阅读说明：本技术 基于不确定干扰估计器控制的三级式发电机调压方法 (Three-stage generator voltage regulation method based on uncertain interference estimator control ) 是由 路通 王慧贞 王永杰 朱淳涛 沈依蓉 于 2021-09-17 设计创作，主要内容包括：本发明公开了一种基于不确定干扰估计器控制的三级式发电机调压方法,在电压调节的过程中检测调节点反馈电压与参考电压的偏差作为电压外环PI调节器的输入量,电压外环PI调节器的输出作为不确定干扰估计器的期望控制输入u-(m),另外采样得到的不对称半桥上的励磁电流作为不确定干扰估计器的状态变量x,u-(m)和x通过不确定干扰估计器得到输出,并产生PWM驱动不对称半桥的开关管,控制三级式发电机实现更好的稳态与动态性能。本发明克服了三级式发电机参数不确定性和复杂工况导致的非线性问题,在不确定性和外部干扰的作用下能保证调压的稳定性,对参数不确定具有较好的鲁棒性。尤其是在负载突变或受到一定干扰时电机可以保持良好的抗干扰能力。(The invention discloses a three-stage generator voltage regulation method based on uncertain interference estimator control, which detects the deviation of regulation node feedback voltage and reference voltage as the input quantity of a voltage outer ring PI regulator in the voltage regulation process, and the output of the voltage outer ring PI regulator is used as the expected control input u of the uncertain interference estimator m In addition, the excitation current on the asymmetric half bridge obtained by sampling is used as the state variable x, u of the uncertain disturbance estimator m And x is output through the uncertain interference estimator, PWM is generated to drive a switching tube of the asymmetric half bridge, and the three-stage generator is controlled to achieve better steady-state and dynamic performance. The invention overcomes the non-linear problem caused by the uncertainty of the parameters of the three-stage generator and the complex working condition, can ensure the stability of voltage regulation under the action of uncertainty and external interference, and has better robustness to the uncertainty of the parameters. Especially in load sudden change or exposure toThe timing motor can keep good anti-interference capability.)

1. The three-stage generator voltage regulating method based on the uncertain disturbance estimator control is characterized by comprising the following steps of:

step A.1), conditioning and shaping the line voltage of the permanent magnet auxiliary exciter into square wave signals with the same frequency, and sending the square wave signals to a DSP capture port;

step A.2), calculating the frequency f of an alternating current signal of the main generator according to the pole-to-pair relation between the permanent magnet auxiliary exciter and the main generator and the conditioned and shaped square wave signal, and determining the rotating speed n of the main generator;

step A.3), calculating the deviation between the feedback voltage of the adjusting point and the reference voltage, wherein the deviation is used as the input of a first PI (proportional integral) regulator, and the output obtained after the first PI regulator is used as the expected control input u of the uncertain disturbance estimator_m(s)；

Step A.4), the excitation current of the asymmetric half bridge obtained by sampling is used as an input state variable x(s) of the uncertain disturbance estimator;

step A.5), the uncertain interference estimator first takes u_m(s) passing through a transfer functionCalculating to obtain the expected state variable x_mI.e. bys is the complex frequency and alpha is the bandwidth of the first-order reference system;

then x is put_mThe deviation e(s) of(s) from x(s) is used as input for a second PI regulator whose proportionality coefficient k is_pα + β -k, integral coefficient k_iβ (α -k), i.e.Beta is the bandwidth of the first-order low-pass filter, and k is the preset error feedback gain;

finally, the uncertain interference estimator outputL is the actual model inverse;

step A.6), controlling PWM (pulse-width modulation) of a tube on an asymmetric half bridge by the output u(s) of the uncertain interference estimator, and outputting high level when u(s) is greater than 0; when u(s) is less than 0, a low level is output.

Technical Field

The invention relates to the technical field of aviation variable frequency power generation system digits, in particular to a three-level generator voltage regulation method based on uncertain interference estimator control.

Background

The voltage regulator of the aviation generator enables the voltage of a voltage regulating point to be stabilized at a fixed value by regulating the exciting current of the generator. When the rotation speed of the prime mover changes, the onboard load changes, or the like, the voltage at the voltage regulation point may become unstable, and the voltage regulator regulates the output voltage to be constant by the voltage closed loop.

The variable-frequency power supply system has the advantages of simple structure, light weight, small volume and high efficiency, and has gradually replaced a variable-speed constant-frequency power generation system to become the development direction of future large-scale aviation power supply systems, and the current advanced multi-electric aircraft such as Boeing 787 and Airbus A380 are variable-speed variable-frequency power generation systems which are generated by three-stage generators. Because the rotating speed of the generator is changed greatly, the load is changed greatly, particularly the pulse load, and the dynamic regulation time required by an aviation power supply system is less than 50ms, the dynamic regulation time puts higher requirements on the control of a voltage regulator. The transistor analog voltage regulator can not meet the control requirement of the existing aero-generator, and the digital voltage regulator has the advantages of being relatively less influenced by environmental factors, strong in nonlinear regulation capacity, simple in control parameter regulation, capable of achieving data communication and recording functions and the like.

The digital voltage regulator is commonly used in a double-loop control structure of a voltage outer loop and a current inner loop, the circuit block diagram of a voltage regulating system is shown in figure 1, an excitation main circuit adopts an asymmetric half-bridge, PMG is a permanent magnet auxiliary exciter in a three-level motor, and U is a primary magnetic circuit_PMGRectifying the filtered voltage, U, of the permanent-magnet auxiliary exciter_portFor adjusting the point voltage feedback value, U_refFor adjusting the reference value of the point voltage, I_refFor excitation current reference value, U_fOutputting a signal for the current loop. The adjusting point feedback voltage and the reference voltage are adjusted through a voltage loop PI to obtain an exciting current reference value, the exciting current reference value and the exciting current are adjusted through an exciting current loop PI to obtain a modulation signal, and then the modulation signal is intersected with a triangular carrier to obtain a duty ratio signal to drive an exciting power tube.

The three-level generator is a typical nonlinear system, the linear control mode of the traditional double closed-loop PI control is difficult to deal with the sudden load and load shedding situation, the motor parameters can change in the operation process of the motor, the frequency change range of the wide variable-frequency three-level generator is 360-800 Hz, the rotating speed change range is large, the output voltage frequency change range is wide, the gain of a forward channel of the generator system is greatly changed under different rotating speeds, and the common double closed-loop PI control is difficult to obtain a good control effect.

The aviation wide-frequency-conversion three-level motor voltage regulating method based on the uncertain interference estimator can effectively inhibit current harmonics existing in exciting current under the condition of sudden load change or external certain interference, reduce output voltage fluctuation, ensure the stability of voltage regulation under the action of uncertainty and external interference, and has better robustness to parameter uncertainty.

Disclosure of Invention

The invention aims to solve the technical problem of providing a three-stage generator voltage regulating method based on uncertain interference estimator control aiming at the defects related to the background technology, and the uncertain interference estimator of an excitation current loop is designed according to the deviation of feedback excitation current and voltage loop output to regulate the dynamic response of a system.

The invention adopts the following technical scheme for solving the technical problems:

the three-level generator voltage regulating method based on the uncertain disturbance estimator control comprises the following steps:

step A.1), conditioning and shaping the line voltage of the permanent magnet auxiliary exciter into square wave signals with the same frequency, and sending the square wave signals to a DSP capture port;

step A.2), calculating the frequency f of an alternating current signal of the main generator according to the pole-to-pair relation between the permanent magnet auxiliary exciter and the main generator and the conditioned and shaped square wave signal, and determining the rotating speed n of the main generator;

step A.3), calculating the deviation between the feedback voltage of the adjusting point and the reference voltage, wherein the deviation is used as the input of a first PI (proportional integral) regulator, and the output obtained after the first PI regulator is used as the expected control input u of the uncertain disturbance estimator_m(s)；

Step A.4), the excitation current of the asymmetric half bridge obtained by sampling is used as an input state variable x(s) of the uncertain disturbance estimator;

step A.5), the uncertain interference estimator first takes u_m(s) passing through a transfer functionCalculating to obtain the expected state variable x_mI.e. bys is the complex frequency and alpha is the bandwidth of the first-order reference system;

then x is put_mThe deviation e(s) of(s) from x(s) is used as input for a second PI regulator whose proportionality coefficient k is_pα + β -k, integral coefficient k_iβ (α -k), i.e.Beta is the bandwidth of the first-order low-pass filter, and k is the preset error feedback gain;

finally, the uncertain interference estimator outputL is the actual model inverse;

step A.6), controlling PWM (pulse-width modulation) of a tube on an asymmetric half bridge by the output u(s) of the uncertain interference estimator, and outputting high level when u(s) is greater than 0; when u(s) is less than 0, a low level is output.

Compared with the prior art, the invention adopting the technical scheme has the following technical effects:

1. the invention provides a three-level generator voltage regulating method based on uncertain disturbance estimator control, which compensates uncertain disturbance of exciting current caused by motor parameter change in the operation process, can obtain better dynamic performance under the condition of uncertain change of motor parameters, and improves the dynamic and steady-state performance of a system under the conditions of different load changes and different rotating speeds.

2. The invention overcomes the non-linear problem caused by the uncertainty of the parameters of the three-stage generator and the complex working condition, can ensure the stability of voltage regulation under the action of uncertainty and external interference, has better robustness to the uncertainty of the parameters, and can keep good anti-interference capability of the motor particularly when the load is suddenly changed or is interfered to a certain extent.

Drawings

FIG. 1 is a circuit block diagram of a voltage regulation system with a dual-loop control structure;

FIG. 2 is a schematic circuit diagram of the present invention;

fig. 3 is a schematic diagram of the uncertain interference estimator of the present invention.

Detailed Description

The technical scheme of the invention is further explained in detail by combining the attached drawings:

the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.

It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, components and/or sections, these elements, components and/or sections should not be limited by these terms. These terms are only used to distinguish one element, component, and/or section from another. Thus, a first element, component, and/or section discussed below could be termed a second element, component, or section without departing from the teachings of the present invention.

As shown in fig. 2, the invention discloses a three-stage generator voltage regulating method based on uncertain disturbance estimator control, which comprises the following steps:

step A.1), conditioning and shaping the line voltage of the permanent magnet auxiliary exciter into square wave signals with the same frequency, and sending the square wave signals to a DSP capture port;

step A.2), calculating the frequency f of an alternating current signal of the main generator according to the pole-to-pair relation between the permanent magnet auxiliary exciter and the main generator and the conditioned and shaped square wave signal, and determining the rotating speed n of the main generator;

step A.3), calculating the deviation between the feedback voltage of the adjusting point and the reference voltage, wherein the deviation is used as the input of a first PI (proportional integral) regulator, and the output obtained after the first PI regulator is used as the expected control input u of the uncertain disturbance estimator_m(s)；

Step A.4), the excitation current of the asymmetric half bridge obtained by sampling is used as an input state variable x(s) of the uncertain disturbance estimator;

step a.5), the uncertain interference estimator first starts u as shown in fig. 3_m(s) passing through a transfer functionCalculating to obtain the expected state variable x_mI.e. bys is the complex frequency and alpha is the bandwidth of the first-order reference system;

then x is put_mThe deviation e(s) of(s) from x(s) is used as input for a second PI regulator whose proportionality coefficient k is_pα + β -k, integral coefficient k_iβ (α -k), i.e.Beta is the bandwidth of the first-order low-pass filter, and k is the preset error feedback gain;

finally, the uncertain interference estimator outputL is the actual model inverse;

step A.6), controlling PWM (pulse-width modulation) of a tube on an asymmetric half bridge by the output u(s) of the uncertain interference estimator, and outputting high level when u(s) is greater than 0; when u(s) is less than 0, a low level is output.

The invention compensates the uncertain disturbance of the exciting current caused by the change of the motor parameters in the running process, improves the dynamic performance of the system and ensures the dynamic and steady-state characteristics of the system.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.