CN101183268A - Dynamic recovery device control system based on voltage self anti-interference control - Google Patents
Dynamic recovery device control system based on voltage self anti-interference control Download PDFInfo
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- CN101183268A CN101183268A CNA2007101503883A CN200710150388A CN101183268A CN 101183268 A CN101183268 A CN 101183268A CN A2007101503883 A CNA2007101503883 A CN A2007101503883A CN 200710150388 A CN200710150388 A CN 200710150388A CN 101183268 A CN101183268 A CN 101183268A
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Abstract
The invention relates to a control system for dynamic voltage restorers based on active disturbance rejection control, which is characterized in comprising a voltage measuring and comparing circuit, an active disturbance rejection controller, a power drive circuit, a power switch circuit and a coupling transformer. The invention has the advantages that: first, active disturbance rejection control technique is adopted, so when supply voltage drops, the sharp drop of the supply voltage can be rapidly and effectively compensated, and the load terminal voltage almost remains unchanged; second, the system eliminates steady state errors and transient errors in a cycle, the reaction rate is fast, and the disturbance rejection ability is strong; third, the complicated control process is simplified, only the given input and the given output of the system need to be known, and the realization of the engineering is facilitated; fourth, the invention has extremely strong adaptability and robustness to load change, meanwhile the selection of controller parameter has nothing to do with system internal parameters and the selection can be made in a large range, so the invention has very good industrialization prospect.
Description
(1) technical field:
The invention belongs to the electric system electric and electronic technical field, is a kind of dynamic electric voltage recovery device control system based on Active Disturbance Rejection Control.
(2) background technology:
(Dynamic Voltage Restorer DVR) is a kind of voltage compensating device between system power supply and the important load that is serially connected with to dynamic electric voltage recovery device.When system's generation electric voltage dropping, DVR moment puts into operation, the compensating voltage source that is equivalent to connect can return to normal value with load side voltage in the very short time (several millisecond), be acknowledged as most economical, the effective device of present solution electric voltage dropping problem.Along with the raising of user to the quality of voltage requirement, traditional dynamic electric voltage recovery device control system is all can't satisfy the compensation requirement on control rate or the control accuracy, and there is following problem mostly: 1, by detection system Control of Voltage trigger pulse, dc capacitor voltage descends when having ignored compensation, output bucking voltage precision is low, poor stability; Even 2 add the dc capacitor voltage FEEDBACK CONTROL, after occurring, error needs to go to eliminate error with several cycles, and control accuracy and speed are subjected to very big influence; 3, hardware circuit complexity, debug difficulties, poor anti jamming capability and have shortcomings such as temperature drift.
(3) summary of the invention
The object of the present invention is to provide a kind of dynamic electric voltage recovery device control system based on Active Disturbance Rejection Control, it is in conjunction with advanced person's Auto Disturbances Rejection Control Technique, can overcome the shortcoming of above-mentioned traditional control system preferably, be the control system that a kind of response speed is fast, control accuracy is high, robustness is good.
Technical scheme of the present invention: a kind of dynamic electric voltage recovery device control system based on Active Disturbance Rejection Control,
It is characterized in that it is to be made of voltage detecting and comparator circuit, single-phase automatic disturbance rejection controller, power driving circuit, power switch circuit and coupling transformer; The input end connected system supply voltage of said voltage detecting and comparator circuit and dc energy storage capacitance voltage, export comparison signal after treatment and give automatic disturbance rejection controller, the output signal access power driving circuit of automatic disturbance rejection controller, the conducting of output trigger pulse power controlling on-off circuit after power driving circuit amplifies, thereby export a bucking voltage, kept the stable of load side voltage afterwards through the coupling transformer transformation.
Above-mentioned said voltage detecting and comparator circuit are made up of voltage detecting sample circuit, standard signal generator, comparer; System power supply voltage and dc capacitor voltage input voltage detect sample circuit, output signal is divided two-way, wherein one the tunnel connects the comparer first input end, and other one the tunnel connects the zero-crossing comparator of standard signal generator, and output signal connects comparer second input end.
Voltage detecting sample circuit in above-mentioned said voltage detecting and the comparator circuit detects sample circuit by system power supply voltage detecting sample circuit, energy storage dc capacitor voltage to be formed, and said system power supply voltage detecting sample circuit is by amplitude of voltage transformer (VT) acquisition system supply voltage concatenation operation amplifier output and the proportional 3～5V voltage of input voltage; Said energy storage dc capacitor voltage detects sample circuit and has identical connection.
Standard signal generator in above-mentioned said voltage detecting and the comparator circuit is by zero-crossing comparator, active low-pass filter, and the amplitude stabilization control circuit is formed.Voltage detecting sample circuit output signal connects active low-pass filter behind zero-crossing comparator, connect amplitude stabilization control circuit holding signal amplitude stabilization behind active low-pass filter filtering harmonic wave.
Above-mentioned said single-phase automatic disturbance rejection controller is formed by following the tracks of differentiator, extended state observer, nonlinear combination and disturbance compensation; Voltage detecting and comparator circuit output signal connection tracking differentiator are followed the tracks of differentiator output two paths of signals and extended state observer and are exported two paths of signals and be input to nonlinear combination after relatively; After subtracting each other with the disturbance compensation output signal again, control signal of nonlinear combination output obtains an automatic disturbance rejection controller output signal; The automatic disturbance rejection controller output signal triggers power driving circuit.
Above-mentioned said power driving circuit comprises photoelectric isolating circuit and power amplification circuit, is made up of photoelectrical coupler and power amplifier respectively; Power drive pipe circuit amplifies the input pulse signal through photoelectricity isolation, triode, offer power switch circuit, and the dynamic electric voltage recovery device output voltage is controlled.
Above-mentioned said power switch circuit comprises: 4 IGBT unit in the single-phase loop, and three-phase amounts to 12 IGBT unit, and their control signal is from power driving circuit.
Principle of work of the present invention: testing circuit detects supply voltage v
s, dc capacitor voltage v
dAnd obtain relevant detection value v after treatment
s', v
d'; The reference input v0 that follows the tracks of differentiator produces 2 output v1 and v2, and wherein v1 is the tracking signal with reference to input v0, is the smooth transition process of arranging according to object ability and control needs, and v2 is the differential of v1; Extended state observer is exported y (t) by system and is produced 3 signal: z1, z2 and z3.Wherein z1 is the tracking signal of y (t), and z2 is the differential signal of z1, and z3 is the estimation to system model and outer disturbance.The nonlinear combination device produces basic NONLINEAR PD controlled quentity controlled variable by deviation and differential deviation, compensates total disturbance and produces final controlled quentity controlled variable with z3 then, and wherein b0 is the controlled quentity controlled variable coefficient.According to the Active Disturbance Rejection Control principle as can be known, after controller parameter was determined, disturbance had very strong adaptability to external world, therefore, adopted the dynamic electric voltage recovery device of Active Disturbance Rejection Control that extraordinary dynamic perfromance and tracking effect are arranged.
Superiority of the present invention is: 1, adopt Auto Disturbances Rejection Control Technique, when supply voltage fell, fast and effeciently the bust of offset supply voltage remained unchanged load side voltage substantially; 2, traditional feedback control system needs several cycles to go to eliminate error after error occurs, and eliminates stable state, transient error and adopt based on the dynamic electric voltage recovery device control system of Active Disturbance Rejection Control in one-period, and reaction velocity is fast, the disturbance rejection ability is strong; 3, simplified complicated control procedure, only need know the given input and output of system, do not need precise math model, be convenient to Project Realization 4, the variation of load is had very strong adaptability and robustness, and choosing with the internal system parameter of controller parameter is irrelevant, can in very large range obtain, have good industrialization prospect.
(4) description of drawings:
Accompanying drawing 1 is the one-piece construction synoptic diagram of the related a kind of dynamic electric voltage recovery device control system based on Active Disturbance Rejection Control of the present invention.
Accompanying drawing 2 is the related a kind of circuit structure diagram based on power switch circuit and power driving circuit in the dynamic electric voltage recovery device control system of Active Disturbance Rejection Control of the present invention.
Accompanying drawing 3 is the voltage detecting and the comparator circuit structural drawing of the related a kind of dynamic electric voltage recovery device control system based on Active Disturbance Rejection Control of the present invention.
Accompanying drawing 4 is the standard signal generator figure circuit structure diagram of the related a kind of dynamic electric voltage recovery device control system based on Active Disturbance Rejection Control of the present invention.
Accompanying drawing 5 is the automatic disturbance rejection controller structural drawing of the related a kind of dynamic electric voltage recovery device control system based on Active Disturbance Rejection Control of the present invention.
Accompanying drawing 6 is the power driving circuit structural drawing of the related a kind of dynamic electric voltage recovery device control system based on Active Disturbance Rejection Control of the present invention.
(5) embodiment:
Embodiment: a kind of dynamic electric voltage recovery device control system (seeing Fig. 1,2) based on Active Disturbance Rejection Control, it is characterized in that it comprises voltage detecting and comparator circuit, automatic disturbance rejection controller, power driving circuit, power switch circuit, the input end connected system supply voltage of said voltage detecting and comparator circuit and dc energy storage capacitance voltage; Export comparison signal after treatment and give automatic disturbance rejection controller, the output signal of automatic disturbance rejection controller inserts driving circuit, the conducting of output trigger pulse power controlling on-off circuit is kept the stable of load side voltage thereby export a bucking voltage after driving circuit amplifies.
Above-mentioned said voltage detecting and comparator circuit (see figure 3) are made up of voltage detecting sample circuit, standard signal generator, comparer; System power supply voltage and dc capacitor voltage input voltage detect sample circuit, output signal is divided two-way, wherein one the tunnel connects the comparer first input end, and other one the tunnel connects the zero-crossing comparator of standard signal generator, and output signal connects comparer second input end.
Voltage detecting sample circuit in above-mentioned said voltage detecting and the comparator circuit (see figure 3) detects sample circuit by system power supply voltage detecting sample circuit, energy storage dc capacitor voltage to be formed, and said system power supply voltage detecting sample circuit is by amplitude of voltage transformer (VT) acquisition system supply voltage concatenation operation amplifier output and the proportional 3～5V voltage of input voltage; Said energy storage dc capacitor voltage detects sample circuit and has identical connection.
Standard signal generator (see figure 4) in above-mentioned said voltage detecting and the comparator circuit is by zero-crossing comparator, active low-pass filter, and the amplitude stabilization control circuit is formed.Voltage detecting sample circuit output signal connects active low-pass filter behind zero-crossing comparator, connect amplitude stabilization control circuit holding signal amplitude stabilization behind active low-pass filter filtering harmonic wave.Its input signal is the AC sinusoidal voltage signal, and amplitude is between 3～5V; It is output as amplitude stabilization and with input same frequency, synchronous standard sine voltage signal.
Above-mentioned said single-phase automatic disturbance rejection controller (see figure 5) comprises that mainly following the tracks of differentiator, extended state observer, nonlinear combination and disturbance compensation forms.Voltage detecting and comparator circuit output signal connection tracking differentiator are followed the tracks of differentiator output two paths of signals and extended state observer and are exported two paths of signals and be input to nonlinear combination after relatively; After subtracting each other with the disturbance compensation output signal again, control signal of nonlinear combination output obtains an automatic disturbance rejection controller output signal; The automatic disturbance rejection controller output signal triggers power driving circuit.
Above-mentioned said power driving circuit (see figure 6) comprises photoelectric isolating circuit and power amplification circuit, is made up of photoelectrical coupler and power amplifier respectively; Power drive pipe circuit amplifies the input pulse signal through photoelectricity isolation, triode, offer power switch circuit, and the dynamic electric voltage recovery device output voltage is controlled.One of said three-phase pulse amplifying circuit comprises the driving circuit of amplification "+A1 " pulse mutually, contains optocoupler U9, diode D1, resistance and triode N1; Amplify the driving circuit of " A1 " pulse, contain optocoupler U10, diode D2, resistance and triode N2; Amplify the driving circuit of "+A2 " pulse, contain optocoupler U11, diode D3, resistance and triode N3; Amplify the driving circuit of " A2 " pulse, contain optocoupler U12, diode D4, resistance and triode N4; In like manner other two-phase is totally 12 pulse driving circuits; This circuit working process is: 4 (three-phase amounts to 12) gating pulse that this circuit is exported automatic disturbance rejection controller (+A1 ,-A1 ,+A2 ,-A2) amplify, reliably trigger the IGBT unit of back.The effect of diode D1, D2, D3 and D4 is to prevent the pulse reverse input, guarantees the circuit operate as normal.
Above-mentioned said power switch circuit (see figure 2) comprises: 4 IGBT unit in the single-phase loop, and three-phase amounts to 12 IGBT unit, and their control signal is from power driving circuit; This circuit working process is: gating pulse is from through the signal after the power driving circuit processing and amplifying, and 4 IGBT unit in the circuit (three-phase amounts to 12) G1, G2, G3 and G4 are according to certain trigger pip conducting work.When electric voltage dropping takes place when, the trigger angle of regulating corresponding IGBT, control DVR exports damaged voltage, and the load side impression is fallen less than system voltage, keeps the operate as normal of load.
Claims (7)
1. the dynamic electric voltage recovery device control system based on Active Disturbance Rejection Control is characterized in that it is to be made of voltage detecting and comparator circuit, single-phase automatic disturbance rejection controller, power driving circuit, power switch circuit and coupling transformer; The input end connected system supply voltage of said voltage detecting and comparator circuit and dc energy storage capacitance voltage, export comparison signal after treatment and give automatic disturbance rejection controller, the output signal access power driving circuit of automatic disturbance rejection controller, the conducting of output trigger pulse power controlling on-off circuit after power driving circuit amplifies, thereby export a bucking voltage, kept the stable of load side voltage afterwards through the coupling transformer transformation.
2. according to the said a kind of dynamic electric voltage recovery device control system of claim 1, it is characterized in that said voltage detecting and comparator circuit be made up of voltage detecting sample circuit, standard signal generator, comparer based on Active Disturbance Rejection Control; System power supply voltage and dc capacitor voltage input voltage detect sample circuit, output signal is divided two-way, wherein one the tunnel connects the comparer first input end, and other one the tunnel connects the zero-crossing comparator of standard signal generator, and output signal connects comparer second input end.
3. according to the said a kind of dynamic electric voltage recovery device control system of claim 2 based on Active Disturbance Rejection Control, it is characterized in that voltage detecting sample circuit in said voltage detecting and the comparator circuit detects sample circuit by system power supply voltage detecting sample circuit, energy storage dc capacitor voltage and forms, said system power supply voltage detecting sample circuit is exported an amplitude and the proportional 3～5V voltage of input voltage by voltage transformer (VT) acquisition system supply voltage concatenation operation amplifier; Said energy storage dc capacitor voltage detects sample circuit and has identical connection.
4. according to the said a kind of dynamic electric voltage recovery device control system of claim 2 based on Active Disturbance Rejection Control, it is characterized in that standard signal generator in said voltage detecting and the comparator circuit is by zero-crossing comparator, active low-pass filter, and the amplitude stabilization control circuit is formed.Voltage detecting sample circuit output signal connects active low-pass filter behind zero-crossing comparator, connect amplitude stabilization control circuit holding signal amplitude stabilization behind active low-pass filter filtering harmonic wave.
5. according to the said a kind of dynamic electric voltage recovery device control system of claim 1, it is characterized in that said single-phase automatic disturbance rejection controller forms by following the tracks of differentiator, extended state observer, nonlinear combination and disturbance compensation based on Active Disturbance Rejection Control; Voltage detecting and comparator circuit output signal connection tracking differentiator are followed the tracks of differentiator output two paths of signals and extended state observer and are exported two paths of signals and be input to nonlinear combination after relatively; After subtracting each other with the disturbance compensation output signal again, control signal of nonlinear combination output obtains an automatic disturbance rejection controller output signal; The automatic disturbance rejection controller output signal triggers power driving circuit.
6. according to the said a kind of dynamic electric voltage recovery device control system of claim 1, it is characterized in that said power driving circuit comprises photoelectric isolating circuit and power amplification circuit, form by photoelectrical coupler and power amplifier respectively based on Active Disturbance Rejection Control; Power drive pipe circuit amplifies the input pulse signal through photoelectricity isolation, triode, offer power switch circuit, and the dynamic electric voltage recovery device output voltage is controlled.
7. according to the said a kind of dynamic electric voltage recovery device control system of claim 1 based on Active Disturbance Rejection Control, it is characterized in that said power switch circuit comprises 4 IGBT unit in the single-phase loop, three-phase amounts to 12 IGBT unit, and their control signal is from power driving circuit.
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| CNA2007101503883A CN101183268A (en) | 2007-11-26 | 2007-11-26 | Dynamic recovery device control system based on voltage self anti-interference control |
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| CNA2007101503883A CN101183268A (en) | 2007-11-26 | 2007-11-26 | Dynamic recovery device control system based on voltage self anti-interference control |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102148567A (en) * | 2010-02-10 | 2011-08-10 | 上海宏力半导体制造有限公司 | Voltage generating circuit |
| CN102981407A (en) * | 2012-11-29 | 2013-03-20 | 北京理工大学 | Tank gun control servo control method based on auto-disturbance rejection control technology |
| CN103576552A (en) * | 2013-10-24 | 2014-02-12 | 广东电网公司电力科学研究院 | Active-disturbance-rejection control method and device of single-input single-output pure lag self-balancing object |
| CN104626743A (en) * | 2014-12-09 | 2015-05-20 | 北京工业大学 | Positive feedback compensation method based on PD control |
| CN112072631A (en) * | 2020-09-08 | 2020-12-11 | 南通大学 | Composite power control method for high-robustness self-stabilization type hybrid energy storage system |
-
2007
- 2007-11-26 CN CNA2007101503883A patent/CN101183268A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102148567A (en) * | 2010-02-10 | 2011-08-10 | 上海宏力半导体制造有限公司 | Voltage generating circuit |
| CN102148567B (en) * | 2010-02-10 | 2015-07-08 | 上海华虹宏力半导体制造有限公司 | Voltage generating circuit |
| CN102981407A (en) * | 2012-11-29 | 2013-03-20 | 北京理工大学 | Tank gun control servo control method based on auto-disturbance rejection control technology |
| CN102981407B (en) * | 2012-11-29 | 2015-08-19 | 北京理工大学 | A kind of Tank gun control method of servo-controlling based on Auto Disturbances Rejection Control Technique |
| CN103576552A (en) * | 2013-10-24 | 2014-02-12 | 广东电网公司电力科学研究院 | Active-disturbance-rejection control method and device of single-input single-output pure lag self-balancing object |
| CN103576552B (en) * | 2013-10-24 | 2017-01-18 | 广东电网公司电力科学研究院 | Active-disturbance-rejection control method and device of single-input single-output pure lag self-balancing object |
| CN104626743A (en) * | 2014-12-09 | 2015-05-20 | 北京工业大学 | Positive feedback compensation method based on PD control |
| CN112072631A (en) * | 2020-09-08 | 2020-12-11 | 南通大学 | Composite power control method for high-robustness self-stabilization type hybrid energy storage system |
| CN112072631B (en) * | 2020-09-08 | 2022-04-08 | 南通大学 | Composite power control method for high-robustness self-stabilization type hybrid energy storage system |
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