CN216929865U - Voltage ripple suppression system based on repetitive control circuit - Google Patents
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Abstract
The utility model discloses a voltage ripple suppression system based on a repetitive control circuit, which comprises a first subtracter, a repetitive controller, an adder, a second subtracter, a controller module, a discrete module provided with a discrete function, a third subtracter, a modem and a sampling conditioning module, wherein the first subtracter is connected with the repetitive controller; the repetitive controller module comprises a lead compensator, an attenuation link is arranged in a feedback loop of the repetitive controller, and the output end of the repetitive controller is correspondingly connected with the other input end of the adder; the sampling conditioning module is respectively connected with an inner ring controlled by the controller module and a repetitive controller. In the utility model, the controlled object of the controller is the inner ring compensated by the controller module, thereby effectively inhibiting the low-frequency ripple.
Description
Technical Field
The present invention relates to a voltage ripple suppression system, and more particularly, to a voltage ripple suppression system based on a repetitive control circuit.
Background
The main stream direct current power supply device is composed of two parts, wherein the front stage is AC/DC and is responsible for rectification or inversion and adjusting current THD to realize friendly interaction with a power grid; the rear stage is DC/DC and is responsible for further processing the bus, and the effect of stabilizing the voltage is achieved by boosting or reducing the voltage.
An important evaluation index of the effect of the post-stage DC/DC output DC voltage is the voltage ripple, and different means are needed to suppress the voltage ripple according to the frequency spectrum of the ripple. If the voltage ripple is dominated by high frequency components, an absorption capacitor needs to be introduced at the dc output side to suppress the high frequency. If the voltage ripple is mainly low frequency, the bus fluctuation is a kind of interference source which affects the voltage ripple, and the low-pass filter composed of the inductance L and the capacitance C used in the rear stage of the resonance is high in cut-off frequency due to small inductance L and capacitance C, and it is difficult to suppress the low-frequency fluctuation from the bus by using the low-pass filter alone, so the suppression is generally performed by adopting a control algorithm.
The voltage ripple of the bus is mostly from active fluctuation of alternating current measurement, the active fluctuation is related to characteristics of both voltage and current of a power grid, and the active ripple is an integral multiple of power frequency and power frequency generally, so that some means carry out ripple suppression according to the characteristic. For example, bus disturbances are suppressed by increasing the low-frequency gain of the control loop, but this approach increases part of the loop bandwidth, and higher bandwidth can cause the dc power supply system to over-respond to some high-frequency disturbances, and accordingly, the system reduces the phase angle margin, causing transient overshoot.
To suppress a specific subharmonic, a signal keeper is required that superimposes the frequency of the disturbance on the forward path of the disturbance. The signal keeper can be selected from quasi-PR and repetitive controller, etc. quasi-PR is effective for a single harmonic, while the low-frequency ripple from the grid-side bus has more than one frequency, but the superposition of multiple PR not only brings great computational pressure, but also increases the complexity of the controller, and especially when the compensation frequency is close to the loop bandwidth, the phase angle lag brought by PR is easy to destabilize the system. The repeated control can perform the no-difference suppression on a certain frequency and integral multiple disturbance thereof, and is very suitable for processing the direct-current low-voltage side ripple.
Further, the repetitive control is divided into a series type and a parallel type. The parallel connection type needs to modify the low-frequency model of the controlled object to zero phase shift, the amplitude gain is 1, and the mathematical model is not accurate, so the adjustment precision is poor; the series type repetitive control is not restricted by the boundary, the controlled object of the series type repetitive control is an inner ring compensated by PI, the transfer function meets the requirements of zero phase shift and 0dB gain at the low frequency part, but the series type repetitive control needs a data for storing a power frequency period as an inner mold, the topological working frequency of general resonance is very high, and the storage capacity of a digital chip is highly required, so the cost is high.
In conclusion, the existing method for suppressing the output voltage ripple of the direct current power supply device has the defects of high complexity, high cost, detuning and overshooting, high dependence on a digital chip and the like.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problems that the existing method for inhibiting the output voltage ripple of the direct-current power supply device has the defects of high complexity, high cost, detuning and overshoot, high dependence degree on a digital chip and the like, and provides a voltage ripple inhibiting system based on a repetitive control circuit aiming at the defects of the prior art.
In order to solve the technical problems, the technical scheme adopted by the utility model is as follows:
a voltage ripple suppression system based on a repetitive control circuit, applied to a DC power supply device, comprising:
the system comprises a first subtracter, a repetitive controller, an adder, a second subtracter, a controller module, a discrete module with a discrete function, a third subtracter, a modem and a sampling conditioning module;
the input end of the sampling conditioning module is connected with the output end of the modem and is used for acquiring an input voltage V from the modem0And regulating the voltage to obtain a regulated voltage Vf；
The input end of the first subtracter is connected with the output end of the sampling conditioning module and is used for inputting the conditioning voltage V output by the sampling conditioning modulefAnd a given voltage value Vref(ii) a The output end of the first subtracter is respectively connected with one input end of the adder and the input end of the repetitive controller module and is used for regulating the conditioning voltage VfAnd said given voltage value VrefThe deviation voltage V obtained after subtractioneTo the input of the adder and to the input of the repetitive controller, respectively;
the repetitive controller module comprises a lead compensator, an attenuation link is arranged in a feedback loop of the repetitive controller, and the output end of the repetitive controller is correspondingly connected with the other input end of the adder;
the output end of the adder is connected with one input end of the second subtracter and is used for performing superposition operation on the output of the repetitive controller and the deviation voltage Ve to obtain a first control voltage and inputting the first control voltage into the second subtracter;
the output end of the second subtractor is connected with the controller module, and the other input end of the second subtractor is connected with the output end of the sampling conditioning module, and is used for calculating the difference between the first control voltage and the conditioning voltage to obtain a first control voltage and sending the first control voltage to the controller module;
the output end of the controller module is connected with the input end of the discrete module, the output end of the discrete module is connected with one input end connected with the third subtracter, and the third subtracter is used for transmitting a second control voltage obtained after subtraction operation is carried out on a voltage ripple connected in series with a preset direct-current voltage device into the modem;
and one output end of the modem is connected with the input end of a preset switching device and is used for inputting the second control voltage into the switching device.
The voltage ripple suppression system based on the repetitive control circuit is characterized in that the controller module comprises one of a PI controller, a P controller and a PID controller.
The voltage ripple suppression system based on the repetitive control circuit is characterized in that the repetitive controller comprises an addition operation link, a first delay link, a second delay link, an attenuation link and a lead compensator;
one input end of the addition operation link is used as the input end of the repetitive controller, the output end of the addition operation link is respectively connected with the first delay link and the second delay link, the output end of the second delay link is connected with the input end of the lead compensator, the first delay link and the attenuation link are positioned in a feedback loop of the repetitive controller, and the first delay link is connected with the other input end of the addition operation link through the attenuation link.
The voltage ripple suppression system based on the repetitive control circuit is characterized in that the repetitive controller comprises an addition operation link, a clipper, a first delay link, a second delay link, an attenuation link and a lead compensator;
one input end of the addition operation link is used as the input end of the repetitive controller, the output end of the adder is connected with the input end of the wave clipper, the output end of the wave clipper is respectively connected with the delay link and the attenuation link, the output end of the delay link is connected with the input end of the lead compensator, the attenuation link is positioned in a feedback loop of the repetitive controller, and the attenuation link is connected with the other input end of the addition operation link.
The voltage ripple suppression system based on the repetitive control circuit is characterized in that the repetitive controller is a low-frequency repetitive controller with the sampling frequency less than or equal to 10000.
The voltage ripple suppression system based on the repetitive control circuit is characterized in that the lead compensator comprises a second-order low-pass filter.
The voltage ripple suppression system based on the repetitive control circuit is characterized in that the compensation beat number of the lead compensator is 5.
The voltage ripple suppression system based on the repetitive control circuit is characterized in that the attenuation link is an attenuation link with a constant coefficient of 0.95.
The voltage ripple suppression system based on the repetitive control circuit is characterized in that the sampling conditioning module is a sampling conditioning circuit.
The voltage ripple suppression system based on the repetitive control circuit is characterized in that the lead compensator comprises a filter with the second order or more.
Has the advantages that: compared with the prior art, the utility model provides a voltage ripple suppression system based on a repetitive control circuit, which is applied to a direct-current power supply device and comprises a repetitive controller and a controller module, wherein a controlled object of the repetitive controller is an inner ring compensated by the controller module, so that low-frequency ripples are effectively suppressed. Meanwhile, in a repetitive controller in the system, a lead compensator is arranged to eliminate the phase delay of the system, so that the effective suppression of output ripples is realized. Meanwhile, the scheme does not need to add an absorption capacitor at the output side for voltage ripple suppression, and only needs to add a repetitive controller, so that the problem of output voltage ripple overshoot of the direct-current power supply device can be solved, and the hardware cost of equipment is saved.
Drawings
Fig. 1 is a first system architecture block diagram of a voltage ripple suppression system based on a repetitive control circuit according to the present invention.
Fig. 2 is a second system architecture block diagram of the repetitive control circuit based voltage ripple suppression system according to the present invention.
Fig. 3 is a simulation circuit diagram of a repetitive controller in the repetitive control circuit based voltage ripple suppression system provided by the utility model.
The meanings marked in the drawings are as follows:
a first subtractor, 10; an adder, 21; an attenuation element, 22; a first delayer, 23; a second delay 24; a compensator, 25; a clipper, 26; an adder, 30; a second subtractor, 40; a controller module, 50; a third subtractor, 70; discrete modules, 60; a modem, 80; a sampling conditioning module, 90.
Detailed Description
The present invention provides a voltage ripple suppression system based on a repetitive control circuit, and in order to make the objects, technical solutions, and effects of the present invention clearer and clearer, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
The following description of the embodiments will further explain the present invention by referring to the figures.
As shown in fig. 1 and 2, the present embodiment provides a repetitive control circuit based voltage ripple suppression system, which includes a first subtractor 10, a repetitive controller, an adder 30, a second subtractor 40, a controller module 50, a third subtractor 70, a discrete module 60 provided with a discrete function, a modem 80, and a sampling conditioning module 90.
The sample conditioning module 90 may employ a disclosed sample conditioning circuit that is capable of receiving an input voltage at a specified time and holding the voltage at an output until the next sample begins.
The input of the sampling and conditioning module 90 is connected to the output of the modem 80 for obtaining the input voltage V from the modem 800And regulating the voltage to obtain a regulated voltage Vf。
In this embodiment, the DC power supply device is used to take DC 800V as DC input and DC 200-750V as DC output. The output voltage of the modem 80 is taken as V0I.e. V in the figure0(z). Based on the nature of the sampling conditioning module 90, the power at the output can be adjustedThe pressure remains somewhat stable. For example, the sampling conditioning module 90 is provided with a sampling conditioning function H, and the sampling conditioning function H can perform normalization processing, so as to keep the output voltage stable to a certain extent. The sampling and conditioning circuit can also be split into a sampling circuit and a signal conditioning circuit, such as an a/D sampling circuit, which can extract corresponding instantaneous values at certain time intervals for a continuous signal, and this process becomes sampling. Then the sampled instantaneous value is converted into a time discrete analog signal to become a sampled signal, finally a conditioning circuit is added to calibrate the sampled signal on hardware to become a conditioning voltage V in a certain rangef。
The input end of the first subtractor 10 is connected to the output end of the sampling conditioning module 90, and is configured to input the conditioning voltage V output by the sampling conditioning module 90fAnd a given voltage value Vref(ii) a The output terminal of the first subtractor 10 is connected to an input terminal of the adder 30 and an input terminal of the repetitive controller module 50, respectively, for converting the conditioning voltage VfAnd said given voltage value VrefAfter subtraction, the result is transmitted to the input of the adder 30 and the input of the repetitive controller, respectively. Voltage set point, i.e. number of originally inputted voltage command, i.e. V in fig. 1 and 2ref(z)。
In this example, the conditioning voltage VfAnd given voltage value VrefThe voltage obtained after subtraction is named as the offset voltage VeI.e., e (z) in fig. 2.
The repetitive controller module 50 includes a lead compensator 25, and an attenuation element 22 is disposed in the repetitive controller feedback loop, and an output end of the repetitive controller is correspondingly connected to another input end of the adder 30.
An output of the adder 30 is connected to an input of the second subtractor 40 for providing the output of the repetitive controller and the offset voltage VeAnd performing superposition operation to obtain a first control voltage and inputting the first control voltage to the second subtractor 40.
The output end of the second subtractor 40 is connected to the controller module 50, and the other input end of the second subtractor 40 is connected to the output end of the sampling conditioning module 90, and is configured to calculate a difference between the first control voltage and the conditioning voltage and send the difference to the controller module 50.
The controller module 50 includes one of a plurality of controllers, such as a PID controller, a P controller, or a PI controller, for conditioning the difference between the input first control voltage and the conditioning voltage. Where P is proportional control, I is integral control, and D is derivative control. PID control is a general name of proportional-integral-derivative feedback control, and a controller applying PID control is called as a PID controller; the PI control means a control amount formed by linearly combining a proportional value and an integral value of a control deviation formed by a given value and an actual output value, and controls a controlled object, and a controller based on the PI control is called a PI controller. P control, i.e., proportional control, and a controller based on P control is called a P controller. The present example takes the controller module 50 as a PI controller as an example.
The output end of the controller module 50 is connected to the input end of the discrete module 60, the output end of the discrete module 60 is connected to one input end connected to the third subtractor 70, and the third subtractor 70 is configured to perform subtraction operation on a voltage ripple serially connected to a preset dc voltage device to obtain a second control voltage, and transmit the second control voltage to the modem 80. The discrete module can perform discrete processing on the signal, and the discrete function can be represented by 1/z, wherein z is the input voltage signal.
The controller module 50 also includes a compensator 25, and to ensure stability, the bandwidth of the compensator 25 needs to be set as small as possible, and the control error is mainly given to the repetitive controller to be offset.
In this embodiment, a common DC/DC is taken as an example, and there are three main types of control corresponding to the switching power supply, namely, Pulse Width Modulation (PWM), Pulse Frequency Modulation (PFM), and Pulse width frequency modulation (PWM-PFM), where PWM is a wide and narrow variation of frequency, and PFM is a variation of frequency. Therefore, the modem 80 in this embodiment includes the modem 80 for generating the PWM signal, and also includesIncluding a modem 80 for generating PFM, or a modem 80 for both. In the present embodiment, G for modem2(z) represents.
An output terminal of the modem 80 is connected to an input terminal of a predetermined switching device, and is configured to input the second control voltage to the switching device.
A switching device is connected behind the modem 80, and the switching device may include a switching device formed by an LLC resonant converter, or may be an IGBT (Insulated Gate Bipolar Transistor) switch in a three-phase PWM rectifier, or the like.
In the present embodiment, the controlled object of the repetitive controller is the inner loop compensated by the controller module 50, so as to effectively suppress the low-frequency ripple. Meanwhile, in the repetitive controller in the system, a lead compensator 25 is arranged to eliminate the phase delay of the system, so that the effective suppression of the output ripple is realized.
Further, the repetitive controller includes an adding element 21, a first delay element 23, a second delay element 24, an attenuation element 22, and a lead compensator 25.
One input end of the addition operation element 21 is used as an input end of the repetitive controller, an output end of the addition operation element 21 is respectively connected with a first delay element 23 and a second delay element 24, an output end of the second delay element 24 is connected with an input end of the lead compensator 25, the first delay element 23 and the attenuation element 22 are located in a feedback loop of the repetitive controller, and the first delay element 23 is connected with the other input end of the addition operation element 21 through the attenuation element 22.
In the second embodiment, as shown in fig. 2, the repetitive controller further includes a clipper 26 in addition to the addition element 21, the delay element, the attenuation element 22 and the lead compensator 25, and the clipper 26 is a functional unit composed of a clipping circuit, which can limit the amplitude of the signal output. An input of the adding element 21 remains the input of the repetitive controller, and an output of the adding element 21 is connected to an input of the clipper 26. Said chipThe output end of the wave filter 26 is connected to the delay element and the attenuation element 22, the output end of the delay element is connected to the input end of the lead compensator 25, the attenuation element 22 is located in the feedback loop of the repetitive controller, and the attenuation element 22 is connected to the other input end of the addition element 21. The addition of the clipper 26 to the repetitive controller limits the voltage at the input attenuation stage 22 and the subsequent controller block 50, thereby avoiding large deviations from entering the controller block 50, which would cause subsequent output oscillations. In this embodiment, the processed offset voltage is named as a limiting voltage Vl. The limited voltage is then fed to the attenuation stage 22 and the second delay stage, respectively.
The repetitive control is a control idea based on an internal model principle, and essentially is to implant a dynamic model of an external signal into a controller to form a high-precision feedback control system so as to achieve the purpose of tracking an input signal without static error.
If the external signal contains other frequency components, the disturbance signal appears in the same waveform in each fundamental wave period because most of the external signal is periodic and in the form of harmonic wave. Regardless of the form of the signal, the output of the repetitive controller is a cycle-by-cycle accumulation of the input signal, as long as the repetition occurs and the frequency is a multiple of the fundamental. When the input signal is attenuated to zero, the repetitive controller will still output the same signal as the previous cycle continuously cycle by cycle.
The discrete form of the internal model of the repetitive controller is
Wherein Z is-NIs a delay of N units, where N is the number of samples in a cycle, i.e., the sampling frequency.
The delay link is not an independent control link and is actually a part of the internal model, and the delay characteristic is the inherent characteristic of repeatedly controlling the internal model. The complete internal model expression is
For convenience of explanation, the internal model is transformed into the form in fig. 2, formally understood to be both the integrating and delaying components,-Non the forward path of the repetitive controller, the control signal is delayed by 1 cycle. Because the command signal and the disturbance signal are periodic, the control signal has advance relative to the next period. In this embodiment, in order to ensure that the chip has enough control to store the internal die, the sampling frequency of the repetitive controller is less than or equal to 10,000.
The lead compensator 25 is determined for the object into which the repetitive controller output signal enters, i.e., the controller module 50 of the present embodiment. The lead compensator 25 includes a low-pass filter of second order or more. In the present embodiment, the lead compensator 25 includes a phase compensation element, an amplitude compensation element, and a filter, which are connected in sequence. The low-pass filter is a second-order or more filter. As shown in fig. 3, in a lead compensator 25, a phase compensation element and an amplitude compensation element are connected in series in the lead compensator 25, and a filter is connected in parallel with the phase compensation element and the amplitude compensation element.
Taking the controller module 50 as a PI controller as an example, a PI inner loop formed by the PI controller has a phase angle lag in the middle and high frequency bands, and meanwhile, the repetitive controller adopted in the embodiment is frequency division control, the control period is low, and a lag phase angle exists, so the lead compensator 25 with a lead beat number of 5 is adopted in the embodiment to offset the phase angle lag of the PI inner loop in the middle and high frequency bands and compensate the lag phase angle caused by frequency division.
In fig. 2, q (z) is the attenuation corresponding to the attenuation element 22 added to the feedback of the repetitive controller. The attenuation element 22 is typically a constant or low pass filter less than 1. The attenuation element 22 adopted in this embodiment is a constant attenuation element 22 with a constant coefficient less than 1, and the preferred constant coefficient is 0.95. As shown in fig. 3, when N is 600, the first delay element 23 is Z-600The first delay element 23 is connected to the attenuation element 22 with a coefficient of 0.95.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A voltage ripple suppression system based on a repetitive control circuit is applied to a direct-current power supply device, and is characterized by comprising: the system comprises a first subtracter, a repetitive controller, an adder, a second subtracter, a controller module, a discrete module provided with a discrete function, a third subtracter, a modem and a sampling conditioning module;
the input end of the sampling conditioning module is connected with the output end of the modem and is used for acquiring an input voltage V from the modem0And regulating the voltage to obtain a regulated voltage Vf；
The input end of the first subtracter is connected with the output end of the sampling conditioning module and is used for inputting the conditioning voltage V output by the sampling conditioning modulefAnd a given voltage value Vref(ii) a The output end of the first subtracter is respectively connected with one input end of the adder and the input end of the repetitive controller module and is used for regulating the conditioning voltage VfAnd said given voltage value VrefThe deviation voltage V obtained after subtractioneTo the input of the adder and to the input of the repetitive controller, respectively;
the repetitive controller module comprises a lead compensator, an attenuation link is arranged in a feedback loop of the repetitive controller, and the output end of the repetitive controller is correspondingly connected with the other input end of the adder;
the output of the adder is connected to an input of the second subtractor for providing the output of the repetitive controller and the offset voltage VePerforming superposition operation to obtain a first control voltage and inputting the first control voltage into the second subtractor;
the output end of the second subtractor is connected with the controller module, and the other input end of the second subtractor is connected with the output end of the sampling conditioning module, and is used for calculating the difference between the first control voltage and the conditioning voltage to obtain a first control voltage and sending the first control voltage to the controller module;
the output end of the controller module is connected with the input end of the discrete module, the output end of the discrete module is connected with one input end connected with the third subtracter, and the third subtracter is used for carrying out subtraction operation on voltage ripples serially connected with a preset direct-current voltage device to obtain second control voltage and then transmitting the second control voltage to the modem;
and one output end of the modem is connected with the input end of a preset switching device and is used for inputting the second control voltage into the switching device.
2. The repetitive control circuit based voltage ripple suppression system of claim 1, wherein the controller module comprises one of a PI controller, a P controller, and a PID controller.
3. The repetitive control circuit based voltage ripple suppression system of claim 1, wherein the repetitive controller comprises an addition element, a first delay element, a second delay element, an attenuation element, and a lead compensator;
one input end of the addition operation link is used as the input end of the repetitive controller, the output end of the addition operation link is respectively connected with the first delay link and the second delay link, the output end of the second delay link is connected with the input end of the lead compensator, the first delay link and the attenuation link are positioned in a feedback loop of the repetitive controller, and the first delay link is connected with the other input end of the addition operation link through the attenuation link.
4. The repetitive control circuit based voltage ripple suppression system of claim 1, wherein the repetitive controller comprises an addition element, a clipper, a first delay element, a second delay element, an attenuation element, and a lead compensator;
one input end of the addition operation link is used as the input end of the repetitive controller, the output end of the adder is connected with the input end of the wave clipper, the output end of the wave clipper is respectively connected with the delay link and the attenuation link, the output end of the delay link is connected with the input end of the lead compensator, the attenuation link is positioned in a feedback loop of the repetitive controller, and the attenuation link is connected with the other input end of the addition operation link.
5. The repetitive control circuit based voltage ripple suppression system according to any one of claims 1-3, wherein the repetitive controller is a low frequency repetitive controller with a sampling frequency less than or equal to 10000.
6. The repetitive control circuit based voltage ripple suppression system of any one of claims 1-3, wherein the lead compensator comprises a second order low pass filter.
7. The repetitive control circuit based voltage ripple suppression system of claim 6, wherein the leading compensator has a compensation beat number of 5.
8. The repetitive control circuit based voltage ripple suppression system according to any one of claims 1 to 3, wherein the attenuation element is an attenuation element with a constant coefficient of 0.95.
9. The repetitive control circuit based voltage ripple suppression system of claim 1, wherein the sampling conditioning module is a sampling conditioning circuit.
10. The repetitive control circuit based voltage ripple suppression system of claim 1, wherein the lead compensator comprises a filter of second or more order.
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