subtracted each other generation output voltage error E, load recognition unit 40 is used for the difference according to the unequally loaded load current, UPS institute bringing onto load is distinguished, and, adjust the parameter K p of the PID controller of output according to the loadtype difference; Linear PID controller 20 is used for from the Kp of load recognition unit 40 (adjuster 5) the proportional controller parameter as PID, and the output voltage error E of input is carried out linear PID control, and the controlled quentity controlled variable Vi that produces inverter offers inverter 30.Represent that with frame of broken lines load recognition unit 40 comprises in the drawings: sampler 1 be used to sample effective value Irms of load current, as judging the reference point that big current sample point occurs; Sampler 2 is used for each of once sampling load current interrupt cycle, and gets its absolute value Iout; A comparator 3 is used for the size of comparison Iout and X*Irms; A counter (Count) 6: with the comparative result enter counter 3 of comparator 3, if Iout＞X*Irms thinks that then a big current sample point, Count=Count+1 have appearred in load current; A comparator 4 is used for the count size of Count and reference value A of big current sample in power frequency period T of comparison: specifically comprise following function:
If the Count＞A of a power frequency period of a, then counter (N): N=N+1;
If the Count＜=A of a power frequency period of b, then UPS institute bringing onto load is a linear load;
If c continues B power frequency period, the big current sample of each power frequency period Count that counts is counter N＞=B greater than A, and then UPS institute bringing onto load is a nonlinear load;
A counter (N) 7, if continue B power frequency period, the big current sample of each power frequency period Count＞A that counts is N＞=B, then UPS institute bringing onto load is a nonlinear load; An adjuster 5 is used for the bringing onto load type according to UPS institute, adjust load identification control proportional controller parameter K p, if UPS institute bringing onto load is a nonlinear load, control ratio regulator parameter Kp gets higher value, if UPS institute bringing onto load is a linear load, control ratio regulator parameter Kp gets smaller value.The parameter A that relates to above, B, X can determine that wherein B can be taken as 3 according to concrete experiment.
As shown in Figure 2, the method for load identification and PID coefficient adjustment may further comprise the steps, and wherein, parameter A, B, X can determine that B can be 3 according to concrete experiment.
1, the count calculating of Count of the bigger current sample size (frame 101) of Count and reference point A of counting, wherein big current sample obtains as shown in Figure 3;
If Count＞A in power frequency period of a then counts N=N+1 (frame 102) to the continuous power frequency period number that satisfies Count＞A condition;
If the Count＜=A of a power frequency period of b, then with N zero setting (frame 106), UPS institute bringing onto load is a linear load, and Kp gets smaller value (frame 107).
2, judge whether set up N＞=3 (frame 103):
If a continues 3 power frequency periods, the big current sample of each power frequency period is counted Count all greater than A, and promptly counter N＞=3 then make N=3 (frame 104), and UPS institute bringing onto load is a nonlinear load, and Kp gets higher value (frame 105);
If b satisfy not to continue 3 power frequency periods, the big current sample of each power frequency period is counted Count all greater than A, i.e. counter N＜3, and then UPS institute bringing onto load is a linear load, Kp gets smaller value (frame 107).
As shown in Figure 3, calculate the method that big current sample is counted, following link specifically arranged:
1, calculates a last power frequency period load current effective value Irms, Irms is occurred the reference point (frame 201) of big current sample point as judgement;
2, calculate the absolute value Iout (frame 202) of each interrupt cycle of a load current;
3, compare Iout and Irms (frame 203): if Iout＞X*Irms, think that then a big current sample point has appearred in load current, the big current sample Count=Count+1 (frame 204) that counts judges whether power frequency period T finishes (frame 205) otherwise jump directly to;
4, judge whether power frequency period T finishes (frame 205),, then export the big current sample Count (frame 206) that counts, finish this subprogram if power frequency period T finishes; If power frequency period T does not finish, then begin the calculating of the absolute value Iout of next interrupt cycle of a load current, promptly go to (frame 202).
Claims (9)
1, a kind of PID control method based on load torque identification is characterized in that, may further comprise the steps:
Calculate the count value of Count of big current sample in the power frequency period T
Bigger current sample count Count and reference point A discern differentiation to UPS institute bringing onto load;
According to UPS institute bringing onto load type difference, adjust the proportional controller parameter K p of load identification control PID;
Calculate the controlled quentity controlled variable Vi of inverter: with the proportional controller parameter of Kp, carry out the PID adjusting, draw controlled quentity controlled variable Vi to calculating output voltage error E as PID.
2 according to the described method of claim 1, it is characterized in that, described bigger current sample count Count and reference point A distinguish the bringing onto load identification of UPS institute, may further comprise the steps:
If the Count＞A of a power frequency period of a, then counter N=N+1;
If the Count＜=A of a power frequency period of b, then UPS institute bringing onto load is a linear load;
If c continues B power frequency period, the big current sample of each power frequency period Count that counts is counter N＞=B greater than A, and then UPS institute bringing onto load is a nonlinear load.
3, method according to claim 2 is characterized in that, described B parameter can be 3.
4, according to the described method of claim 1, it is characterized in that, calculate the count value of Count of big current sample in the power frequency period T and may further comprise the steps:
Sampling load current effective value Inns is as judging the reference point that big current sample point occurs;
Once sampling load current at set intervals, and get its absolute value Iout;
Relatively Iout and Irms: if Iout＞X*Irms thinks that then a big current sample point has appearred in load current, the big current sample Count=Count+1 that counts.
According to the described method of claim 1, it is characterized in that 5, according to UPS institute bringing onto load type difference, adjust the proportional controller parameter K p of PID controller, concrete steps are as follows:
If UPS institute bringing onto load is a nonlinear load, control ratio regulator parameter Kp gets higher value;
If UPS institute bringing onto load is a linear load, control ratio regulator parameter Kp gets smaller value.
6, a kind of uninterrupted power supply is characterized in that: the inverter among the described UPS adopts the PID control method control output voltage waveform based on load torque identification control, and it comprises:
Subtracter: be used for reference voltage Vref and output voltage V o are subtracted each other generation output voltage error E;
The load recognition unit: according to the difference of unequally loaded load current, UPS institute bringing onto load is distinguished, and according to the loadtype difference, resize ratio regulator parameter Kp;
Linear PID controller: with the Kp of adjuster 5 outputs proportional controller parameter, the output voltage error E of input is carried out linear PID control, produce the controlled quentity controlled variable Vi of inverter as PID.
According to the described UPS of claim 6, it is characterized in that 7, described load recognition unit comprises:
Sampler (1): the effective value Irms of the load current that is used to sample, as judging the reference point that big current sample point occurs;
Sampler (2): be used for once sampling load current at set intervals, and get its absolute value Iout;
Comparator (3): the size that is used for comparison Iout and X*Irms;
Counter (Count): with the comparative result enter counter of comparator (3), if Iout＞xIrms thinks that then a big current sample point, Count=Count+1 have appearred in load current;
Comparator (4): the count size of Count and reference value A of big current sample in power frequency period T relatively:
If the Count＞A of a power frequency period of a, then counter (N): N=N+1;
If the Count＜=A of a power frequency period of b, then UPS institute bringing onto load is a linear load;
If c continues B power frequency period, the big current sample of each power frequency period Count that counts is counter N＞=B greater than A, and then UPS institute bringing onto load is a nonlinear load, and wherein, parameter A, B, X determine according to concrete experiment.
Counter (N): if continue B power frequency period, the big current sample of each power frequency period Count＞A that counts is N＞=B, and then UPS institute bringing onto load is a nonlinear load;
Adjuster (5): according to UPS institute bringing onto load type, adjust load identification control proportional controller parameter K p, if UPS institute bringing onto load is a nonlinear load, control ratio regulator parameter Kp gets higher value, if UPS institute bringing onto load is a linear load, control ratio regulator parameter Kp gets smaller value.
According to the described UPS of claim 7, it is characterized in that 8, B parameter can be 3.
According to the described UPS of claim 7, it is characterized in that 9, described sampler (1), sampler (2), comparator (3), counter (Count), comparator (4), counter (N), adjuster (5) can be included among the CPU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB001171852A CN1173456C (en) | 2000-06-15 | 2000-06-15 | Load identification based proportional plusintegral-plusderivative control method and its uninterrupted power supply |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB001171852A CN1173456C (en) | 2000-06-15 | 2000-06-15 | Load identification based proportional plusintegral-plusderivative control method and its uninterrupted power supply |
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| CN1329390A true CN1329390A (en) | 2002-01-02 |
| CN1173456C CN1173456C (en) | 2004-10-27 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101814752A (en) * | 2010-03-23 | 2010-08-25 | 艾默生网络能源有限公司 | Control system and method of UPS (Uninterrupted Power System) |
| CN103840676A (en) * | 2012-11-21 | 2014-06-04 | 力博特公司 | System and methods for balancing ups output voltages during transitions between operating modes |
| CN104267772A (en) * | 2014-08-25 | 2015-01-07 | 唐山松下产业机器有限公司 | Control equipment and control method thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210376606A1 (en) * | 2020-06-01 | 2021-12-02 | Enphase Energy, Inc. | Load detection and prioritization for an energy management system |
-
2000
- 2000-06-15 CN CNB001171852A patent/CN1173456C/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101814752A (en) * | 2010-03-23 | 2010-08-25 | 艾默生网络能源有限公司 | Control system and method of UPS (Uninterrupted Power System) |
| CN101814752B (en) * | 2010-03-23 | 2012-07-04 | 艾默生网络能源有限公司 | Control system and method of UPS (Uninterrupted Power System) |
| CN103840676A (en) * | 2012-11-21 | 2014-06-04 | 力博特公司 | System and methods for balancing ups output voltages during transitions between operating modes |
| CN103840676B (en) * | 2012-11-21 | 2017-10-13 | 力博特公司 | The system and method that UPS output voltages are balanced during operator scheme changes |
| CN104267772A (en) * | 2014-08-25 | 2015-01-07 | 唐山松下产业机器有限公司 | Control equipment and control method thereof |
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| Publication number | Publication date |
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| CN1173456C (en) | 2004-10-27 |
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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 Nanshan District science and Technology Industrial Park, Guangdong, Shenzhen Branch Road, No. Patentee before: Aimosheng Network Energy Source Co., Ltd. |
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Granted publication date: 20041027 |
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