CN108599354B - Multi-motor system energy-saving device based on intelligent PID control - Google Patents
Multi-motor system energy-saving device based on intelligent PID control Download PDFInfo
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- CN108599354B CN108599354B CN201810495304.8A CN201810495304A CN108599354B CN 108599354 B CN108599354 B CN 108599354B CN 201810495304 A CN201810495304 A CN 201810495304A CN 108599354 B CN108599354 B CN 108599354B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/345—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering using capacitors as storage or buffering devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0068—Battery or charger load switching, e.g. concurrent charging and load supply
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
- H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
- H02M3/1582—Buck-boost converters
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Inverter Devices (AREA)
- Dc-Dc Converters (AREA)
Abstract
The invention provides a multi-motor system energy-saving device based on intelligent PID control, which comprises a super capacitor unit and an energy-saving control unit; the super capacitor unit comprises a plurality of super capacitors connected in parallel in series and parallel; the energy-saving control unit comprises a voltage boosting circuit, a voltage reducing circuit and an intelligent PID controller, the super capacitor unit is connected with the direct current bus through the voltage boosting circuit and the voltage reducing circuit respectively, and the intelligent PID controller is connected with the direct current bus to obtain the voltage on the direct current bus; when the intelligent PID controller judges that the voltage of the direct current bus rises, the intelligent PID controller sends PWM waves to the voltage reduction circuit, and the motor charges the super capacitor unit through the direct current bus; when the intelligent PID controller judges that the voltage of the direct current bus is reduced, the intelligent PID controller sends PWM waves to the booster circuit, and the super capacitor unit discharges electricity to the direct current bus to drive the motor.
Description
Technical Field
The invention relates to a motor energy-saving technology, in particular to a multi-motor system energy-saving device based on intelligent PID control.
Background
The motor and the system thereof are widely applied to a plurality of industries and fields of energy, chemical industry, metallurgy, petrifaction, chemical industry, coal, building materials, public facilities, household appliances, electric traction and the like in China, and are the foundation of industrial foundation in China. According to statistics and calculation, the motor storage capacity of China is about 19 billion kW, the total power consumption is about 3.8 trillion kWh, and the total power consumption accounts for 64% of the total power consumption of the whole society, wherein the total power consumption of the motor in the industrial field is 2.9 trillion kWh, and the total power consumption accounts for about 75% of the industrial power consumption, so that the motor is a genuine 'power utilization consumer'. The enormous energy consumption has led to extensive research on motor energy saving technology. In order to implement the concept of sustainable development of green environmental protection, the development of energy-saving technology is particularly critical.
At present, core technical routes in the aspect of motor energy saving are roughly divided into two types. Aiming at the operation efficiency of a drive control algorithm, the energy utilization rate is improved by improving the control algorithm; and the other type introduces an electric energy recovery system aiming at the wasted energy to carry out energy recycling.
Disclosure of Invention
The invention aims to provide a multi-motor system energy-saving device based on intelligent PID control, which realizes independent energy saving of a single motor and group energy saving of multi-motor type motors.
The technical scheme for realizing the purpose of the invention is as follows: a multi-motor system energy-saving device based on intelligent PID control comprises a super capacitor unit and an energy-saving control unit, wherein the super capacitor unit comprises a plurality of parallel super capacitors connected in series and parallel; the energy-saving control unit comprises a boosting circuit, a voltage reducing circuit and an intelligent PID controller, the super capacitor unit is respectively connected with different direct current buses through the boosting circuit and the voltage reducing circuit, and the intelligent PID controller is connected with the direct current buses to collect voltages at two ends of the direct current buses and voltages at two ends of the super capacitor unit; when the intelligent PID controller judges that the voltage of the direct current bus rises, the intelligent PID controller sends PWM waves to the voltage reduction circuit, and the motor charges the super capacitor unit through the direct current bus; when the intelligent PID controller judges that the voltage of the direct current bus is reduced, the intelligent PID controller sends PWM waves to the booster circuit, and the super capacitor unit discharges electricity to the direct current bus to drive the motor.
By adopting the device, the intelligent PID controller determines the duty ratio of PWM waves of the booster circuit and the voltage reduction circuit according to the collected voltages at two ends of the direct current bus, the voltages at two ends of the super capacitor unit and the target voltage value of the direct current bus, so that the voltages at two ends of the direct current bus are equal to the target voltage value of the direct current bus.
By adopting the device, the voltage boosting circuit and the voltage reducing circuit are composed of a plurality of insulated gate bipolar transistors and specifically comprise a first inductor, a voltage boosting insulated gate bipolar transistor, two voltage reducing insulated gate bipolar transistors, a diode, a selection switch, an air circuit and a second inductor relay module; the first pin of the first inductor is connected with the anode of the super capacitor unit through a first relay module, the second pin of the first inductor is respectively connected with the collector of the boost insulated gate bipolar transistor, the emitter of the first buck insulated gate bipolar transistor and the fixed end of a selector switch, the emitter of the boost insulated gate bipolar transistor is respectively connected with the cathode of the super capacitor unit, the anode of a diode and the cathode of a direct current bus, the selector switch is respectively connected with the idle circuit and the first pin of the second inductor, the idle circuit and the second pin of the second inductor are respectively connected with the emitter of the second buck insulated gate bipolar transistor and the cathode of the diode, the collector of the first buck insulated gate bipolar transistor is connected with the anode of the direct current bus through a second relay module, the collector of the second buck insulated gate bipolar transistor is connected with the anode of the direct current bus through a third relay module, the boost insulated gate bipolar transistor, And the grid electrode of the voltage reduction insulated gate bipolar transistor is respectively connected with the control end of the intelligent PID controller.
Compared with the prior art, the invention has the following advantages: (1) compared with the technology of feeding electric energy back to the power grid, the energy-saving device of the invention can not cause higher harmonic pollution to the power grid; (2) the energy-saving device can not only realize energy saving of a single motor, but also serve a multi-connected motor after expansion, and has two expansion modes of expanding a booster circuit and building a system architecture additionally. Compared with the existing energy-saving device designed for a single motor or paired motors, the energy-saving device has wide applicability and broad prospect, and completes the realization of an energy-saving group control strategy; (3) compared with the traditional super capacitor energy-saving technology, the energy-saving device provided by the invention utilizes the intelligent PID controller to regulate the PWM wave duty ratio, namely control the on-off condition of the IGBT, stabilize the transmission voltage of electric energy, improve the stability of energy transmission, improve the utilization efficiency of feedback energy and maintain the stable and safe operation of the motor.
The invention is further described below with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic view of the mounting structure of the present invention.
Fig. 2 is a schematic connection diagram of the super capacitor module according to the present invention.
Fig. 3 is a schematic structural diagram of the energy-saving control system of the present invention.
Fig. 4 is an expanded view of the present invention.
FIG. 5 is a graph comparing the control effects of the present invention.
Detailed Description
With reference to fig. 1, the present invention can be carried on a multiple machine type motor system to realize energy saving of the system. The whole system structure comprises: the system comprises a power grid three-phase alternating current 1, a rectification circuit 2, a motor drive control module 3, a motor 4, a direct current bus 5, a super capacitor unit 6 and an energy-saving control unit 7. The three-phase alternating current 1 of the power grid is connected with a plurality of rectifying circuits 2, and flows into a motor driving module 3 after being stabilized by a direct current bus 5, so that a motor 4 is driven; and an energy-saving control unit 7 of the energy-saving device is connected to the plurality of direct current buses 5 and the super capacitor unit 6, and acquires the voltage at two ends of the super capacitor unit 6, the charging and discharging current information and the voltage at two ends of the direct current buses through sensors, so that the charging and discharging state of the energy-saving device is judged and a corresponding strategy is adopted.
The super capacitor unit 6 comprises a plurality of super capacitors connected in parallel in series and parallel; the energy-saving control unit 7 comprises a voltage boosting circuit, a voltage reducing circuit and an intelligent PID controller, the super capacitor unit 6 is connected with the direct current bus through the voltage boosting circuit and the voltage reducing circuit respectively, and the intelligent PID controller is connected with the direct current bus 5 to obtain the voltage on the direct current bus; when the intelligent PID controller judges that the voltage of the direct current bus 5 rises, the intelligent PID controller sends PWM waves to the voltage reduction circuit, and the motor 4 charges the super capacitor unit through the direct current bus; when the intelligent PID controller judges that the voltage of the direct current bus 5 drops, the intelligent PID controller sends PWM waves to the booster circuit, and the super capacitor unit 6 discharges electricity to the direct current bus 5 to drive the motor 4.
Referring to fig. 2, the super capacitor module 6 in the energy saving device of the present invention is composed of a plurality of super capacitors connected in series and parallel, wherein the number, capacitance value, and withstand voltage value, i.e., the series-parallel structure, of the basic super capacitors are determined by the rated load of the motor, the voltage of the dc bus, and the power consumption of the motor.
With reference to fig. 3, the energy saving device circuit is composed of a super capacitor unit, a data acquisition circuit, an optical coupling isolation circuit, a relay protection circuit, a voltage boosting circuit, a voltage reducing circuit, and an energy saving control unit. The relay module is controlled to be switched on and off by an IO port, and the IGBT is controlled to be switched on and off by PWM waves or the IO port, so that the aim of switching the working mode of the energy-saving device is fulfilled by limiting the current flow direction.
The boost circuit and the buck circuit are composed of a plurality of insulated gate bipolar transistors and specifically comprise a first inductor L1, a boost insulated gate bipolar transistor, two buck insulated gate bipolar transistors, a diode, a selection switch S1, an air circuit and a second inductor L2 relay module; wherein a first pin of the first inductor L1 is connected with the anode of the super capacitor unit 6 through a first relay module, a second pin of the first inductor L1 is respectively connected with the collector of the boost insulated gate bipolar transistor, the emitter of the first buck insulated gate bipolar transistor and the fixed end of the selector switch, the emitter of the boost insulated gate bipolar transistor is respectively connected with the cathode of the super capacitor unit 6, the anode of the diode and the cathode of the direct current bus 5, the selection end of the selector switch S1 is respectively connected with the idle circuit and the first pin of the second inductor L2, the idle circuit and the second pin of the second inductor L2 are respectively connected with the emitter of the second buck insulated gate bipolar transistor and the cathode of the diode, the collector of the first buck insulated gate bipolar transistor is connected with the anode of the direct current bus 5 through a second relay module, the collector of the second buck insulated gate bipolar transistor is connected with the anode of the direct current bus 5 through a third relay module, and the gates of the boost insulated gate bipolar transistor and the buck insulated gate bipolar transistor are respectively connected with the control end of the intelligent PID controller.
Two boost circuit, step-down circuit do: (1) the first relay module is switched on, the second relay module is switched on, and the third relay module is switched off; (2) the first relay module is turned on, the second relay module is turned off, and the third relay module is turned on. The circuit for transferring energy from the low-voltage part to the high-voltage part is called a BOOST circuit, and the circuit for transferring energy from the high-voltage part to the low-voltage part is called a BUCK circuit, which are called a BOOST circuit and a BUCK circuit respectively. The boost circuit and the buck circuit control different IGBTs (through PWM control). The boost circuit uses PWM1, while PWM2 and PWM3 turn the IGBTs off. The buck circuit uses either PWM2 or PWM3, which is also the bus selection, and PWM1 turns the IGBTs off.
Referring to fig. 4, the intelligent PID controller includes a data acquisition circuit 7 and a signal comprehensive processing unit 8. The data acquisition circuit 7 acquires the voltage at two ends of the direct current bus 5 and the voltage at two ends of the super capacitor unit 6. The signal comprehensive processing unit 8 judges the acquired voltage: when the voltage of the direct current bus 5 rises, a PWM wave is sent to the voltage reduction circuit, and the motor 4 charges the super capacitor unit through the direct current bus; when the voltage of the direct current bus 5 is judged to be reduced, PWM waves are sent to the booster circuit, and the super capacitor unit 6 discharges electricity to the direct current bus 5 to drive the motor 4.
The intelligent PID controller determines the duty ratio of PWM waves of the booster circuit and the buck circuit according to the collected voltage at two ends of the direct current bus 5, the voltage at two ends of the super capacitor unit 6 and the target voltage value of the direct current bus 5, so that the voltage at two ends of the direct current bus 5 is equal to the target voltage value of the direct current bus 5.
With reference to fig. 4, the device can expand the structure to increase the number of motors.
(1) When the number of the motors is small, the intelligent PID controller has universality, so that the super capacitor group can complete one-to-many electric quantity transmission by increasing the number of the booster circuits;
(2) when the number of the motors is large, the intelligent PID controller has universality, and the energy-saving purpose can be achieved by increasing the number of the booster circuits, enabling one super capacitor group to correspond to the motors to be used as one group and copying the structure to expand the number of the groups.
The intelligent PID control method of the multi-motor system energy-saving device based on the intelligent PID control is used for controlling the duty ratio of PWM waves to reach VbusThe purpose of stabilization is. The method comprises the following steps:
(1) according to the super capacitor voltage VSCAnd a DC bus 5 voltage VbusNamely modeling the numerical relation among the bus voltages;
(2) determining a threshold value of the multi-mode switching according to the change rate of the PWM duty ratio alpha;
(3) and dividing the duty ratio characteristic of each block according to a threshold value, and determining PID parameters under different modes to meet the dynamic and static characteristics of the system.
The device has three modes:
in the first mode, energy is transmitted to the direct-current bus by the capacitor, at the moment, the voltage boosting circuit is used, S1 selects an idle circuit, PWM _ BOOST1 is controlled by PWM waves to be switched on and off for energy transfer, and the bus Vbus1 or Vbus2 to which the energy flows is selected by the relay module.
And in the second mode, the direct-current bus transmits energy to the capacitor, the voltage reduction circuit is adopted at the moment, S1 selects an idle circuit, the relay module, the PWM _ BUCK1 and the PWM _ BUCK2 control the selection of the bus, and the PWM _ BUCK1 or the PWM _ BUCK2 is controlled to be switched on and off through PWM to transfer energy.
And the third mode is energy transmission between the buses, at the moment, the voltage reduction circuit is adopted, S1 selects the direction of the empty L2, the PWM _ BOOST1 and the relay on the super capacitor bank side are disconnected, IO gates the relay on the corresponding bus side, and the PWM wave controls the corresponding PWM _ BUST to control the direction of the voltage reduction circuit, so that mutual voltage reduction transmission of energy between the buses is realized.
The intelligent PID controller has the function of Vbus.setBy taking as reference VSCSum of difference per unit time VbusThe error value of (A) is calculated by a control algorithm to obtain the duty ratio alpha of the PWM waves for driving the four IGBTs, and corresponding PWM waves are generated to reach Vbus＝Vbus.setThereby making up for V in the conventional methodbusDefects that may degrade over time.
Wherein, the control algorithm adopts an intelligent PID algorithm, namely according to VSCRange and VSCThe threshold value of multi-mode switching is determined according to the influence of the controlled object model, and different PID parameters are selected from different threshold value segmentation blocks so as to meet the dynamic and static characteristics of the system under different system characteristics.
PID control law:
PID transfer function form:
if the number of the motors needs to be expanded, the expansion can be carried out by referring to the charge-discharge circuit principle of the super capacitor bank and the bidirectional voltage reduction circuit between the direct current bus I and the direct current bus II.
FIG. 5 is a graph comparing the control effects of the present invention. When closed-loop control is not applied in the process that the super capacitor transmits electric energy to the direct current bus, the voltage of the direct current bus is reduced along with the reduction of the voltage of the super capacitor bank. After the intelligent PID controller is added, the on-off condition of the IGBT is controlled by adjusting the duty ratio alpha of the PWM wave, so that the voltage of the direct current bus is not reduced along with the reduction of the voltage of the super capacitor bank, and stable electric energy transmission is realized.
Compared with the existing energy-saving device, the novel energy-saving device has the advantages that a novel technical route is realized, the structure is simple and easy to control, the expansion is easy, the energy conservation of a plurality of motors can be supported, the stability of energy transmission is kept, and the high energy conversion efficiency and the wide applicability are realized.
Claims (2)
1. A multi-motor system energy-saving device based on intelligent PID control comprises a super capacitor unit (6) and an energy-saving control unit (7), and is characterized in that the super capacitor unit (6) comprises a plurality of parallel super capacitors connected in series and parallel; the energy-saving control unit (7) comprises a booster circuit, a voltage reduction circuit and an intelligent PID controller, the super capacitor unit (6) is connected with different direct current buses through the booster circuit and the voltage reduction circuit respectively, and the intelligent PID controller is connected with the direct current buses (5) to collect voltages at two ends of the direct current buses (5) and voltages at two ends of the super capacitor unit (6); when the intelligent PID controller judges that the voltage of the direct current bus (5) rises, the intelligent PID controller sends PWM waves to the voltage reduction circuit, and the motor (4) charges the super capacitor unit through the direct current bus; when the intelligent PID controller judges that the voltage of the direct current bus (5) is reduced, PWM waves are sent to the booster circuit, and the super capacitor unit (6) discharges to the direct current bus (5) to drive the motor (4);
the boost circuit and the buck circuit are composed of a plurality of insulated gate bipolar transistors and specifically comprise a first inductor (L1), a boost insulated gate bipolar transistor, two buck insulated gate bipolar transistors, a diode, a selection switch (S1), an idle circuit and a second inductor (L2) relay module; wherein a first pin of a first inductor (L1) is connected with the anode of the super capacitor unit (6) through a first relay module, a second pin of the first inductor (L1) is respectively connected with the collector of the boosting insulated gate bipolar transistor, the emitter of the first voltage reduction insulated gate bipolar transistor and the fixed end of a selector switch, the emitter of the boosting insulated gate bipolar transistor is respectively connected with the cathode of the super capacitor unit (6), the anode of a diode and the cathode of a direct current bus (5), the selection end of the selector switch (S1) is respectively connected with an idle circuit and the first pin of a second inductor (L2), the idle circuit and the second pin of the second inductor (L2) are respectively connected with the emitter of the second voltage reduction insulated gate bipolar transistor and the cathode of the diode, the collector of the first voltage reduction insulated gate bipolar transistor is connected with the anode of the direct current bus (5) through a second relay module, the collector of the second voltage reduction insulated gate bipolar transistor is connected with the anode of the direct current bus (5) through a third relay module, and the gates of the boost insulated gate bipolar transistor and the buck insulated gate bipolar transistor are respectively connected with the control end of the intelligent PID controller.
2. The device according to claim 1, wherein the intelligent PID controller determines the duty ratio of PWM waves of the boost circuit and the buck circuit according to the collected voltage at the two ends of the direct current bus (5), the voltage at the two ends of the super capacitor unit (6) and the target voltage value of the direct current bus (5), so that the voltage at the two ends of the direct current bus (5) is equal to the target voltage value of the direct current bus (5).
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Citations (5)
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| CN101917020A (en) * | 2010-08-04 | 2010-12-15 | 长沙理工大学 | Lift energy feedback, reactive compensation and switched-off emergency running method and system |
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| CN103259286A (en) * | 2013-05-06 | 2013-08-21 | 安徽理工大学 | Three-level Z source wind power generation grid-connected system |
| CN106276445A (en) * | 2016-09-23 | 2017-01-04 | 南京理工大学 | A kind of elevator drives control, energy saving integrated system and method |
| KR20180014166A (en) * | 2015-07-21 | 2018-02-07 | 다이슨 테크놀러지 리미티드 | Battery charger |
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2018
- 2018-05-22 CN CN201810495304.8A patent/CN108599354B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101917020A (en) * | 2010-08-04 | 2010-12-15 | 长沙理工大学 | Lift energy feedback, reactive compensation and switched-off emergency running method and system |
| CN102029926A (en) * | 2010-12-08 | 2011-04-27 | 浙江省电力试验研究院 | Standardized current conversion device of electric vehicle and distributed power source |
| CN103259286A (en) * | 2013-05-06 | 2013-08-21 | 安徽理工大学 | Three-level Z source wind power generation grid-connected system |
| KR20180014166A (en) * | 2015-07-21 | 2018-02-07 | 다이슨 테크놀러지 리미티드 | Battery charger |
| CN106276445A (en) * | 2016-09-23 | 2017-01-04 | 南京理工大学 | A kind of elevator drives control, energy saving integrated system and method |
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