CN1329391A - Self-learning control based proportional plusintegral-plusderivative control method and its uninterrupted power supply - Google Patents
Self-learning control based proportional plusintegral-plusderivative control method and its uninterrupted power supply Download PDFInfo
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Abstract
The present invention relates to a self-learning control based numerial control method of UPS and UPS numerically-controlled by utilizing this numerical control method. According to the output voltage error E and signal sampling, it utilizes the self-learning control algorithm to calculate parameter Kp of proportional regulator of PID controller; if a linear load is detected, the paramter Kp of proportional controller is reduced, if a non-linear load in detected, the parmater Kp of the proportional control can be increased so as to implement the control of output voltage wave form of inverter, and the UPS controlled by using this numerical control method posseseses the advantages of low cost and reliable performance.
Description
The present invention relates to power supply digital control technology and intelligent control technology, be specifically related to the uninterrupted power supply (ups) Unity of a kind of proportion integration differentiation (PID) control method and control thereof based on Self-learning control.
UPS product in the market is subjected to the limitation of digital control technology, and the control method overwhelming majority of its inversion part takes analog form, roughly divides effective value to regulate and two kinds of instantaneous value adjustings.Yet, with regard to the developing direction of present control mode, generally 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, and shorten product development cycle, enlarge the products perfection space.But the digital control method of from present product and document, putting down in writing, adopt the UPS of Digital Control, there be the influence of some inevitable time delays (as sampling delay, computing relay, modulation delay etc.) to waveform shaping in the necessary mostly cpu chip (as 32 bit DSPs) that employing speed is fast, function is strong 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 widely used in actual UPS product.
The object of the present invention is to provide a kind of UPS digital control method that has intelligence, according to this digital control method, can realize inverter economy and effectively control, i.e. the microprocessor manufacturing property of available lower cost UPS 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 control, have the advantage that cost is low, performance good, reliability is high.
Realize that the object of the invention is based on following understanding: 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 speed, 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.Therefore, if the PID that adopts the conventional method design to determine just is difficult to reach the purpose of controlling these two kinds of loadtypes simultaneously.So just be necessary obvious difference according to two kinds of load output waveforms, the PID control method of constructing a kind of Self-learning control realizes the control to the output voltage waveforms of inverter, specifically, the PID control method based on Self-learning control provided by the invention may further comprise the steps:
Calculate output voltage error E: deduct output voltage V o with reference voltage Vref, draw output voltage error E;
Sampled signal and according to the Self-learning control algorithm is calculated the proportional controller parameter K p of PID controller;
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.
In according to method provided by the invention, described sampled signal and according to the Self-learning control algorithm, the proportional controller parameter K p that calculates the PID controller may further comprise the steps:
The absolute value of a, calculating output voltage error E | E|;
B, comparison output voltage error | E| and error reference value A, if | E|＞A, then get Xi=|E|-A;
In c, power frequency period T of calculating, the accumulated value X=∑ Xi=∑ of Xi (| E|-A);
D, according to the size of X, resize ratio regulator parameter Kp:
If X＞=Bmax, then Kp=Kp+ (Kpmax-Kpmin)/100;
If X＜=Bmin, then Kp=Kp-(Kpmax-Kpmin)/100.
The proportional controller parameter K p of e, correction PID:
If Kp＞=Kpmax, then Kp=Kpmax;
If Kp＜=Kpmin, then Kp=Kpmin.
Parameter A wherein, Bmax, Bmin, Kmax, Kmin etc. can determine according to concrete experiment, wherein Bmax＞Bmin, Kmax＞Kmin.
Another object of the present invention is achieved in that a kind of uninterrupted power supply UPS of structure, it is characterized in that: the inverter among the described UPS adopts the controller based on the PID control method of Self-learning control, and it comprises:
Subtracter: be used for the reference voltage Vref and the output voltage V o of input are subtracted each other generation output voltage error E;
Sampler: the absolute value that is used for the sampling and outputting voltage error E | E|;
Self-learning control device: with the absolute value of the output voltage error of sampler output | E| calculates the proportional controller parameter K p of PID as input variable
Linear PID controller: with the Kp of described Self-learning control device 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, described Self-learning control device comprises:
Power frequency period timer: be used to provide the power frequency period timing signal;
Output voltage error calculation element: the absolute value that is used to calculate output voltage error E | E|;
Compare calculator: be used for output voltage error E absolute value and error reference value A are compared, and calculate accumulated value Xi according to comparative result, if | E|＞A, then Xi=|E|-A;
Accumulated value X calculator: be used in the power frequency period T that described power frequency period timer is determined, according to the described relatively output of calculator, the accumulated value X=∑ Xi=∑ of calculating Xi (| E|-a);
Parameter K p first adjuster is used for the size according to the accumulated value X of described accumulated value Xi power frequency period calculator output, resize ratio regulator parameter Kp: if X＞=Bmax, then Kp=Kp+ (Kpmax-Kpmin)/100; If X＜=Bmin, then Kp=Kp-(Kpmax-Kpmin)/100.
Parameter K p second adjuster, the parameter K p that exports according to described parameter K p first adjuster carries out the border adjustment, if Kp＞=Kpmax, then Kp=Kpmax; If Kp＜=Kpmin, then Kp=Kpmin.
Implement provided by the inventionly based on the PID control method of Self-learning control and the UPS of control thereof, owing to adopted the PID control technology of Self-learning control, 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 Self-learning control PID control technology 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 Self-learning control 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 of UPS that adopts the PID control method of Self-learning control of the present invention;
Fig. 2 is the program circuit schematic diagram of an embodiment of implementing the PID control method of Self-learning control of the present invention.
As shown in Figure 1, comprise in the UPS inverter according to the present invention's structure: subtracter 1 is used for the reference voltage Vref and the output voltage V o of input are subtracted each other generation output voltage error E; Sampler 2 is used to provide the absolute value of output voltage error E | E|; Self-learning control device 3 is used for the absolute value with the output voltage error of sampler 2 outputs | and E| calculates the proportional controller parameter K p of PID, and offers linear PID controller as input variable;
In the program flow diagram of the PID control method of the enforcement Self-learning control of the present invention shown in Fig. 2, wherein, be used to calculate the part of the proportional controller parameter K p of PID controller, may further comprise the steps:
1, calculate in the power frequency period T, the accumulated value X of Xi is as follows:
A, calculating output voltage error E (frame 101): deduct output voltage V o with reference voltage Vref, draw output voltage error E;
B, get the absolute value of output voltage error E | E| (frame 102);
C, comparison output voltage error | the size of E| and error reference value A (frame 103);
D, calculate the accumulated value X (frame 104) of Xi: if | E|＞A, then X=∑ Xi=∑ (| E|-A);
E, judge that a power frequency period T completely denys (frame 105): if power frequency period T less than, then get back to (frame 101), promptly continue accumulation calculating accumulated value X, if a power frequency period T is full, then change (frame 106) over to: according to the size of X, resize ratio regulator parameter Kp.
2, according to the size of X, resize ratio regulator parameter Kp:
The size (frame 106) of a, judgement X and Bmax;
If b is X＞=Bmax (in the nonlinear load zone), Kp=Kp+ (Kpmax-Kpmin)/100 (frame 107) then;
The size (frame 108) of c, judgement X and Bmin;
If d is X＜=Bmin (in linear load area), Kp=Kp-(Kpmax-Kpmin)/100 (frame 109) then.
3, proofread and correct proportional controller parameter K p:
The size of a, comparison Kp and Kpmax (frame 110);
If b is Kp＞=Kpmax, Kp=Kpmax (frame 111) then;
The size of c, Kp and Kpmin (frame 112);
If d is Kp＜=Kpmin, Kp=Kpmin (frame 113) then
4,, finished the calculating (frame 114) of a power frequency period T inner control parameter K p with the X zero clearing.
The parameter A that more than relates to, Bmax, Bmin, Kpmax, Kpmin can determine according to concrete experiment.Wherein, Bmax＞Bmin, Kpmax＞, Kpmin.
Claims (7)
1, a kind of PID control method based on Self-learning control is characterized in that, UPS is linear load or nonlinear load according to identification, adjusts Self-learning control parameter K p.
According to the described method of claim 1, it is characterized in that 2, described adjustment Self-learning control parameter K p may further comprise the steps:
If detecting is linear load, reduce the Kp parameter of proportional controller;
If detecting is nonlinear load, the Kp parameter of scaling up controller.
3, according to the described method of claim 1, it is characterized in that, may further comprise the steps:
Calculate output voltage error E: deduct output voltage V o with reference voltage Vref, draw output voltage error E;
Sampled signal and according to the Self-learning control algorithm is calculated the proportional controller parameter K p of PID controller;
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.
4, according to the described method of claim 3, it is characterized in that, described sampled signal and according to the Self-learning control algorithm, the proportional controller parameter K p that calculates the PID controller may further comprise the steps:
The absolute value of a, calculating output voltage error E | E|;
B, comparison output voltage error | E| and error reference value A, if | E|＞A, then get Xi=|E|-A;
In c, power frequency period T of calculating, the accumulated value X=∑ Xi=∑ of Xi (| E|-A);
D, according to the size of X, resize ratio regulator parameter Kp:
If X＞=Bmax, then Kp=Kp+ (Kpmax-Kpmin)/100;
If X＜=Bmin, then Kp=Kp-(Kpmax-Kpmin)/100.
The proportional controller parameter K p of e, correction PID:
If Kp＞=Kpmax, then Kp=Kpmax;
If Kp＜=Kpmin, then Kp=Kpmin.
Parameter A wherein, Bmax, Bmin, Kpmax, Kpmin etc. can determine according to concrete experiment, wherein Bmax＞Bmin, Kpmax＞Kpmin.
5, a kind of uninterrupted power supply UPS is characterized in that: the inverter among the described UPS adopts the controller based on the PID control method of Self-learning control, comprising:
Subtracter: be used for the reference voltage Vref and the output voltage V o of input are subtracted each other generation output voltage error E;
Sampler: the absolute value that is used for the sampling and outputting voltage error E | E|;
Self-learning control device: with the absolute value of the output voltage error of sampler output | E| calculates the proportional controller parameter K p of PID as input variable;
Linear PID controller: with the Kp of described Self-learning control device 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.
According to the described uninterrupted power supply of claim 5, it is characterized in that 6, described Self-learning control device comprises:
Power frequency period timer: be used to provide the power frequency period timing signal;
Output voltage error calculation element: the absolute value that is used to calculate output voltage error E | E|;
Compare calculator: be used for output voltage error E absolute value and error reference value A are compared, and calculate accumulated value Xi according to comparative result, if | E|＞A, then Xi=|E|-A;
Accumulated value X calculator: be used in the power frequency period T that described power frequency period timer is determined, according to the described relatively output of calculator, the accumulated value X=∑ Xi=∑ of calculating Xi (| E|-A);
Parameter K p first adjuster is used for the size according to the accumulated value X of described accumulated value Xi power frequency period calculator output, resize ratio regulator parameter Kp: if X＞=Bmax, then Kp=Kp+ (Kpmax-Kpmin)/100; If X＜=Bmin, then Kp=Kp-(Kpmax-Kpmin)/100;
Parameter K p second adjuster, the parameter K p that exports according to described parameter K p first adjuster carries out the border adjustment, if Kp＞=Kpmax, then Kp=Kpmax; If Kp＜=Kpmin, then Kp=Kpmin.
According to the described UPS of claim 5, it is characterized in that 7, described subtracter, sampler, Self-learning control device are included among a microprocessor device or the DSP.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101241352B (en) * | 2007-02-09 | 2010-06-23 | 三星电子株式会社 | Apparatus and method for proportional-integral-derivative control |
| 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) |
| CN103248251A (en) * | 2013-05-17 | 2013-08-14 | 成都英格瑞德电气有限公司 | Automatic variable coefficient control method for inverter |
| CN105162343A (en) * | 2015-10-12 | 2015-12-16 | 南京工程学院 | Control method and device of photovoltaic inverter |
| CN109066881A (en) * | 2018-09-03 | 2018-12-21 | 杭州中恒电气股份有限公司 | A kind of quick regulating cell current methods |
| US10784717B2 (en) | 2016-05-26 | 2020-09-22 | Delta Electronics (Shanghai) Co., Ltd | Method, device, and system for controlling power supply |
-
2000
- 2000-06-15 CN CN 00117186 patent/CN1115764C/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101241352B (en) * | 2007-02-09 | 2010-06-23 | 三星电子株式会社 | Apparatus and method for proportional-integral-derivative control |
| 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) |
| CN103248251A (en) * | 2013-05-17 | 2013-08-14 | 成都英格瑞德电气有限公司 | Automatic variable coefficient control method for inverter |
| CN105162343A (en) * | 2015-10-12 | 2015-12-16 | 南京工程学院 | Control method and device of photovoltaic inverter |
| CN105162343B (en) * | 2015-10-12 | 2019-01-04 | 南京工程学院 | A kind of control method and device of photovoltaic DC-to-AC converter |
| US10784717B2 (en) | 2016-05-26 | 2020-09-22 | Delta Electronics (Shanghai) Co., Ltd | Method, device, and system for controlling power supply |
| CN109066881A (en) * | 2018-09-03 | 2018-12-21 | 杭州中恒电气股份有限公司 | A kind of quick regulating cell current methods |
| CN109066881B (en) * | 2018-09-03 | 2021-10-29 | 杭州中恒电气股份有限公司 | Method for quickly adjusting battery current |
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| CN1115764C (en) | 2003-07-23 |
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