CN1758520A - Inverter of instantaneous voltage PID analogue controlled - Google Patents
Inverter of instantaneous voltage PID analogue controlled Download PDFInfo
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- CN1758520A CN1758520A CNA2005100197114A CN200510019711A CN1758520A CN 1758520 A CN1758520 A CN 1758520A CN A2005100197114 A CNA2005100197114 A CN A2005100197114A CN 200510019711 A CN200510019711 A CN 200510019711A CN 1758520 A CN1758520 A CN 1758520A
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Abstract
This invention discloses an inverse power supply for analog-controlling instantaneous voltages, in which, PID controller output end is connected with the input of the inverse supply, the output of which is connected with the input of the voltage sensor and the load, its output and a reference volume are connected with the negative and positive input of a subtracter, the output of which is connected with the input of the PID controller and the inverse supply is connected with the DC supply, which has the advantages of quick dynamic response, low rate of general harmonic aberration and accurate stability under non-linear load.
Description
Technical field
The present invention relates to a kind of power conversion circuit, particularly a kind of inverter of simulating control.
Background technology
Along with development of science and technology, the raising of the level of informatization, important department, power consumption equipment increase day by day to the requirement of power supply power supply quality on the one hand, the continuous increase of a large amount of uses of power electronic equipment, nonlinear load makes that the harmonic pollution of electrical network is very serious on the other hand, has formed distinct imbalance between supply and demand.For this reason, the research of High Performance PWM inverter more and more receives publicity in recent years.
The instant voltage PID control mode have algorithm simple, be easy to realize, robustness is good and characteristics such as reliability height, early stage inverter adopts monocycle PID analog controller to regulate, its shortcoming is: because this design of Controller, use not good, dynamic performance is particularly nonlinear load the time, and is unsatisfactory; Because PID control can't realize the floating of offset of sinusoidal instruction and follow the tracks of, for the system that has relatively high expectations, can't accomplish to satisfy the dynamic characteristic and the stable state accuracy of system requirements, so inverter system is often set up outer shroud average feedback to guarantee the stable state accuracy of system.The not really desirable reason of inverter monocycle PID control is: the unloaded damping of inverter is little on the one hand, and open loop operation vibration is violent, and convergence rate is slow, and the controlling object characteristic is abominable, and loading condition is complicated and changeable; Each parameter of PID controller is not set up direct quantitative relationship with the control system performance index on the other hand, do not find the optimization control parameter value that adapts to various load running situations, thereby the PID controller can not show good regulating action.
For this reason, many documents propose various controlling schemes, for example, 1. adopt the double circle controling mode of outer voltage, current inner loop, improve the inverter dynamic property, make the output performance of inverter obtain bigger improvement by current inner loop, the deficiency of this pair closed-loop control mainly is: current inner loop is for suppressing the nonlinear load disturbance, must possess sufficiently high bandwidth, could obtain satisfied performance, this has strengthened the difficulty that controller is realized.2. adopt PID control to add the compound control mode that repeats to control, utilize the dynamic response of interior ring PID control improvement inverter, utilize outer shroud to repeat to control the stable state accuracy that improves inverter, this compound control mode algorithm complexity, thereby realize difficulty.These control modes all make system configuration become complicated, and cost is higher.
Summary of the invention
The objective of the invention is to overcome above-mentioned the deficiencies in the prior art part, a kind of inverter of instant voltage PID simulation control is provided, this inverter dynamic response fast, steadily, the total percent harmonic distortion of output voltage (THD) is low under the nonlinear load situation, surpass under 3 the situation at specified nonlinear load, load current crest factor, the total percent harmonic distortion of output voltage (THD) is also lower, the stable state accuracy height, and simple in structure, cost is lower.
For achieving the above object, the technical solution used in the present invention is: the output of inverter joins with the input of voltage sensor and load, the output of voltage sensor, reference quantity are joined with negative input end, the positive input terminal of subtracter respectively, inverter connects DC power supply, between subtracter and inverter, be connected to the instant voltage PID controller, inverter implemented control by the instant voltage PID controller; The structure of instant voltage PID controller is, the input of differential operation circuit, scale operation circuit, integral operation circuit and the output of subtracter join, the output of differential operation circuit, scale operation circuit, integral operation circuit joins the output termination inverter of adder with three inputs of adder respectively.
For achieving the above object, another technical solution used in the present invention is: the output of inverter joins with the input of voltage sensor and load, the output of voltage sensor, reference quantity are joined with negative input end, the positive input terminal of subtracter respectively, inverter connects DC power supply, between subtracter and inverter, be connected to the instant voltage PID controller, inverter implemented control by the instant voltage PID controller; The structure of instant voltage PID controller is, the input of proportional integral computing circuit, proportion differential computing circuit and the output of subtracter join, the output of proportional integral computing circuit, proportion differential computing circuit joins the output termination inverter of adder with two inputs of adder respectively.
The present invention has the following advantages compared to existing technology:
(1) under the idle condition, it is short that the settling time of waveform is followed the tracks of in the inverter closed-loop control system dynamic instruction that is made of instantaneous voltage PTD controller and inverter, and overshoot is little.
When (2) load changing reached rated power, dynamic transition process was no more than 2ms, and the output voltage rate of change is no more than 10%, and workload-adaptability strengthens.
(3) surpass under 3 the situation at specified nonlinear load, load current crest factor, the total percent harmonic distortion of output voltage (THD) is also lower, for example, and in electric current crest factor=3.14 o'clock, THD=1.23% shows the wave distortion that nonlinear load is caused and has stronger inhibition ability.
(4) the present invention is in the design to inverter PID controller Control Parameter, adopt the POLE PLACEMENT USING method, the selection of this instant voltage PID controller parameter performance index direct and closed-loop system have been set up quantitative relationship, it is the coordinative role of proportion of utilization, differential and integral control parameter, both improve the dynamic property of inverter to greatest extent, and also can guarantee the steady-state adjustment precision of inverter simultaneously; And whole power-supply system has stronger robustness, under various load disturbance situation, the good interchange stabilized power supply of equal energy output quality, whole inverter system changes insensitive to inverter parameter, instant voltage PID controller parameter, and the system responses performance is stable.
(5) under the various loading conditions from the zero load to the nominal load, all within 0.7%, steady-state error reduces the precision of voltage regulation greatly.
(6) circuit structure of the present invention is simple, and cost is low, is easy to realize.
Description of drawings
Fig. 1 is the structural representation of the inverter of instant voltage PID simulation control of the present invention.
Fig. 2 is the structural representation of a kind of embodiment of instant voltage PID controller among Fig. 1.
Fig. 3 is differential operation circuit figure among Fig. 2.
Fig. 4 is an integral operation circuit diagram among Fig. 2.
Fig. 5 is the schematic diagram of Fig. 1.
Fig. 6 is the equivalent schematic diagram of Fig. 5.
Fig. 7 is the structural representation of the another kind of embodiment of instant voltage PID controller among Fig. 1.
Fig. 8 is proportional integral computing circuit figure among Fig. 7.
Fig. 9 is proportion differential computing circuit figure among Fig. 7.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
By Fig. 1, shown in Figure 2, a kind of structure of the inverter of instant voltage PID simulation control of the present invention is, the input and the load of the output of inverter 2 and voltage sensor 4 are joined, the output of voltage sensor 4, reference quantity 5 are joined with negative input end, the positive input terminal of subtracter 7 respectively, inverter 2 connects DC power supply, between subtracter 7 and inverter 2, be connected to instant voltage PID controller 1, implement control by 1 pair of inverter of instant voltage PID controller 2; The structure of instant voltage PID controller 1 is, the input of differential operation circuit 8, scale operation circuit 9, integral operation circuit 10 and the output of subtracter 7 join, the output of differential operation circuit 8, scale operation circuit 9, integral operation circuit 10 joins the output termination inverter 2 of adder 11 with three inputs of adder 11 respectively.
Instant voltage PID controller 1 constitutes an inverter control system with inverter 2, the instantaneous voltage u of inverter 2 outputs
0Feed back to the negative input end of subtracter 7 through overvoltage sensor 4, with reference quantity u
rAfter 5 comparisons, implement control by 1 pair of inverter of instant voltage PID controller 2.
The error signal u that 8 pairs of subtracters 7 of differential operation circuit obtain
eDifferentiate, and the energy filtering is by the High-frequency Interference of pure differential introducing; The error signal u that 9 pairs of subtracters 7 of scale operation circuit obtain
eCarry out scale operation; The error signal u that 10 pairs of subtracters 7 of integral operation circuit obtain
eCarry out integral operation, and the saturation problem that can avoid pure integration to cause.
The error signal u that subtracter 7 obtains
eAfter the corresponding computing through differential operation circuit 8, scale operation circuit 9, integral operation circuit 10, by the output u of adder 11 with differential operation circuit 8
1d, scale operation circuit 9 output u
1p, integral operation circuit 10 output u
1iSynthesize control voltage u
1, the instantaneous voltage u of 1 pair of inverter of instant voltage PID controller, 2 outputs
0Regulate.
Inverter 2, voltage sensor 4, subtracter 7 can be selected common inverter, voltage sensor, subtracter for use; Scale operation circuit 9 can adopt common scale operation circuit, and adder 11 can adopt common adder.
By shown in Figure 3, the structure of differential operation circuit 8 is among Fig. 2, one end of capacitor C 1 and the output of subtracter 7 join, the end of oppisite phase of the other end of capacitor C 1 and operational amplifier A 1 joins, one end of resistance R 1, capacitor C 2 and the end of oppisite phase of operational amplifier A 1 join, the output of the other end of resistance R 1, capacitor C 2 and operational amplifier A 1 joins, an input of the output termination adder 11 of operational amplifier A 1, the in-phase end ground connection of operational amplifier A 1.The High-frequency Interference that this structure of differential operation circuit 8 can avoid pure differential to introduce.
By shown in Figure 4, the structure of integral operation circuit 10 is among Fig. 2, one end of resistance R 2 and the output of subtracter 7 join, the end of oppisite phase of the other end of resistance R 2 and operational amplifier A 2 joins, one end of resistance R 3, capacitor C 3 and the end of oppisite phase of operational amplifier A 2 join, the output of the other end of resistance R 3, capacitor C 3 and operational amplifier A 2 joins, another input of the output termination adder 11 of operational amplifier A 2, the in-phase end ground connection of operational amplifier A 2.The saturation problem that this structure of integral operation circuit 10 can avoid pure integration to cause.
Fig. 5, Fig. 6 have shown 1 pair of inverter of instant voltage PID controller, 2 output voltage u
0The principle of regulating.
Instant voltage PID controller 1 Control Parameter (proportionality coefficient k
p, differential coefficient k
d, integral coefficient k
i) design adopt the POLE PLACEMENT USING method to determine according to Fig. 6.Show that by Fig. 6 this is with inverter 2 output voltage u
0And rate of change, integration amount are as state variable, with proportionality coefficient k
p, differential coefficient k
d, integral coefficient k
iThe STATE FEEDBACK CONTROL system that forms the state feedback gain matrix.
From Fig. 6 as seen, inverter 2 output voltage u
oDifferential and the capacitance current in the inverter 2 proportional, can be along with the variation of load disturbance transient change, POLE PLACEMENT USING PID controller comprises the feedback information of load disturbance, thereby has stronger load disturbance and suppress ability.Based on the PID control of POLE PLACEMENT USING, be in essence with inverter 2 output voltage u
0And rate of change, integration amount be as the state feedback closed-loop control of state variable, and be a kind ofly can improve the STATE FEEDBACK CONTROL that dynamic characteristic can be taken into account the steady-error coefficient performance again, wherein differential coefficient k
d, proportionality coefficient k
pMain effect be exactly to improve dynamic response, integral coefficient k by the damping and the frequency of oscillation that change inverter 2
iThen improve the stable state accuracy of inverter 2.
In differential operation circuit 8, resistance R
1, capacitor C
1And C
2Selection satisfy following relation: differential coefficient k
d=C
1* R
1, R
1* C
2The switch periods of＜inverter; In integral operation circuit 10, resistance R
2And R
3, capacitor C
3Selection satisfy following relation: integral coefficient k
i=1/ (R
2* C
3), R
3* C
3＞20ms.
This POLE PLACEMENT USING designs, and makes the proportionality coefficient k of instant voltage PID controller 1
p, differential coefficient k
d, integral coefficient k
iThree parameters form organic whole, inverter 2 is implemented control, thereby can obtain high performance PWM inverter.
By Fig. 1, shown in Figure 7, the another kind of structure of the inverter of instant voltage PID simulation control of the present invention is, the input and the load of the output of inverter 2 and voltage sensor 4 are joined, the output of voltage sensor 4, reference quantity 5 are joined with negative input end, the positive input terminal of subtracter 7 respectively, inverter 2 connects DC power supply, between subtracter 7 and inverter 2, be connected to instant voltage PID controller 1, implement control by 1 pair of inverter of instant voltage PID controller 2; The structure of instant voltage PID controller 1 is, the output of the input of proportional integral computing circuit 12, proportion differential computing circuit 13 and subtracter 7 joins, the output of proportional integral computing circuit 12, proportion differential computing circuit 13 joins the output termination inverter 2 of adder 14 with two inputs of adder 14 respectively.
The error signal u that 12 pairs of subtracters 7 of proportional integral computing circuit obtain
eCarry out the proportional integral computing, and the saturation problem that can avoid pure integration to cause.The error signal u that 13 pairs of subtracters 7 of proportion differential computing circuit obtain
eCarry out the proportion differential computing, and the energy filtering is by the High-frequency Interference of pure differential introducing.
The error signal u that subtracter 7 obtains
eAfter the corresponding computing through proportional integral computing circuit 12, proportion differential computing circuit 13, by the output u of adder 14 with proportional integral computing circuit 12
11, proportion differential computing circuit 13 output u
12Synthesize control voltage u
1, the output voltage u of 1 pair of inverter 2 of instant voltage PID controller
0Regulate.
Inverter 2, voltage sensor 4, subtracter 7 can be selected common inverter, voltage sensor, subtracter for use; Adder 14 can be selected common adder for use.
By shown in Figure 8, the structure of proportional integral computing circuit 12 is among Fig. 7, one end of resistance R 4 and the output of subtracter 7 join, one end of the other end of resistance R 4, resistance R 5, capacitor C 4 and the end of oppisite phase of operational amplifier A 3 join, the other end of resistance R 5, capacitor C 4 joins by the output of resistance R 6 with operational amplifier A 3, an input of the output termination adder 14 of operational amplifier A 3, the in-phase end ground connection of operational amplifier A 3.The saturation problem that this structure of proportional integral computing circuit 12 can avoid pure integration to cause.
By shown in Figure 9, the structure of proportion differential computing circuit 13 is among Fig. 7, one end of capacitor C 5 and the output of subtracter 7 join, the other end of capacitor C 5 joins by the end of oppisite phase of resistance R 7 with operational amplifier A 4, one end of resistance R 8 and the end of oppisite phase of operational amplifier A 4 join, one end of the other end of resistance R 8 and resistance R 9 joins, the other end of resistance R 9 joins by the output of capacitor C 6 with operational amplifier A 4, another input of the output termination adder 14 of operational amplifier A 4, the in-phase end ground connection of operational amplifier A 4.The High-frequency Interference that this structure energy filtering of proportion differential computing circuit 13 is introduced by pure differential.
Operational amplifier A 3, operational amplifier A 4 select for use commercially available general operational amplifier to get final product, as TL084, and LM324 etc.
Instant voltage PID controller 1 Control Parameter (proportionality coefficient k
p, differential coefficient k
d, integral coefficient k
i) design adopt the POLE PLACEMENT USING method to determine according to Fig. 6.
In proportional integral computing circuit 12, resistance R
4, R
5, R
6And capacitor C
4Selection satisfy following relation: integral coefficient k
i=1/ (R
4* C
4), R
5* C
4＞20ms, proportionality coefficient k
P1=R
6/ R
4In proportion differential computing circuit 13, resistance R
7, R
8, R
9And capacitor C
5, C
6Selection satisfy following relation: differential coefficient k
d=R
8* C
5, R
7* C
5The switch periods of＜inverter, R
7* C
5=R
9* C
6, proportionality coefficient k
P2=C
5/ C
6In proportional integral computing circuit 12, proportion differential computing circuit 13, satisfy proportionality coefficient k
p=k
P1+ k
P2
Component parameters in Fig. 8, Fig. 9 circuit is selected by the POLE PLACEMENT USING method for designing, can make the proportionality coefficient k of instant voltage PID controller 1
p, differential coefficient k
d, integral coefficient k
iThree parameters form organic whole, inverter 2 is implemented control, thereby can obtain high performance PWM inverter.
Claims (6)
1. an instant voltage PID is simulated the inverter of controlling, the output of inverter joins with the input of voltage sensor and load, the output of voltage sensor, reference quantity are joined with negative input end, the positive input terminal of subtracter respectively, and inverter connects DC power supply, it is characterized in that:
Between subtracter and inverter, be connected to the instant voltage PID controller, inverter implemented control by the instant voltage PID controller;
The structure of instant voltage PID controller is, the input of differential operation circuit, scale operation circuit, integral operation circuit and the output of subtracter join, the output of differential operation circuit, scale operation circuit, integral operation circuit joins the output termination inverter of adder with three inputs of adder respectively.
2. the inverter of instant voltage PID simulation control according to claim 1 is characterized in that:
The structure of differential operation circuit is, one end of capacitor C 1 and the output of subtracter join, the other end of capacitor C 1 and operational amplifier A 1 end of oppisite phase join, one end of resistance R 1, capacitor C 2 and the end of oppisite phase of operational amplifier A 1 join, the output of the other end of resistance R 1, capacitor C 2 and operational amplifier A 1 joins, an input of the output termination adder of operational amplifier A 1, the in-phase end ground connection of operational amplifier A 1;
The structure of integral operation circuit is, one end of resistance R 2 and the output of subtracter join, the end of oppisite phase of the other end of resistance R 2 and operational amplifier A 2 joins, one end of resistance R 3, capacitor C 3 and the end of oppisite phase of operational amplifier A 2 join, the output of the other end of resistance R 3, capacitor C 3 and operational amplifier A 2 joins, another input of the output termination adder of operational amplifier A 2, the in-phase end ground connection of operational amplifier A 2.
3. the inverter of instant voltage PID simulation control according to claim 2 is characterized in that: in differential operation circuit, and resistance R
1, capacitor C
1And C
2Selection satisfy following relation: differential coefficient k
d=C
1* R
1, R
1* C
2The switch periods of＜inverter; In the integral operation circuit, resistance R
2And R
3, capacitor C
3Selection satisfy following relation: integral coefficient k
i=1/ (R
2* C
3), R
3* C
3＞20ms.
4. an instant voltage PID is simulated the inverter of controlling, the output of inverter joins with the input of voltage sensor and load, the output of voltage sensor, reference quantity are joined with negative input end, the positive input terminal of subtracter respectively, and inverter connects DC power supply, it is characterized in that:
Between subtracter and inverter, be connected to the instant voltage PID controller, inverter implemented control by the instant voltage PID controller;
The structure of instant voltage PID controller is, the input of proportional integral computing circuit, proportion differential computing circuit and the output of subtracter join, the output of proportional integral computing circuit, proportion differential computing circuit joins the output termination inverter of adder with two inputs of adder respectively.
5. the inverter of instant voltage PID simulation control according to claim 4 is characterized in that:
The structure of proportional integral computing circuit is, one end of resistance R 4 and the output of subtracter join, one end of the other end of resistance R 4, resistance R 5, capacitor C 4 and the end of oppisite phase of operational amplifier A 3 join, the other end of resistance R 5, capacitor C 4 joins by the output of resistance R 6 with operational amplifier A 3, an input of the output termination adder of operational amplifier A 3, the in-phase end ground connection of operational amplifier A 3;
The structure of proportion differential computing circuit is, one end of capacitor C 5 and the output of subtracter join, the other end of capacitor C 5 joins by the end of oppisite phase of resistance R 7 with operational amplifier A 4, one end of resistance R 8 and the end of oppisite phase of operational amplifier A 4 join, one end of the other end of resistance R 8 and resistance R 9 joins, the other end of resistance R 9 joins by the output of capacitor C 6 with operational amplifier A 4, another input of the output termination adder of operational amplifier A 4, the in-phase end ground connection of operational amplifier A 4.
6. the inverter of instant voltage PID simulation control according to claim 5 is characterized in that: in the proportional integral computing circuit, and resistance R
4, R
5, R
6And capacitor C
4Selection satisfy following relation: integral coefficient k
i=1/ (R
4* C
4), R
5* C
4＞20ms, proportionality coefficient k
P1=R
6/ R
4In the proportion differential computing circuit, resistance R
7, R
8, R
9And capacitor C
5, C
6Selection satisfy following relation: differential coefficient k
d=R
8* C
5, R
7* C
5The switch periods of＜inverter, R
7* C
5=R
9* C
6, proportionality coefficient k
P2=C
5/ C
6In proportional integral computing circuit, proportion differential computing circuit, satisfy proportionality coefficient k
p=k
P1+ k
P2
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|---|---|---|---|
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|---|---|---|---|
| CNB2005100197114A CN100384073C (en) | 2005-10-31 | 2005-10-31 | Inverter of instantaneous voltage PID analogue controlled |
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