JPH0469064A - Controller of constant current power supply - Google Patents

Abstract

PURPOSE:To enable optimum adjustment by adding a signal for controlling the pulsating flow of double harmonics, a signal for zeroing the deviation by a current adjuster, and a signal for controlling the resonance of the circuit on the output side of a rectifier, and controlling the firing angle of a thyristor. CONSTITUTION:A state observer 9, to which respective actual values of the voltage V and the load current I of a low-pass filter 6 and the control signal of a rectifier 20 are input and which simulates a main circuit, outputs a third control signal alpha3* for controlling the duplicate harmonic pulsating current generated due to the unbalance of the three-phase AC power source of the rectifier 20. Moreover, a current adjuster 4 outputs a first control signal alpha1* for zeroing deviation. Furthermore, a stabilizing compensator 8 outputs a second control signal alpha2* for controlling the resonance of the circuit on the output side of the rectifier, and an adder 35 adds these three control signals and makes them a control signal alpha* for controlling the firing angle of the thyristor element of the rectifier 20. From this matter, control characteristics easy to adjust and proper can obtained.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a DC power supply using a thyristor rectifier, and particularly to a control device for a constant current power supply that controls a load current by controlling the firing angle of a thyristor element. .

[Conventional technology]

Conventionally, in this type of power supply device, a low-pass filter consisting of one or two stages of LC filters is provided after the thyristor rectifier in order to reduce ripple components included in the output voltage and current.

FIG. 16 is a circuit diagram of a conventional constant current power supply device using 12-phase rectification, its load circuit, and control device. In this figure, two three-phase voltages having a phase difference of 30 degrees from each other obtained through a rectifier transformer 1 are connected to each other by a 12-phase rectifier 2 consisting of two six-phase thyristor rectifiers 21 and 22.
Two-phase rectification, inductors 51 and 52 provided in series for each of the thyristor rectifiers 21 and 22 and their load sides are combined and a capacitor 55 is connected in parallel to form a first stage LC filter, and further in the subsequent stage. A second stage LC filter is composed of an inductor 53 connected in series and a capacitor 57 connected in parallel to the circuit on the load side. A pass filter 5 is constructed, and an inductive load 7 is connected to the low pass filter 5. Resistors 54 and 56 are connected in series to each of the capacitors 55 and 57, and these resistors 54 and 56 are connected to the capacitors 55 and 55, respectively.
57, the inductors 51, 52, 53, and the inductance of the load 7. A shunt 71 for measuring the load current I is inserted between the low-pass filter 5 and the load 7, and the actual load current ([j) is obtained.

The control device F3 includes a subtracter 31 that calculates a deviation value e as a difference signal between the current setting value 11 and the actual load current value i, a current regulator that receives this deviation value e and outputs a control signal α1;
The firing angle regulator 33 generates a firing pulse for the 12-phase rectifier 2 based on the control signal α''.

The two three-phase voltages generated by the rectifier transformer 1 are not strictly equal, and therefore, if the firing angles of the two rectifiers 2L22 are equal, there will be a difference in the DC voltage obtained by rectification. The ignition of the rectifiers 21 and 22 is set so that both DC voltages are equal, regardless of the control signal α0. The DC voltage obtained by each rectifier 21 and 22 contains pulsating currents whose fundamental harmonics are six times the frequency of the AC power supply, but after combining these, the output voltage of the 12-phase rectifier 2 is V.

The pulsating currents of the sixth harmonic component cancel each other out, and the twelfth harmonic component, which is the second harmonic acid component, becomes the main component of the pulsating flow. Therefore, the low-pass filter 5 is manufactured to reduce the pulsating flow of the 12th harmonic component or higher. There may be a 6th harmonic current flowing through the rectifier 21.22 and the inductor 51.52 due to the voltage difference of the 611th wave component occurring between the rectifier 21.22 and the rectifier 5L 52 or the rectifier transformer. 1
is suppressed by the leakage inductance. If the suppression by these is insufficient, a configuration such as providing an interphase reactor may be adopted.

[Problem to be solved by the invention]

By the way, the configuration shown in FIG. 16 has the following three problems. One of them is the capacitor 5 of the low pass filter 5.
5.57 and the inductance, a resistor 54.55 is provided for damping vibration. If these resistors 54 and 56 are not provided, it will be difficult to maintain stability when performing food hack control, and if there is a fluctuation in the input voltage of the thyristor rectifier that has a frequency component that matches or is close to the resonance frequency, that component will be There is a problem in that it is amplified and disrupts control. Therefore, as mentioned above, the resistors 54 and 56 are inserted to suppress resonance, but there is a problem that the insertion of the resistors 54 and 56 lowers the attenuation rate of the low-pass filter 5 against pulsating flow. Inductors 51, 52, 53 and capacitors 55.
In addition to the problem that the low-pass filter 5 becomes expensive due to the need to increase the capacitance of the resistor 54,
．． Resistor 54 for suppressing heating due to power consumption of 56
．． There is also the problem that the low-pass filter 5 becomes expensive due to the provision of the resistors 54 and 56, which requires cooling measures for the resistors 54 and 56.

The second problem is that when there is a three-phase imbalance in the receiving voltage of the rectifier transformer 1, the pulsating current component included in the output voltage of the 12-phase rectifier 2 contains an acid component of the second harmonic of the power supply frequency. , the above 1
Since the frequency is very low at one-sixth of that of double harmonic acid, it cannot be suppressed by low-pass filter 2, and various problems such as an increase in eddy current due to harmonics may occur in DC circuits. This means that there is.

The third rji problem is that adjustments such as optimizing the coefficients of the current regulator 3 are made in advance in order to optimize the control characteristics, but generally such adjustments are made based on the assumed inductance and resistance of the load 7. It is set based on the value of and with reference to the results of actual load tests, short circuit tests, etc. There is no problem when the load 7 is constant, but when this constant current power supply is used as a general-purpose power supply, it is not possible to optimally adjust the control characteristics by considering the load inductor and resistance value in advance. This is difficult and requires switching or adjusting control parameters each time.

This invention provides stable control without inserting a damping resistor, prevents second harmonic pulsating current components from being superimposed on the output voltage even if the AC power supply becomes three-phase unbalanced, and further improves the load. It is an object of the present invention to provide a constant current power supply control device that can be adjusted to optimize control characteristics regardless of inductance or resistance value.

[Means to solve the problem]

To achieve the above object, the present invention provides a constant current power supply control device that controls the firing angle of a thyristor element in order to control the load current supplied to the inductive load of a rectifier via a low-pass filter. , actual values as measured values of the voltage of the low-pass filter and the load current, respectively, and a control signal for controlling the firing angle of the rectifier are input, and a control signal for controlling the firing angle of the rectifier is input, simulating the main circuit and detecting the incoming voltage of the rectifier. a third control signal for suppressing pulsating second harmonics generated by the balance; a state observation device that outputs an estimated value of the voltage of the main circuit, an estimated value of the current, and an estimated value of the load current differential; and a current setting value. and a load current actual value as a difference signal and a value estimated by the state observation device are input, and the first
a current regulator that outputs a control signal; the load current differential estimated value, the estimated low-pass filter capacitor current value, and the deviation value are input; these are multiplied by a predetermined coefficient and added; the result is output to the rectifier. and a stabilizing compensator that outputs a second control signal for suppressing resonance of the circuit, and a signal obtained by adding these three control signals is used as a control signal for controlling the firing angle of the rectifier. In addition, in a constant current power supply control device that controls the firing angle of a thyristor element in order to control a load current supplied to an inductive load of a rectifier via a low pass filter, the low pass filter is actual values as measured values of the voltage and the load current, respectively, and a control signal of the rectifier are input;
a third control signal that simulates the main circuit and suppresses second harmonic pulsation caused by unbalanced voltage received by the rectifier; an estimated value of the voltage of the main circuit, an estimated value of the current, and a differential estimation of the load current; A state observation device that outputs a value, a deviation value as a difference signal between the current setting value and the actual load current value, and a signal obtained by multiplying the load current differential estimated value by a predetermined coefficient and adding the signal to the proportional-integral regulator. and a current ms generator which uses the output signal of the proportional-integral regulator as a first control signal, the load current differential estimated value, the estimated value of the capacitor current of the low-pass filter, and the deviation value. and a stabilizing compensator that multiplies and adds a predetermined coefficient and outputs the result as a second control signal for suppressing resonance of the rectifier output circuit, and a signal obtained by adding these three control signals. shall be a control signal for controlling the firing angle of the rectifier, and the firing angle of the thyristor element is controlled in order to control the load current supplied to the inductive load of the rectifier via a low-pass filter. In a control device for a constant current power supply, the actual measured values of the voltage of the low-pass filter and the load current, as well as the control signal of the rectifier, are input, simulate the main circuit, and control the unbalance of the voltage received by the rectifier. a third control signal for suppressing the second harmonic pulsating flow generated by the
Estimated voltage value, estimated current value, and load tf of the main circuit
A state observation device that outputs an estimated L-derivative value, and a deviation value as a difference signal between the current setting value and the actual load current value are input to the proportional-integral controller, and the output signal, the actual value of the load current, and the time derivative of the load current are input. a current regulator that multiplies each estimated value by a predetermined coefficient and then adds the result and outputs the result as a first control signal; It consists of a stabilizing compensator that receives deviation values, multiplies them by a predetermined coefficient, adds them, and outputs the result as a second control signal for suppressing resonance of the rectifier output circuit. The signal obtained by the addition is used as a control signal for controlling the firing angle of the rectifier, and also controls the load current supplied to the inductive load of the rectifier via a low-pass filter consisting of a two-stage LC filter. In order to do this, in a constant current tfi control device that controls the firing angle of the thyristor element, actual values as measured values of the voltage of the low-pass filter and the load current, respectively, and a control signal of the rectifier are input. a third control signal that simulates the main circuit and suppresses second harmonic pulsation caused by unbalanced voltage received by the rectifier; a voltage estimated value, current estimated value, and load current differential estimated value of the main circuit; A state observation device to output, a deviation value as a difference signal between a constant current setting value and the load current actual value, and a value estimated by the state observation device are inputted, and a first control signal is outputted to make the deviation value zero. The load current differential estimated value, the estimated value of the capacitor current of the low-pass filter, and the deviation value are inputted to the current regulator, which is multiplied by a predetermined coefficient and added, and the result is used to adjust the resonance of the rectifier output circuit. Second to suppress
and a stabilizing compensator that outputs the control signal as a control signal, and the state observation device receives the control signal and the actual WA value of the terminal voltage of each capacitor of the two LC filters,
A rectifier model that estimates the output voltage of the rectifier from the control signal, and a first-stage L
Simulating a C filter and estimating its capacitor voltage 1
It is equipped with a state observation device in the first stage and a second state observation device which receives the actual value of the capacitor voltage of the first stage LC filter and simulates the second stage LC filter to estimate the capacitor voltage. , a signal obtained by adding the first, second, and third three control signals is used as a control signal for controlling the firing angle of the rectifier, and a two-stage LC is used as the inductive load of the rectifier. In a constant current power supply control device that controls the firing angle of a thyristor element in order to control a load current supplied through a low-pass filter consisting of a filter, each of the voltage of the low-pass filter and the load current A third control signal is inputted with an actual value as a measured value and a control signal of the rectifier to simulate a main circuit and suppress a pulsating flow of second harmonics generated due to unbalance of the receiving voltage of the rectifier; a state observation device that outputs a circuit voltage estimation value, a current estimation value, and a load current differential estimation value, and a deviation value as a difference signal between a constant current setting value and the load current actual value, and a value estimated by the state observation device. a current regulator that outputs a first control signal that is input and makes the deviation value zero; and a current regulator that inputs the load current differential estimated value, the estimated value of the capacitor current of the low-pass filter, and the deviation value, and adjusts them to a predetermined value. and a stabilizing compensator that multiplies and adds coefficients and outputs the result as a second control signal for suppressing resonance of the rectifier output circuit. a rectifier model that receives the actual value of the voltage and estimates the output voltage of the rectifier from the control signal; and a first stage that receives the output signal of this rectifier model and simulates the first stage LC filter to estimate the capacitor voltage. and a second-stage condition observation device that receives the actual value of the capacitor voltage of the first-stage LC filter and simulates the second-stage LC filter and load together to estimate the load current. and a signal obtained by adding the two control signals is used as a control signal for controlling the firing angle of the rectifier,
Further, in order to control the load current supplied to the inductive load of the rectifier via the low-pass filter, in a control device using a constant current 1 as a source for controlling the firing angle of the thyristor element, the low-pass pass filter is used. The voltage, the actual value as each measured value of the load 1ivL, and the control signal of the rectifier are input to simulate the main circuit and suppress the pulsating flow of the second harmonic generated by the unbalance of the three-phase AC power source of the rectifier. A third control signal that outputs the estimated voltage value and estimated current value of the main circuit, and inputs a signal obtained by subtracting the voltage drop due to the resistance of the load from the measured load current value to a differential element, and outputs the output signal to a predetermined value. A state observation device equipped with a load current differential value calculator that calculates an estimated load current differential value by passing through a proportional element, and a deviation value as a difference signal between the current set value and the actual load current value and the load current differential The load current differential estimated value calculated by the value calculator is multiplied by a predetermined coefficient and then added, and the signal is inputted to the proportional-integral regulator, and the output signal of this proportional-integral regulator is used as the first control signal. The differential estimated value of the load current by the condition observation device, the estimated value of the capacitor current of the low-pass filter, and the deviation value are inputted, and these are multiplied by a predetermined coefficient and added, and the result is sent to the rectifier. It consists of a stabilizing compensator that outputs as a second control signal to suppress resonance of the output circuit, and a signal obtained by adding these three control signals is used as a control signal to control the firing angle of the rectifier. In addition, in order to control the load current supplied to the inductive load of the rectifier through a low-pass filter consisting of a two-stage LC filter, a control bag for a constant current power supply that controls the firing angle of the thyristor element! In,
The actual measured values of the voltage of the low-pass filter and the load current, as well as the control signal of the rectifier, are input to simulate the main circuit, and the rectifier generates a double harmonic due to the unbalance of the three-phase AC power supply. a third control signal for suppressing pulsating waves; a state observation device that outputs an estimated value of the voltage of the main circuit, an estimated value of the current, and an estimated value of the load current differential; a constant current setting value and the measured load current value; a current regulator that receives a deviation value as a difference signal between the two and a value estimated by the state observation device and outputs a first control signal that makes the deviation signal zero; and a differential estimated value of the load current by the state observation device. , the estimated value of the capacitor current of the low-pass filter, and the deviation value are input, these are multiplied by a predetermined coefficient and added, and the result is output as a second control signal for suppressing resonance of the rectifier output circuit. The state observation device receives the control signal and the actual values of the terminal voltages of the two capacitors as input, and a rectifier model that estimates the output voltage of the rectifier from the control signal, and the output signal of this rectifier model as input. a first-stage state observation device that simulates the first-stage LC filter and estimates its capacitor voltage, and a second-stage LC filter to which this first-stage capacitor voltage is input or this second-stage LC filter. and the second stage condition observation device that simulates the main circuit including the load, and the deviation value between the actual value and estimated value of the first stage capacitor voltage is input to estimate the pulsating voltage component due to unbalance of the receiving voltage. A self-excited oscillator that outputs an estimated value of the noise, and a function unit that receives the output signal of the self-excited oscillator and outputs a third control signal, and converts the output signal of the self-excited oscillator into the state of the first stage. The signal obtained by adding the three control signals is added to the input signal of the observation device, and the signal obtained by adding the three control signals is used as a control signal for controlling the firing angle of the rectifier. In a constant ttL power supply control device that controls the firing angle of a thyristor element in order to control a load current supplied through a low-pass filter consisting of an LC filter, the voltage of the low-pass filter and the load current are a third control signal in which the actual values as respective measurement values and the control signal of the rectifier are inputted to simulate the main circuit and suppress the pulsating flow of second harmonics generated due to the unbalance of the three-phase AC power supply of the rectifier; , a state observation device that outputs an estimated voltage value, an estimated current value, and an estimated load current differential value of the main circuit, and a deviation value as a difference signal between the constant current setting value and the actual load current value, and the state observation device. a current regulator that receives an estimated value from the device and outputs a first control signal that makes the deviation value zero; a differential estimated value of the load current by the state observation device; and an estimated value of the capacitor current of the low-pass filter a stabilizing compensator that receives the deviation value, multiplies these by a predetermined coefficient, adds the result, and outputs the result as a second control signal for suppressing resonance of the rectifier output circuit; is input with the control signal and the actual value of the terminal voltage of the capacitor in 2-), and a rectifier model that estimates the output voltage of the rectifier from the control signal, and the output signal of this rectifier model is input and the first stage LC filter is input. The first stage state observation device simulates and estimates the capacitor voltage, and the second stage LC filter or this second stage receives the first stage capacitor voltage.
Simulating the main circuit including the stage LC filter and load 2
A self-excitation system in which the deviation value between the actual value and the estimated value of the capacitor voltage of the first stage is input to the state observation device of the first stage, and the pulsating voltage component due to the unbalance of the receiving voltage is estimated, and this estimated value is used as the output signal. oscillator, the output signal of this self-excited oscillator is added to the input signal of the rectifier model, and a third control l
A signal obtained by adding these three control signals is used as a control signal for controlling the firing angle of the rectifier.

[Effect]

In the configuration of this invention, the actual values of the voltage and load current of the low-pass communication filter and the control signal of the rectifier are inputted, and a state observation device that simulates the main circuit detects the voltage generated by the three-phase unbalance of the receiving voltage of the rectifier. A third control signal for suppressing second harmonic pulsating current, the estimated values of the voltage and current of the main circuit, and the estimated load current differential are calculated and output, and the deviation value between the current setting value and the actual load current value is calculated and output. and outputs a first control signal for zeroing the deviation value by a current regulator to which the estimated value from the state observation device is input, and outputs the load current differential estimated value, the estimated value of the capacitor current of the low-pass filter, and the above-mentioned A stabilizing compensator to which the deviation value is input multiplies these input signals by a predetermined coefficient, adds them, and outputs the result as a second control signal that suppresses the resonance of the rectifier output side circuit, and these three control signals By using the signal obtained by adding up the rectifier as a control signal to control the firing angle of the thyristor element of the rectifier, the load current is controlled to match the current setting value, and the resonance of the rectifier output side circuit is suppressed. This also suppresses the pulsating flow of the second harmonic generated due to the unbalance of the received voltage.

Further, by configuring the current regulator described above to output a value obtained by multiplying the deviation value and the estimated load current differential value by respective predetermined coefficients and adding them together as the first control signal through the proportional-integral regulator. , it becomes possible to set the current regulator coefficients regardless of the values of the load circuit constants.

In addition, the deviation value of the above-mentioned current regulator is inputted to the proportional-integral regulator, and the output signal, the actual load current value, and the estimated load current differential value are multiplied by a predetermined coefficient and added. By configuring this to output as the first control signal, it is possible to set the coefficient of the current regulator regardless of the value of the load circuit constant, and even when the actual value of the load current is constant, the load current differential Even if an error occurs in which the estimated value does not become zero, this error component is compensated by the proportional-integral regulator and no offset occurs in the control deviation.

When the low-pass filter is composed of a two-stage LC filter, the aforementioned state observation device that simulates the main circuit is input with the control signal of the rectifier and the actual values of the terminal voltages of the two capacitors, and the control signal is a rectifier model that estimates the output voltage of the rectifier from the rectifier model, a first-stage state observation device that receives the output signal of this rectifier model, simulates the first-stage LC filter, and estimates the capacitor voltage; By constructing a second-stage state observation device that receives the input capacitor voltage and estimates the capacitor voltage by simulating the second-stage LC filter, these first and second state observation devices can be used independently. Since it can be adjusted, it becomes easy to adjust the state observation device that simulates the main circuit.

In addition, the second-stage state observation device described above is replaced by a state observation device that receives the capacitor voltage of the first stage of the low-pass filter and simulates the second-stage LC filter and the load together to estimate the load current. By configuring this, the actual value of the capacitor voltage in the second stage becomes unnecessary.

A calculator that calculates the estimated load current differential value, which is one of the input signals of the current regulator, inputs a signal obtained by subtracting the voltage difference due to the load resistance from the actual load current value A value to the differential element, and outputs the signal. By passing the signal through a predetermined proportional element to obtain the load current differential estimated value, the load current generated due to an error in the value of the coefficient that simulates the resistance component of the load of this load current differential value calculator is calculated. The error component of the differential estimated value that does not become zero even when the actual load current value is constant is corrected, and the differential estimated value of the load current constantly becomes zero when the actual load current value is constant.

The main circuit including a low-pass filter consisting of two stages of LC filters is simulated using a rectifier model and 29 state observers in the first and second stages. A self-excited oscillator that receives input of the deviation value between the estimated value and the estimated value, estimates the pulsating voltage component of the second harmonic of the power supply frequency caused by the unbalance of the received voltage, and outputs this estimated value, and the output of this self-excited oscillator. By providing a function unit that receives a signal and outputs a third control signal, and adding the output signal of the self-excited oscillator to the input signal of the first-stage state observation device, the above-mentioned pulsating flow component can be eliminated. By adding the output signal of the function generator mentioned above to the rectifier control signal as the third control signal, it is equivalent to negative feedback of the actual pulsating voltage. This makes it possible to suppress the pulsating voltage of the second harmonic of the power supply frequency included in the output voltage of the rectifier.

Furthermore, by adding the output signal of the self-excited oscillator to the input signal of the rectifier model and outputting it as the third control signal, the function generator described above can be omitted.

〔Example〕

The present invention will be explained below based on examples. FIG. 1 is a circuit diagram showing a constant current power supply and its control device according to an embodiment of the present invention. In this figure, the rectifier 20 includes the 12-phase rectifier 2 and firing angle regulator 33 shown in FIG. 16, and the rectifier transformer 1 is not shown. Also,
One of the differences between the low-pass filter 6 and the low-pass filter 5 is that the damping resistor inserted in series with the capacitors 62 and 64 is omitted, and the other is that the inductor 6
1 are combined into one. The former difference is due to the elimination of the need for a damping resistor as one of the effects of this invention, as will be described later, and the latter difference is simply a difference in display and is not a celebratory difference.

The control device 30 includes a subtracter 31 that outputs a deviation value e as a difference signal between the load current command value 11 and the load current actual value l;
A current regulator 4 which receives this deviation value e and a load current differential estimated value Sτ outputted from a state observation device 9 (described later) and outputs a first control signal α1* simulates the main circuit and outputs a third control signal. A state observation device 9 outputs estimated values including α−, and the output signal from this state observation device 9 is inputted to generate a second control signal α! It consists of a stabilizing compensator 8 that outputs an umbrella.

Note that the load current differential estimated value 5T (DS is the Laplace transform operator.As is well known, multiplying by this S is equivalent to differentiating a time function. Also, the hat symbol in ■ is the estimated value. represents something.

The status monitor 9 detects the actual load current [in addition to the capacitor 62
．． 64 terminal voltages V, , V are measured and the actual value Vl+v obtained is input.

Although the actual voltage values V□, V are shown as if they are simply drawn out from the main circuit, they are actually measured by a voltage divider inserted in parallel with the circuit.

The control signal α0 input to the rectifier 20 is the sum α of the aforementioned first, second, and third control signals α−11 and α−, and is calculated by the charger 35. Further, the control signal α1 is input to the state S* measuring instrument 9 and used as an input signal for state observation.

The generation method of the control signal α8 and its effects will be explained below, but since the basis thereof is a state observation device, the configuration of the state observation device 9 will be explained first.

FIG. 2 is a schematic block diagram of the state observation device 9.

The state observation device 9 receives the control signal α0 and operates as a rectifier model 9.
1. It consists of two state observers 92 and 93. The rectifier model 91 simulates the relationship between the control signal α0 and the output voltage v1 of the rectifier 20, and the state observer 92 simulates the relationship between the control signal α0 and the output voltage v1 of the rectifier 20. and voltage V, are input to simulate the first stage LC filter, and the state observer 93 receives voltage V! and voltage V are input to simulate the second stage LC filter.

In FIG. 1, the circuit equation of the main circuit is as follows. However, the following conversion is performed to ensure commonality with the control circuit. The rated voltage of the load 7 is vo, the rated current is 10, and the rated resistance Re defined by the ratio of these is Vo/I. year,
The voltage, current, and circuit constants are made dimensionless as follows. Note that the coefficient indexed by T is a time constant and has the dimension of time. As mentioned above, S is a Laplace transform operator, and a variable multiplied by S represents a time differential value, and a variable multiplied by 1/S represents a time integral value.

V+-V+/Vo, vz=Vz/ν. , v = V /
しL□L/Ia-1g=It/Is-,I □I /I
s.

↑+□L+/Re, Tz=C+Ro,? ! =LL/R
e, Tn=CJa, Ts=L/Re, Ks”Ro
/RS + = (-1/KsTs) i + (1/T
s) v −−−−−−−−−−−−−(3) The above equation is expressed in the form of an equation of state with the differential value on the left side. The above-mentioned state observation device 92 uses equation (1), and state observation device 93 uses equation (2).
This simulates the formula.

As is clear from the figure, since the voltage v1, which is the output voltage of the rectifier 2o, is not measured, it is estimated based on the following equation based on the control signal α. Generally, the following equation holds between the firing angle α and the output voltage v1.

V, = V, cos(α)/(1+Sr/2)
----------(4) Here, τ-1/(12F>, f i Fundamental frequency of AC power supply, vo; voltage when α-0.

In this formula, τ is the ignition delay wasted time and is the denominator ()
The inside is the first-order lag element. Therefore, the estimated value of the output voltage V of the rectifier 2o from the *rm signal α umbrella is obtained by the following equation.

? , −Elcos(α*)/(1+Sr/2)
(5) Here, el: proportional coefficient The rectifier model old in FIG. 2 is an arithmetic circuit that calculates this equation (4).

FIG. 3 is a block diagram of the state observer 92.

In this figure, the voltage estimate 9. is the actual voltage value V.

The difference signal el is taken at an addition point 920, and the difference signal el is added at an addition point 927.929 via a proportional element 922.924, but this is based on the state observer theory, and the voltage estimate 9 ．． By improving the ability to follow the actual voltage value, the accuracy of estimation of other state variables is improved.

This state observation device 92 is constructed based on the following equation.

If there is an error in the estimated voltage value Q1, which is the input signal of this condition observation device 92, the operating point of this condition observation device 92 will shift. The difference between the actual voltage v and the estimated voltage value 91 is corrected by adding that value at an addition point 926 (sometimes the difference is between the actual voltage v and the estimated voltage value 91). Estimated value of current I C+ flowing from this state observation device 92 to capacitor 62 ↑6. is obtained as T, , -T, -12.

FIG. 4 is a block diagram of the state observation device 93.

In this figure, the estimated voltage value Q is the actual value of the voltage V
The difference between them is taken at an addition point 938, and the difference signal is added at an addition point 935.937 via proportional elements 931.933, as in the case of FIG.

This state observation device 93 is constructed based on the following equation.

A current I flows from the state monitor 93 to the capacitor 64.
The estimation of cz is obtained as Tct=Tti.

Next, a method for obtaining the control signal α- will be described.

α− is defined by the following equation.

α−−(Gl+Gll/S)α, ・−−
−−−−11−−−−−−−−・−(8) α. − to the mountain + to the mountain) xlxi”i),
(9) x, wSz, -S + J The parenthesis on the right side of equation (8) represents a transfer function in the same form as the proportional-integral regulator, and as can be inferred from this, α- becomes α, becomes 0. The control signal is used to control the

Also, α. The xl included in As shown in the equation, it has the opposite sign of the differential value of the actual load current value i. α. is the coefficient of these ×1 and Xl, k3
This is defined as a weighted sum of 0, and so-called slip state control is performed so that this becomes 0.

Figure 5 shows X, and X! FIG. 2 is a phase plane diagram showing how a point (Xl+xg) changes on a phase plane where the coordinates are orthogonal to each other. In this figure, the horizontal axis is X1% @1 axis is x8, and the diagonal chain line is a straight line showing the relationship between Xl and x8 that satisfies α, -0, and its slope is -+/kg.

The initial value of xl is xl. Then, (XI
The locus of (X□) is shown by the solid line and arrow in the figure.
16. Starting from O) and α. - Move on the straight line, and then move on this straight line to reach the origin.

FIG. 6 is a diagram showing the temporal change in xl at this time. In this figure, the horizontal axis is time t, the vertical axis is ×1,
At the time of 1-0, Xl ''' Xl. decreases exponentially as L increases, and the time constant at that time is kg/.

Next, a method for determining the load current differential estimated value si included in equation (7) necessary for determining α1* will be described.

Since the left side of the above-mentioned equation (3) is the differential value of the load current i, the load current differential estimated value si can be obtained by configuring the equation (3) in an arithmetic unit. By slightly modifying equation (3), the following equation can be obtained.

ST = (v −i /Ks)/Ts −−−−−−
-m-・--------------' (10) 7th
The figure shows a load current differential value calculator 9 configured based on this formula.
4, and using the load voltage V and load current i as input signals, two proportional elements 941 and 942 and an addition point 94 are used as shown in the figure.
It consists of 3. In this load current differential value calculator 94, if there is an error in the coefficient Ks of the proportional element 941 that simulates the load resistance R, even when i is constant and its differential value is O, ST will not become O and the first control signal α -, the load current differential value calculator 9 based on the following formula
4.

T, S +Ka FIG. 8 shows a load current differential value calculator 940 constructed based on equation (8), with proportional elements 941 and 942, and addition point 9.
The points consisting of 43 are the same as in Figure 7, but the addition point is 943.
A differential filter 949 configured by applying negative feedback to the input signal of the proportional element 946 to the addition point 948 by the integral element 945 of the coefficient .

The load current differential estimate @ST is actually used as X2.In order to correct the error in calculation, it is obtained through a differential filter 949 as shown in FIG. 8, so the actual α. −
The equation for 〇 is as follows.

(16-+X++ktXt -klX++ktX+ S/(S +KJ ""0,'
, S”klX+++Sk+X+ +kii””0
−−'−−−−− (12) In this way, X,
Since it becomes a quadratic equation for When this vibration approaches the origin in Fig. 5, it vibrates on a straight line of αo''0 with the origin as the center. Since the control signal α2 can be suppressed by the coefficients f1 to f4 included in the stabilizing compensator 8, this does not pose a practical problem.The load current differential value calculator 94 or 940 is shown in FIG. Since it is installed integrally with the condition observation device 9, it is shown as being enclosed within the condition observation device 9 in FIG.

FIG. 9 is a block diagram of a state observer 95 showing another embodiment of the state observer 93 of FIG. As mentioned above, a dedicated state observation device 94 was employed to obtain the load current differential estimated value ST, but in this figure, the functions of the state observation devices 93 and 94 are combined into one state observation device 95. be able to. In this figure, components common to those in FIG. 4 are given the same reference numerals and detailed explanations are omitted.

This condition observation device 95 is one in which the load 7 is further included in the condition observation device 93 to estimate the estimated load current T fIIT. The load current differential estimated value sr is obtained by passing the input signal of the integral element 952 through the proportional element 953.

The calculation of the first control signal α- is performed by the current 31 node 4 as shown in FIG. 1 based on the above-mentioned equation (8), and FIG. 4 is a block diagram showing the device 4. FIG. In this figure, the deviation value e between the current setting value 10 and the load current actual value i is multiplied by the coefficient of the proportional element 41 to obtain the old-style α. On the other hand, the load current differential value calculator 94 of the 8th Fg mentioned above, the load current differential value calculator 940 of FIG. 9, or the state observation device 9 of FIG.
The load current differential estimated value ST determined by 5 is input, and the coefficient of the proportional element 45 is multiplied by .alpha. to determine the value of the opposite sign of the second term in the equation. These are added at the addition point 42 to obtain α. is obtained, but in order to invert the sign, the output signal of the proportional element 43 is input to the summing point 42 in the form of subtraction. α as the output signal of the summing point 42. is the proportional element 4
4 and the integral element 45, and the respective output signals are added at the summing point 45 to become α- as the output signal of the current regulator 4.

FIG. 11 is a block diagram of a current regulator 40 as another embodiment different from FIG. 10, and elements common to FIG. 1O are given the same reference numerals. This figure shows sT
When it passes through the integral element 45, it becomes a value proportional to the estimated load current value T, so this signal component is conversely replaced with the actual current WA value i. In Figure 11, the proportional element 44 is sT
Is the component a coefficient? and G, and the component passing through the integral element 45 is added to the load current actually [i] via the proportional element 48 of the product of the coefficients 8 and G, respectively, at a summing point 49. Therefore, even if there is a DC component error in the load current differential estimated value si as described above, it is steadily compensated for by integration, and even if a DC component exists, there is no offset in the control deviation. Therefore, ST as an input signal of this current 111 node 40 is not the state observer 940 of FIG. 8, but the state observer 9 of FIG.
If the ST of the output signal of the state observer 94 is used, the lead/lag element is not added, so α. - When the target value is reached through constraint control on the straight line of element 41 to proportional element 44
Alternatively, it may be inserted at the output side of the summing point 46 instead of at the input side of the integral element 45, and the effect will not change.

Next, a method for obtaining the second control signal α and the value will be explained.

FIG. 12 is a block diagram of the stabilizing compensator 8 of FIG. 1. This figure derives the following equation.

Crt skewer-fle ft ST fx (
↑+Tz)-fa (i, -i)
(13) In Figure 1, ■1~! , is capacitor 6
Since Ii-1 is the current flowing into the capacitor 64, T, -T is the estimated current value of the capacitor 62, and ↑t-i is the estimated current value of the capacitor 64. By feeding back these current estimates via α-, each capacitor 62.
This serves to suppress the flow of the current of 64. The effect of suppressing the current flowing through the capacitors 62 and 64 is the same as that of the vibration damping resistor provided in a conventional low-pass filter, and therefore, the vibration damping resistor is suppressed by feedback from the control signal α2 umbrella. Even if it is omitted, stable control characteristics that do not cause resonance can be obtained.

The third control signal α, which suppresses the pulsating flow of second harmonics caused by unbalanced power receiving voltage, is determined as follows.

It is assumed that the pulsating flow component is expressed by the following equation as VP.

v, -V, 5in (ω, t) -----
-------(14) Here, (1), peak value ω, angular frequency FIG. 13 is a block diagram showing a state observation device for determining the third control signal α, +1. In this figure, the state observer 92 is the same as that shown in FIG. The rectifier model 91 to which the control signal α0 is input generates the estimated value 9I of the output voltage v1 of the rectifier 20 as described above.
This voltage estimate 9. The pulsating flow component v1 generated by the self-excited oscillator 96 based on equation (14) is added at the addition point 98 and inputted to the state observer 92. With such a configuration, the state observation device 92 can obtain an estimated value with the pulsating flow component primed. Third control signal α-
The estimated pulsating voltage value 6, which is the output signal of the self-excited oscillator 96, is multiplied by the coefficient β of the proportional element 97 and then output.

This state observation device 92 satisfies the following equation.

+(Ke/5)(V+ 9+)
-・(15) The difference between this equation and the above-mentioned equation (5) is that the term including , is also displayed, and the term 97 is added.

FIG. 14 is a block diagram showing a self-excited oscillator 96 for calculating the estimated value of v. This self-excited oscillator 96 is configured as a state observation device that satisfies the following state equation.

V, m! w1 Here, T, -1/ω7, (I7) 1'11+ town; state variable in self-excited oscillator 96.

In equation (16), if the second term on the right side is ignored, the LC resonant circuit is expressed by a state equation, and the state variables WI+wz correspond to the voltage and current of the resonant circuit, respectively. Equation (12) is an output equation and means that the voltage generated in the resonant circuit is output. The second term on the right side is a component added to improve the followability of the estimated pulsating voltage value Q to the actual value, and is based on the general configuration of the state observer.

The output signal of this self-excited oscillator 96 is added to the output signal of the rectifier model 91 as described above, and is also input to the proportional element 97, multiplied by the coefficient β, and then the third control signal α Output as -. The coefficient β is calculated as follows.

Assuming that the sum of α− in the control variable α0 and α2 umbrella is simply α, then the following relational expression holds between the output voltage of the rectifier 20 and the control signal.

E4ctysca+rrs*)=Ea cos(α
)cos(ass) Ea 5in(α)si
n(αxe)'; Ea cos(α) Ea
5in(cr)sin(αz umbrella)=v, +v,
−・(18) Here, the rectifier 2o when the control signal which is Ed 7 firing angle is 0
Output voltage v4: DC output voltage of the rectifier 2o when the control signal is (sometimes expressed as v+) ■,; Pulsating current voltage (double harmonic pulsating current component due to unbalanced pressure of the receiving T4) From equation (1B), v2 becomes the following equation (signs are omitted), and the coefficient β is obtained by deriving the following equation. In general, α and umbrella (α) hold true.

vr -Ea 5in (cr) 5in (αs umbrella) i-+Ea α* umbrella 5in (α), °, α-piece
v, −・−−−111−−−−−−−−−
−−−−m−−−−−・に−−−−Ichimonken concave (19) E
45in(α) As mentioned above, the coefficient β is the ratio between the estimated current voltage value 锡 and α31, so 6 is used in place of vl in equation (19), and as a result, the coefficient β becomes the following equation. Become.

When the variation range of α is about 60@~90'', 1/s
Since in (α) has a small variation range of about 1.15 to 1.0, it can be approximately regarded as 1 and can be set as βζE4. The proportional element 97 in FIG. 13 has a coefficient β assuming that such an approximation holds, but if β is determined based on equation (20), the proportional element 97 can be replaced with In this case, a function element that satisfies the equation (20) is used.

FIG. 15 is a block diagram showing another embodiment different from the state observation device shown in FIG. 13. The difference from FIG. The point is that α0 is added by addition point 98. That is, the pulsating voltage vr is assumed to be generated by α-me fluctuations, and the pulsating voltage estimated value O,, which is the output signal of the self-excited oscillator 96, is added to the input signal of the rectifier model 91. be. In this way, the estimated pulsating voltage value will match α, so the output signal of the self-excited oscillator 96 can be output as is as the third control signal α, The proportional element 97 or the function unit replacing it can be omitted.

〔Effect of the invention〕

As mentioned above, the second invention uses a state observation device that receives the actual values of the voltage and load current of the low-pass filter and the control signal of the rectifier to simulate the main circuit to unbalance the three-phase AC power supply of the rectifier. A third control signal for suppressing the second harmonic pulsating flow generated by the second harmonic and the estimated values of the voltage and current of the main circuit are outputted, and the deviation value between the current setting value and the measured load current value and the above-mentioned state are outputted. outputting a first control signal that makes the deviation value zero by a current regulator to which the estimated value by the observation device is input; and a differential estimate of the load current by the state observation device;
A second control that multiplies these input signals by a predetermined coefficient and adds them by a stabilizing compensator into which the estimated value and deviation value of the capacitor current of the low-pass filter are input, and the result is used to suppress the resonance of the rectifier output side circuit. By outputting a signal and using the signal obtained by adding these three control signals as a control signal that controls the firing angle of the thyristor element of the rectifier, it is possible to control the load current so that it matches the current setting value. In addition to the conventional control function, the resonance of the rectifier output side circuit is suppressed, making it possible to omit the vibration damping resistor inserted in series with the capacitor of the low-pass filter. Since the second harmonic pulsating flow caused by unbalance is suppressed, it is necessary to consider the attenuation of such relatively low-frequency pulsating flow, so the inductor and capacitor that make up the low-pass filter are capacity can be reduced.

Furthermore, the above-mentioned current regulator is configured to control the first control I through the proportional-integral regulator by multiplying the current set value, the load current measured value deviation value, and the estimated time differential value of the load current by respective predetermined coefficients, and adding the resulting value. By configuring the output as a signal, the coefficient of the current regulator can be set regardless of the value of the load circuit constant, so there is no effect due to differences in the dynamic characteristics of the load, so this current regulator is This has the advantage that adjustment is easy and appropriate control characteristics can be obtained.

In addition, the deviation value between the load current set value and the load current actual value is inputted to the proportional integral &li1 node of the current regulator described above, and the output signal, the load current actual value, and the time derivative estimated value of the load current are respectively set to predetermined values. By multiplying by a coefficient of , adding the result, and outputting the result as the first control signal,
In addition to being able to set the coefficient of the current regulator without regard to the dynamic characteristics of the load, it is also possible to set the coefficient of the current regulator without regard to the dynamic characteristics of the load. , this error component is compensated for by the proportional-integral adjuster, resulting in the effect that no offset occurs in the control signal.

On the other hand, when the low-pass filter is composed of a two-stage LC filter, the control signal of the rectifier and the actual values of the terminal voltages of the two capacitors are input to the aforementioned state observation device that simulates the main circuit. A rectifier model that estimates the output voltage of the rectifier from the control signal, a first-stage state observation device that receives the output signal of the rectifier model, simulates the first-stage LC filter, and estimates the capacitor voltage; These first and second state observation devices are configured with a second stage state observation device that receives the first stage capacitor voltage, simulates the second stage LC filter, and estimates the capacitor voltage. Since each can be adjusted independently,
The effect is that the adjustment of the state observation device that simulates the main circuit becomes easy.

In addition, the second-stage state observation device described above receives the first-stage capacitor voltage of the low-pass filter and simulates the second-stage LC filter and load together to estimate the load current. Since the actual value of the capacitor voltage in the second stage is not required, the voltage divider for measuring the capacitor current in the second stage can be omitted, making the device simpler and cheaper. You can get the effect of

A calculator that calculates the estimated load current differential value, which is one of the input signals of the current regulator, inputs a signal obtained by subtracting the voltage drop due to the load resistance from the actual load current value to the differential element, and then outputs the output signal to a predetermined value. By having a configuration in which the load current differential estimated value is obtained by passing through the proportional element of The error component that does not become zero even when the actual load current value is constant is corrected, and the effect that the estimated load current differential value constantly becomes zero when the actual load current value is constant is obtained.

The main circuit including a low-pass filter consisting of a two-stage LC filter is simulated using a rectifier model and two state observation devices in the first and second stages.The actual capacitor voltage in the first stage is A self-excited oscillator that inputs the deviation value between the estimated value and the estimated value, estimates the laminar voltage component of the second harmonic of the power supply frequency caused by the unbalance of the received voltage, and uses this estimated value as an output signal, and this self-excited oscillator By providing a function unit that receives the output signal of the oscillator and outputs the third control signal, and adds the output signal of the self-excited oscillator to the input signal of the first stage state observation device, the above-mentioned effect can be achieved. It becomes a state observation device that simulates the main circuit including pulsating flow components, and by adding the output signal of the above-mentioned function generator to the control signal of the rectifier as the third control signal,
This is equivalent to negative feedback of the actual pulsating voltage, and the effect is that the pulsating voltage of the second harmonic of the power supply frequency included in the output voltage of the rectifier is suppressed.

Furthermore, by adding the output signal of the self-excited oscillator described above to the input signal of the rectifier model and outputting it as the third control signal, the function generator described above can be omitted. This is equivalent to negative feedback of the pulsating current voltage, and the effect is obtained that the pulsating current voltage of the second harmonic of the power supply frequency included in the output voltage of the rectifier is suppressed.

[Brief explanation of drawings]

Fig. 1 is a circuit diagram showing a constant current power supply and its control device showing an embodiment of the present invention, Fig. 2 is a block diagram of the state observation device shown in Fig. 1, and Fig. 3 is a single stage shown in Fig. 2. FIG. 4 is a block diagram of the eye condition observation device; FIG. 4 is a block diagram of the second stage condition observation device shown in FIG. 2; FIG. 5 is a block diagram of the eye condition observation device shown in FIG. Phase diagram, Figure 6 is 5th
Figure 7 is a block diagram showing the state observation device that estimates the load current differential estimated value x2, and Figure 8 is a block diagram that shows the state observer that estimates the load current differential estimated value x2. FIG. 9 is a block diagram of a second-stage state observer showing another embodiment of FIG. 4; FIG. Block diagram 1. FIG. 11 is a block diagram of a current regulator showing another embodiment of the invention, FIG. 12 is a block diagram of the stabilization compensator shown in FIG. 1, and FIG. 13 is a block diagram showing an embodiment of the invention. 14 is a block diagram of a self-excited oscillator that shows an embodiment of the present invention, and FIG. 15 is a block diagram of a state observation device that obtains the control signal of No. 3. FIG. FIG. 16, a block diagram of a state observation device for obtaining signals, is a circuit diagram showing a conventional constant current power supply and its control device. 1... Rectifier transformer, 2, 20.21.22...
・Rectifier, 3.30...Control device, 32.4.40・
...Current regulator, 35...Adder, 31...Subtractor, 5.6...Low pass filter, 51, 52.53.61.63...Inductor, 55
, 57.62.64... Capacitor, 71... Voltage divider, 7... Load, 8... Stabilization compensator, 9, 92.
93.95...State observation device, 94,940...Load current differential value calculator, 96...Self-excited oscillator, 949...
・Differential filter, 91... Rectifier model, 97...
Arithmetic unit, 922, 924.93L 933.941.9
42.951.952.953゜4L 43.44.4
7.48.81.82.83.84.961.962・
...proportional element, 923, 925. 932. 934. 945.
932. 934. 45. 963964...integral element, 926, 927.928.929.920.935.9
36.937.938943, 948.954.955
．． 42.46.49.85.98.965°966...
・Additional points, -Representative Patent Attorney Iwao Yamaguchi -Akira Ichino 20 Map 3 ¥ 4 - Country 2 VJ 5 Figure 6 f, tz diagram uit charge n ti and χ three ke 1 - noodle - f 1: Shibako [
, lshi 1, 7th sugar 20th sugar 14th

Claims (1)

[Scope of Claims] 1) A control device for a constant current power supply that controls a firing angle of a thyristor element in order to control a load current supplied to an inductive load of a rectifier via a low-pass filter, comprising: Actual values as measured values of the voltage of the pass filter and the load current, respectively, and a control signal for controlling the firing angle of the rectifier are input, and the main circuit is simulated and the voltage generated by the unbalance of the receiving voltage of the rectifier 2 is inputted. a third control signal for suppressing harmonic pulsating current; a state observation device that outputs an estimated value of the voltage of the main circuit, an estimated value of the current, and an estimated value of the load current differential; and a current setting value and the actual load current value. a current regulator that receives input of a deviation value as a difference signal between the load current and the estimated value by the state observation device and outputs a first control signal that makes the deviation value zero; and the load current differential estimated value and a low-pass filter. and a stabilizing compensator that receives the estimated value of the capacitor current and the deviation value, multiplies them by a predetermined coefficient, adds them, and outputs the result as a second control signal for suppressing resonance of the rectifier output circuit. A control device for a constant current power supply, characterized in that a signal obtained by adding these three control signals is used as a control signal for controlling the firing angle of the rectifier. 2) In a constant current power supply control device that controls the firing angle of a thyristor element in order to control a load current supplied to an inductive load of a rectifier via a low-pass filter, the voltage of the low-pass filter and the Actual values as respective measured values of the load current and the control signal of the rectifier are inputted, and a third circuit is configured to simulate the main circuit and suppress the pulsating flow of second harmonics caused by the unbalance of the receiving voltage of the rectifier. a state observation device that outputs a control signal, an estimated voltage value, an estimated current value, and an estimated load current differential value of the main circuit; a deviation value as a difference signal between a current setting value and an actual load current value; and the load current. a current regulator that inputs a signal obtained by multiplying the estimated differential value by a predetermined coefficient to a proportional-integral regulator and uses the output signal of the proportional-integral regulator as a first control signal, and the load current differential estimation; The estimated value of the capacitor current of the low-pass filter and the deviation value are input, multiplied by a predetermined coefficient and added, and the result is output as a second control signal for suppressing resonance of the rectifier output circuit. A control device for a constant current power source, characterized in that a signal obtained by adding these three control signals is used as a control signal for controlling the firing angle of the rectifier. 3) In a constant current power supply control device that controls the firing angle of a thyristor element in order to control a load current supplied to an inductive load of a rectifier via a low-pass filter, the voltage of the low-pass filter and the a third control in which actual values as respective measurement values of the load current and a control signal of the rectifier are inputted to simulate the main circuit and suppress a pulsating flow of second harmonics generated due to unbalance of the receiving voltage of the rectifier; a state observation device that outputs a signal, an estimated value of the voltage of the main circuit, an estimated value of the current, and an estimated value of the load current differential; and a proportional-integral regulator that outputs the deviation value as a difference signal between the current setting value and the actual load current value. a current regulator that inputs its output signal, the actual value of the load current, and the estimated value of the time derivative of the load current by a predetermined coefficient, adds the result, and outputs the result as a first control signal; The estimated differential value, the estimated value of the capacitor current of the low-pass filter, and the deviation value are input, multiplied by a predetermined coefficient and added, and the result is used as a second control signal for suppressing resonance of the rectifier output circuit. 1. A control device for a constant current power source, comprising: a stabilizing compensator for outputting a stabilizing compensator; and a signal obtained by adding these three control signals is used as a control signal for controlling the firing angle of the rectifier. 4) In a control device for a constant current power supply that controls the firing angle of a thyristor element in order to control a load current supplied to an inductive load of a rectifier via a low-pass filter consisting of a two-stage LC filter, the low Actual values as measured values of the voltage of the pass-pass filter and the load current, respectively, and the control signal of the rectifier are input to simulate the main circuit, and a pulsating current of the second harmonic is generated due to the unbalance of the receiving voltage of the rectifier. a third control signal for suppressing the current value, a state observation device that outputs an estimated voltage value, an estimated current value, and an estimated load current differential value of the main circuit; a current regulator that receives the deviation value and the estimated value by the state observation device and outputs a first control signal that makes the deviation value zero; and the load current differential estimated value and the estimated value of the capacitor current of the low-pass filter. and the deviation value are input, the stabilization compensator multiplies these by a predetermined coefficient, adds the result, and outputs the result as a second control signal for suppressing resonance of the rectifier output circuit, The control signal and the actual values of the terminal voltages of the capacitors of each of the two LC filters are input, and the rectifier model that estimates the output voltage of the rectifier from the control signal and the output signal of this rectifier model are input to the first stage. The first stage state observation device simulates the LC filter and estimates the capacitor voltage, and the actual value of the capacitor voltage of the first stage LC filter is input, and the second stage LC filter simulates the capacitor voltage. and a second-stage state observation device for estimating, and a signal obtained by adding the first, second, and third three control signals is used as a control signal for controlling the firing angle of the rectifier. A constant current power supply control device characterized by: 5) In a control device for a constant current power supply that controls the firing angle of a thyristor element in order to control a load current supplied to an inductive load of a rectifier via a low-pass filter consisting of a two-stage LC filter, the low Actual values as measured values of the voltage of the pass-pass filter and the load current, respectively, and the control signal of the rectifier are input to simulate the main circuit, and a pulsating current of the second harmonic is generated due to the unbalance of the receiving voltage of the rectifier. a third control signal for suppressing the current value, a state observation device that outputs an estimated voltage value, an estimated current value, and an estimated load current differential value of the main circuit; a current regulator that receives the deviation value and the estimated value by the state observation device and outputs a first control signal that makes the deviation value zero; and the load current differential estimated value and the estimated value of the capacitor current of the low-pass filter. and a stabilizing compensator which receives the deviation values, multiplies them by a predetermined coefficient, adds them, and outputs the result as a second control signal for suppressing resonance of the rectifier output circuit, and the state observation device is a rectifier model that receives the control signal and the actual values of the terminal voltages of the two capacitors and estimates the output voltage of the rectifier from the control signal, and a first-stage LC filter that receives the output signal of this rectifier model. The first-stage state observation device simulates and estimates the capacitor voltage, and the actual value of the capacitor voltage of the first-stage LC filter is input, and the second-stage LC filter and load are simulated together to estimate the load current. a second-stage state observation device for estimating the condition, and a signal obtained by adding the two control signals is used as a control signal for controlling the firing angle of the rectifier. Control device. 6) In a constant current power supply control device that controls the firing angle of a thyristor element in order to control a load current supplied to an inductive load of a rectifier via a low pass filter, the voltage of the low pass filter, the A third circuit receives the actual measured values of the load currents and the control signal of the rectifier, simulates the main circuit, and suppresses the pulsating flow of second harmonics caused by the unbalance of the three-phase AC power supply of the rectifier. control signal,
By outputting the estimated voltage value and estimated current value of the main circuit, and inputting a signal obtained by subtracting the voltage drop due to the resistance of the load from the actual load current value to a differential element, and passing the output signal through a predetermined proportional element. a state observation device equipped with a load current differential value calculator for calculating an estimated load current differential value, and a deviation value as a difference signal between a current setting value and an actual load current value and a difference value calculated by the load current differential value calculator. a current regulator that inputs a signal obtained by multiplying the load current differential estimated value by a predetermined coefficient and adding the resultant signal to a proportional-integral regulator, and uses the output signal of the proportional-integral regulator as a first control signal; The differential estimated value of the load current by the state observation device, the estimated value of the capacitor current of the low-pass filter, and the deviation value are inputted, and these are multiplied by a predetermined coefficient and added, and the result is used to suppress the resonance of the rectifier output circuit. a stabilizing compensator that outputs a second control signal, and a signal obtained by adding these three control signals is used as a control signal for controlling the firing angle of the rectifier. control device. 7) In a control device for a constant current power supply that controls the firing angle of a thyristor element in order to control a load current supplied to an inductive load of a rectifier via a low-pass filter consisting of a two-stage LC filter, the low Actual values as measured values of the voltage of the pass-pass filter and the load current, respectively, and the control signal of the rectifier are input, and the main circuit is simulated, and the second harmonic generated by the unbalance of the three-phase AC power source of the rectifier is input. a third control signal for suppressing pulsating current; a state observation device that outputs an estimated value of the voltage of the main circuit, an estimated value of the current, and an estimated value of the load current differential; a current regulator that receives a deviation value as a difference signal and a value estimated by the condition observation device and outputs a first control signal that makes the deviation signal zero; A stabilizing compensator receives the estimated value of the capacitor current of the pass-pass filter and the deviation value, multiplies them by a predetermined coefficient, adds them, and outputs the result as a second control signal for suppressing resonance of the rectifier output circuit. The state observation device receives a control signal and the actual values of the terminal voltages of the two capacitors, and a rectifier model that estimates the output voltage of the rectifier from the control signal, and a rectifier model that receives the output signal of this rectifier model. The first stage state observation device simulates the first stage LC filter and estimates its capacitor voltage, and the first stage capacitor voltage is input to the second stage LC filter or this second stage LC filter and the load. A second-stage condition observation device that simulates the main circuit including It is equipped with a self-excited oscillator that outputs an estimated value, and a function unit that receives the output signal of the self-excited oscillator and outputs a third control signal. A control device for a constant current power supply, characterized in that the signal obtained by adding the three control signals is used as a control signal for controlling the firing angle of the rectifier. 8) In a control device for a constant current power supply that controls the firing angle of a thyristor element in order to control a load current supplied to an inductive load of a rectifier via a low-pass filter consisting of a two-stage LC filter, Actual values as measured values of the voltage of the pass-pass filter and the load current, respectively, and the control signal of the rectifier are input, and the main circuit is simulated, and the second harmonic generated by the unbalance of the three-phase AC power source of the rectifier is input. a third control signal for suppressing pulsating current; a state observation device that outputs an estimated value of the voltage of the main circuit, an estimated value of the current, and an estimated value of the load current differential; a current regulator that receives a deviation value as a difference signal and a value estimated by the state observation device and outputs a first control signal that makes the deviation value zero; Stabilization in which the estimated value of the capacitor current of the pass-pass filter and the deviation value are input, these are multiplied by a predetermined coefficient and added, and the result is output as a second control signal for suppressing resonance of the rectifier output circuit. and a compensator, and the state observation device is
A rectifier model that receives a control signal and the actual values of the terminal voltages of two capacitors and estimates the output voltage of the rectifier from the control signal, and a rectifier model that receives the output signal of this rectifier model and simulates the first stage LC filter. The first stage state observation device estimates the capacitor voltage, and the second stage LC filter or the second stage L to which this first stage capacitor voltage is input.
The second-stage condition observation device simulates the main circuit including the C filter and load, and the deviation value between the actual value and estimated value of the first-stage capacitor voltage is input, and the pulsating voltage component due to the unbalance of the receiving voltage is input. The output signal of this self-excited oscillator is added to the input signal of the rectifier model and output as a third control signal, and these three control signals are A control device for a constant current power supply, characterized in that a signal obtained by adding the above is used as a control signal for controlling the firing angle of the rectifier.