CN1554992A - Automatic voltage regulation power supply for remote variable load - Google Patents
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Abstract
一种远端变负载的自动稳压调节电源，包括电流反馈模块、电压反馈模块、调节电源模块，通过长距离动力电缆线与远端可变负载的终端相连接，电压传感器并行接入调节电源模块的输出保护电路的输出端，进行电压采样，电流传感器串行接入调节电源模块的输出保护电路，从长距离动力电缆线上检测实时电流，其输出经依次串接的匹配电路、全波整流电路、滤波器、A/D转换和微处理器，与调节电源模块的输入输出接口模块相连，为调节电源模块提供电流反馈。本发明响应速度快、实时性强，高精度的纯正弦波输出，能匹配各种阻抗形式的负载，驱动功率大，可广泛应用到需要远端可变负载稳压的各种场合。
An automatic voltage-stabilizing and regulating power supply for remote variable loads, including a current feedback module, a voltage feedback module, and a regulating power supply module, which are connected to the terminal of the remote variable load through a long-distance power cable, and the voltage sensor is connected to the regulating power supply in parallel The output terminal of the output protection circuit of the module is used for voltage sampling, and the current sensor is serially connected to the output protection circuit of the adjustable power supply module, and the real-time current is detected from the long-distance power cable. The rectifying circuit, the filter, the A/D conversion and the microprocessor are connected with the input and output interface modules of the regulating power supply module, and provide current feedback for the regulating power supply module. The invention has fast response speed, strong real-time performance, high-precision pure sine wave output, can match loads of various impedance forms, has high driving power, and can be widely applied to various occasions requiring remote variable load voltage regulation.
Description
技术领域：Technical field:
本发明涉及的是一种自动稳压调节电源，尤其涉及一种可实现远端变负载的自动稳压调节电源，属于测量控制工程领域。The invention relates to an automatic voltage-stabilizing and adjusting power supply, in particular to an automatic voltage-stabilizing and adjusting power supply capable of realizing remote load changing, and belongs to the field of measurement and control engineering.
背景技术：Background technique:
由于煤气管道机器人系统工作环境十分恶劣，系统总体上采用有缆式，信息和电力采用同一根缆线传输，该环境下管道机器人系统的供电需要通过该电缆线长距离(通常为1至2km)可靠传输。由于电缆线距离过长，线上等效电阻无法被忽略，导致负载发生变化时，处在远端的煤气管道机器人供电电压就会大幅变化，导致机器人无法正常稳定地工作。Because the working environment of the gas pipeline robot system is very harsh, the system generally adopts the cable type, and the information and power are transmitted by the same cable. In this environment, the power supply of the pipeline robot system needs to pass through the cable for a long distance (usually 1 to 2km) Reliable transmission. Because the cable distance is too long, the equivalent resistance on the line cannot be ignored. When the load changes, the power supply voltage of the gas pipeline robot at the far end will change greatly, causing the robot to fail to work normally and stably.
目前，常用的调压器有感应调压器和可控硅调压器两大类，感应调压器是传统的电磁感应式，而可控硅调压器是随着电子技术发展而出现的。At present, there are two types of commonly used voltage regulators: induction voltage regulator and thyristor voltage regulator. The induction voltage regulator is the traditional electromagnetic induction type, while the thyristor voltage regulator appears with the development of electronic technology. .
感应调压器实质上就是静止的三相绕线式异步电动机，利用定、转子的相位差随定、转子的相对位置而变的关系来调节输出电压，其输出为一完整的正弦波，调压时需借助电机(或手轮)、蜗杆等机构来实现，故障率高。感应式调压器体积大，要消耗大量的钢材和铜材，损耗高(铁损及铜损)，需要配备专用的散热风扇，一旦主回路故障，检修难度较大，且需建专用调压器室来安装。感应式调压器没有接入电流反馈，从而无法根据电流反馈而自动调节输出电压，不能应用于自动稳压。由于感应式调压器的响应速度非常慢，对于主回路有滞后效应，不适用于实时性要求很高的煤气管道机器人远距离稳压。The induction voltage regulator is essentially a static three-phase wound asynchronous motor, which uses the relationship between the phase difference between the stator and the rotor to change with the relative position of the stator and the rotor to adjust the output voltage, and its output is a complete sine wave. When pressing, it needs to be realized by mechanisms such as motor (or handwheel), worm, etc., and the failure rate is high. The inductive voltage regulator is large in size, consumes a lot of steel and copper, and has high loss (iron loss and copper loss). It needs to be equipped with a special cooling fan. Once the main circuit fails, it is difficult to repair and a special voltage regulator needs to be built. chamber for installation. The inductive voltage regulator is not connected to the current feedback, so the output voltage cannot be automatically adjusted according to the current feedback, and it cannot be applied to automatic voltage regulation. Since the response speed of the inductive pressure regulator is very slow, it has a hysteresis effect on the main circuit, so it is not suitable for long-distance voltage regulation of gas pipeline robots with high real-time requirements.
可控硅调压的实质则是通过控制可控硅的导通与关断来实现，其触发频率与主电路频率相同，触发电路为移相电路，通过改变触发脉冲的发出时间来控制可控硅的导通角，从而改变输出电压的有效值，达到调压的目的，其输出电压波形为不连续的波。可控硅调压比较简单，使用很灵活，但也有许多不利因素，例如，它用于电阻性负载、感性负载在一定的导通角时，有可能造成可控硅的不导通。此外，可控硅的输出为不连续的波形，有的时候会形成尖峰脉冲干扰，若应用于机器人的稳压，尖峰脉冲会带给机器人带来巨大的冲击，不但影响机器人正常工作，还会减少机器人的寿命。The essence of thyristor voltage regulation is realized by controlling the turn-on and turn-off of the thyristor. Its trigger frequency is the same as that of the main circuit. The trigger circuit is a phase-shifting circuit. The conduction angle of silicon changes the effective value of the output voltage to achieve the purpose of voltage regulation, and the output voltage waveform is a discontinuous wave. Thyristor voltage regulation is relatively simple and flexible to use, but there are also many disadvantages. For example, when it is used for resistive loads and inductive loads at a certain conduction angle, it may cause the thyristor to be non-conductive. In addition, the output of the thyristor is a discontinuous waveform, and sometimes it will form a spike interference. If it is applied to the robot's voltage stabilization, the spike will bring a huge impact to the robot, which will not only affect the normal operation of the robot, but also cause Reduce the lifespan of the robot.
综上所述，常用的感应式调压器和可控硅调压器均不适用于煤气管道机器人远端稳压系统。由于机器人在不同的动作时，流经机器人的电流会发生变化，而要求加载在机器人两端的电压保持稳定。由于电力传输电缆有1000米以上，等效电阻不能被视作零欧姆，导致导线上的电压降不能被忽略，导线上的压降最大有70伏特。必须采取措施补偿这个压降的变化，使机器人工作于稳定的电压下，这个稳定电压为(110±10％)V。由此可见，自动调节电源，是远端机器人正常工作的首要保障。To sum up, the commonly used inductive pressure regulators and thyristor pressure regulators are not suitable for the remote voltage stabilization system of the gas pipeline robot. Since the current flowing through the robot will change when the robot is in different actions, it is required that the voltage loaded on both ends of the robot remain stable. Since the power transmission cable is more than 1000 meters long, the equivalent resistance cannot be regarded as zero ohms, so the voltage drop on the wire cannot be ignored, and the voltage drop on the wire is at most 70 volts. Measures must be taken to compensate for the change in voltage drop, so that the robot works at a stable voltage, which is (110±10%)V. It can be seen that the automatic adjustment of the power supply is the primary guarantee for the normal operation of the remote robot.
发明内容：Invention content:
本发明的目的在于克服现有技术的不足，提供一种远端变负载的自动稳压调节电源，可应用于任何变负载的稳压场合，以实现变负载的稳定可靠供电。The purpose of the present invention is to overcome the deficiencies of the prior art, and provide an automatic voltage-stabilizing and adjusting power supply for remote variable loads, which can be applied to any voltage-stabilizing occasions for variable loads, so as to realize stable and reliable power supply for variable loads.
为实现这样的目的，本发明提供的远端变负载的自动稳压调节电源主要包括电流反馈模块、电压反馈模块以及调节电源模块。To achieve such a purpose, the remote variable load automatic voltage regulation power supply provided by the present invention mainly includes a current feedback module, a voltage feedback module and a regulation power supply module.
电压反馈模块包括电压传感器和电压反馈变换回路，电压传感器并行接入调节电源模块的输出保护电路，进行电压采样，电压传感器的输出同电压反馈变换回路相连，电压反馈回路的另一端(输出)同调节电源模块的输入输出接口模块相连。The voltage feedback module includes a voltage sensor and a voltage feedback conversion loop. The voltage sensor is connected in parallel to the output protection circuit of the regulated power supply module for voltage sampling. The output of the voltage sensor is connected to the voltage feedback conversion loop, and the other end (output) of the voltage feedback loop is the same as The input and output interface modules of the regulating power supply module are connected.
电流反馈模块包括电流传感器和电流反馈变换回路。电流传感器串行接入调节电源模块的输出保护电路，电流传感器的输出同电流变换回路(即匹配电路)相连，电流反馈回路的另一端(微处理器)同调节电源模块的输入输出接口模块相连。其中电流反馈回路由匹配电路、全波整流电路、滤波器、A/D变换和微处理器前后串连。The current feedback module includes a current sensor and a current feedback conversion loop. The current sensor is serially connected to the output protection circuit of the regulated power supply module, the output of the current sensor is connected with the current conversion circuit (that is, the matching circuit), and the other end of the current feedback loop (microprocessor) is connected with the input and output interface module of the regulated power supply module . Wherein the current feedback loop is connected in series by a matching circuit, a full-wave rectification circuit, a filter, an A/D conversion and a microprocessor.
调节电源模块的输入/输出接口同比例积分微分(PID)调节模块和微处理器相连，同时比例积分微分(PID)调节模块和微处理器也相连，微处理器同绝缘门栅极双极晶体管(IGBT)驱动模块相连，IGBT驱动模块包括输出保护电路。The input/output interface of the regulating power supply module is connected with the proportional integral differential (PID) regulating module and the microprocessor, and the proportional integral differential (PID) regulating module is also connected with the microprocessor, and the microprocessor is connected with the insulated gate bipolar transistor (IGBT) drive module is connected, and the IGBT drive module includes an output protection circuit.
实现远端可变负载稳压的自动调节过程为：本发明的自动稳压调节电源接入供电电源，调节电源通过长距离动力电缆线与远端变负载的终端相连接，启动远端可变负载稳压的自动调节电源，电流传感器和电压传感器分别检测远端负载的实时电流和电压；微处理器根据设定的采样周期、将变动的电流和电压信号经信号匹配、整流和滤波，送入模/数(A/D)转换器；微处理器读取A/D转换器的电流数据，通过PID调节模块，生成脉宽调制(PWM)波去控制IGBT驱动模块；IGBT产生与电流传感器和电压传感器采样的远端负载的实时电流和电压相对应的稳定输出，实现稳压功能；IGBT驱动模块的输出经过包括过流和过压保护的输出保护电路，通过长距离电缆线连接远端负载，提供稳定的电源。The automatic adjustment process for realizing remote variable load voltage regulation is as follows: the automatic voltage stabilizing and regulating power supply of the present invention is connected to the power supply, the regulating power supply is connected with the terminal of the remote variable load through a long-distance power cable, and the remote variable load is started. The automatic adjustment power supply for load regulation, the current sensor and the voltage sensor respectively detect the real-time current and voltage of the remote load; the microprocessor matches, rectifies and filters the changing current and voltage signals according to the set sampling period, and sends them to the Input the analog/digital (A/D) converter; the microprocessor reads the current data of the A/D converter, and generates a pulse width modulation (PWM) wave to control the IGBT drive module through the PID adjustment module; the IGBT generation and current sensor The stable output corresponding to the real-time current and voltage of the remote load sampled by the voltage sensor realizes the voltage stabilization function; the output of the IGBT drive module passes through the output protection circuit including over-current and over-voltage protection, and is connected to the remote end through a long-distance cable. load, providing a stable power supply.
本发明具有实质特点和显著进步，不管远端负载如何变动，通过自动稳压调节电源内部的电流测量与反馈、电压测量与反馈、PID调节器和IGBT功率驱动，均能够保持远端变负载稳压的输入电压恒定；通过PWM实现调压，输出电压为完整的正弦波，对电网及邻近电器设备无干扰，属于环保型调压装置，能匹配各种阻抗形式的远端负载；输出保护电路内部设有过流、过热和短路保护，增强工作可靠性，使用寿命长。本发明可实现实时对变负载远端装置的稳定供电，与目前国内外的稳压电源、即感应调压器和可控硅调压器设备相比，更先进、更完善。The present invention has substantive features and significant progress. No matter how the remote load changes, the remote variable load can be kept stable through the current measurement and feedback, voltage measurement and feedback, PID regulator and IGBT power drive inside the automatic voltage regulator power supply. The input voltage is constant; the voltage is adjusted by PWM, and the output voltage is a complete sine wave, which has no interference with the power grid and adjacent electrical equipment. There are over-current, over-heat and short-circuit protection inside, which enhances the reliability of work and has a long service life. The present invention can realize stable power supply to remote devices with variable loads in real time, and is more advanced and perfect than current stabilized power supplies at home and abroad, that is, induction voltage regulators and thyristor voltage regulators.
本发明响应速度快、实时性强，最快响应速度可达0.01ms；高精度的纯正弦波输出，能匹配各种阻抗形式的负载；驱动功率大，最大可达100A。本发明可广泛应用到需要远端可变负载稳压的其它各种场合。The invention has fast response speed and strong real-time performance, and the fastest response speed can reach 0.01ms; the high-precision pure sine wave output can match loads of various impedance forms; the driving power is large, and the maximum can reach 100A. The present invention can be widely applied to other various occasions requiring remote variable load voltage regulation.
附图说明：Description of drawings:
图1为本发明远端变负载的自动稳压调节电源总体原理框图。Fig. 1 is a general principle block diagram of the automatic voltage stabilizing and regulating power supply of the remote variable load of the present invention.
如图1所示，本发明主要包括电流反馈模块、电压反馈模块、调节电源模块，通过长距离动力电缆线与远端可变负载的终端相连接。As shown in FIG. 1 , the present invention mainly includes a current feedback module, a voltage feedback module, and an adjustable power supply module, which are connected to a terminal of a remote variable load through a long-distance power cable.
图2为本发明远端变负载的自动稳压调节电源组成结构图。Fig. 2 is a structural diagram of the automatic voltage stabilizing and regulating power supply of the remote variable load of the present invention.
具体实施方式：Detailed ways:
以下结合附图对本发明的技术方案作进一步描述。The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.
本发明的远端变负载的自动稳压调节电源原理框图如图1所示，主要包括电流反馈模块、电压反馈模块、调节电源模块。电压反馈模块包括电压传感器和电压反馈变换回路，电压传感器接入调节电源模块的输出端，进行电压采样，电压传感器的输出同电压反馈变换回路相连，电压反馈回路的输出端同调节电源模块的输入输出接口模块相连。电流反馈模块包括电流传感器和电流反馈变换回路。电流传感器串行接入调节电源模块的输出保护电路，电流传感器的输出经电流反馈变换回路与调节电源模块的输入输出接口模块相连。调节电源模块的输出通过长距离动力电缆线与远端可变负载的终端相连接。由于电力传输电缆有1000米以上，等效电阻不能被视作零欧姆，图1中，R1、R2为电缆等效电阻。The principle block diagram of the automatic voltage stabilizing and regulating power supply for remote variable load of the present invention is shown in FIG. 1 , which mainly includes a current feedback module, a voltage feedback module and a regulating power supply module. The voltage feedback module includes a voltage sensor and a voltage feedback conversion loop. The voltage sensor is connected to the output terminal of the regulated power supply module for voltage sampling. The output of the voltage sensor is connected to the voltage feedback conversion loop, and the output terminal of the voltage feedback loop is connected to the input of the regulated power supply module. The output interface module is connected. The current feedback module includes a current sensor and a current feedback conversion loop. The current sensor is serially connected to the output protection circuit of the regulated power supply module, and the output of the current sensor is connected to the input and output interface module of the regulated power supply module through a current feedback conversion loop. The output of the regulating power supply module is connected to the terminal of the remote variable load through a long-distance power cable. Since the power transmission cable is more than 1000 meters long, the equivalent resistance cannot be regarded as zero ohms. In Figure 1, R1 and R2 are the equivalent resistance of the cable.
本发明的自动稳压调节电源具体组成结构如图2所示，包括电流反馈模块、电压反馈模块、调节电源模块。电压反馈模块包括电压传感器和电压反馈变换回路；电流反馈模块包括电流传感器和电流反馈变换回路，其中电流反馈回路由匹配电路、全波整流电路、滤波器、A/D转换和微处理器前后串接组成。调节电源模块包括输入/输出接口模块、比例积分微分(PID)调节模块、微处理器、绝缘门栅极双极晶体管(IGBT)驱动模块以及输出保护电路。The specific structure of the automatic voltage stabilizing and regulating power supply of the present invention is shown in Figure 2, including a current feedback module, a voltage feedback module, and a regulating power supply module. The voltage feedback module includes a voltage sensor and a voltage feedback transformation loop; the current feedback module includes a current sensor and a current feedback transformation loop, wherein the current feedback loop is composed of a matching circuit, a full-wave rectification circuit, a filter, an A/D conversion, and a serial circuit before and after a microprocessor. Then make up. The regulated power supply module includes an input/output interface module, a proportional-integral-derivative (PID) regulation module, a microprocessor, an insulated gate-gate bipolar transistor (IGBT) drive module, and an output protection circuit.
电压传感器接入调节电源模块的输出保护电路的输出端，进行电压采样，电压传感器的输出同电压反馈变换回路相连，电压反馈变换回路的输出端同调节电源模块的输入输出接口模块相连。调节电源模块的输入/输出接口同比例积分微分(PID)调节模块和微处理器相连，同时比例积分微分(PID)调节模块和微处理器也相连，微处理器同绝缘门栅极双极晶体管(IGBT)驱动模块相连，IGBT驱动模块包括输出保护电路，输出保护电路的输出通过长距离动力电缆线与远端可变负载的终端相连接。The voltage sensor is connected to the output end of the output protection circuit of the regulated power supply module for voltage sampling, the output of the voltage sensor is connected to the voltage feedback transformation loop, and the output end of the voltage feedback transformation loop is connected to the input and output interface module of the regulated power supply module. The input/output interface of the regulating power supply module is connected with the proportional integral differential (PID) regulating module and the microprocessor, and the proportional integral differential (PID) regulating module is also connected with the microprocessor, and the microprocessor is connected with the insulated gate bipolar transistor (IGBT) drive modules, the IGBT drive module includes an output protection circuit, and the output of the output protection circuit is connected to the terminal of the remote variable load through a long-distance power cable.
电流传感器串行接入调节电源模块的输出保护电路，从长距离动力电缆线上检测实时电流，电流传感器的输出经依次串接的电流反馈变换回路中的匹配电路、全波整流电路、滤波器、A/D转换和微处理器，与调节电源模块的输入输出接口模块相连，为调节电源模块提供电流反馈。The current sensor is serially connected to the output protection circuit of the adjustable power supply module, and the real-time current is detected from the long-distance power cable. , A/D conversion and a microprocessor are connected with the input and output interface modules of the regulating power supply module to provide current feedback for the regulating power supply module.
在本发明的一个实施例中，实现远端可变负载稳压的自动调节过程为：控制端(近端)的自动稳压调节电源机箱接入220V供电电源，并通过长距离动力电缆线与远端变负载的终端相连接；启动可变负载稳压的自动调节电源。自动调节电源模块输出电压U2，R1、R2为1000米导线的等效电阻，大小分别为3.5Ω，U2经过等效电阻R1、R2，产生一定的压降，加载到机器人两端的电压为U3，U3即为机器人(可变负载)的工作电压。在调节电源的输出端，接上一个电流传感器，检测导线上的电流，并将此电流转换为对应的电压信号，送至电流测量反馈模块，由电流测量反馈模块对此电压信号进行处理，包括信号匹配、整流和滤波，送入A/D转换器，微处理器读取A/D转换器的电流数据，通过PID调节模块，变换成为电源模块可以接受的控制信号，即生成脉宽调制(PWM)波输出到IGBT驱动电路，IGBT为功率开关器件，然后经过输出保护电路，实现过压过流保护。In one embodiment of the present invention, the automatic adjustment process for realizing remote variable load voltage regulation is as follows: the automatic voltage stabilization and adjustment power supply chassis at the control end (near end) is connected to a 220V power supply, and the long-distance power cable and the Connect the terminals of the remote variable load; start the automatic regulation power supply with variable load regulation. Automatically adjust the output voltage U 2 of the power supply module. R 1 and R 2 are the equivalent resistance of a 1000-meter wire, and the size is 3.5Ω respectively. U 2 passes through the equivalent resistance R 1 and R 2 to generate a certain voltage drop and load it to the robot. The voltage at both ends is U 3 , and U 3 is the working voltage of the robot (variable load). Connect a current sensor to the output terminal of the regulated power supply to detect the current on the wire, convert the current into a corresponding voltage signal, and send it to the current measurement feedback module. The current measurement feedback module processes the voltage signal, including Signal matching, rectification and filtering, sent to the A/D converter, the microprocessor reads the current data of the A/D converter, through the PID adjustment module, transforms it into a control signal acceptable to the power module, that is, generates pulse width modulation ( PWM) wave output to the IGBT drive circuit, the IGBT is a power switching device, and then through the output protection circuit to realize overvoltage and overcurrent protection.
例如，机器人的正常工作电压为110V，可以达到的最大工作电流为10A。若没有此稳压系统，直接用220V电源电压长距离供电，使机器人在一般状态下的工作电压为110V，在机器人动作变化，工作电流最大达到10A时，电源损耗在导线上的最大压降达到70V，机器人两端的电压将骤降，机器人端压的最大波动率达到63.6％，电压最大损耗率达到31.8％，这在工程中是不允许的，大大超出了机器人端压10％波动率的要求。而本发明调节电源模块的输出，为实时电流的反馈信号经过处理所控制，可以补偿导线上的压降。因此，无论机器人何种工作动作，负载电流的多少，加载到远端机器人电压都是机器人的正常工作所需的110V电压，波动率在±10％以内，实现远端机器人变负载的自动稳压、稳流调节，为机器人稳定供电。For example, the normal operating voltage of the robot is 110V, and the maximum operating current that can be achieved is 10A. If there is no such voltage stabilizing system, directly use 220V power supply voltage for long-distance power supply, so that the working voltage of the robot in the normal state is 110V. 70V, the voltage at both ends of the robot will drop suddenly, the maximum fluctuation rate of the robot terminal voltage reaches 63.6%, and the maximum loss rate of the voltage reaches 31.8%, which is not allowed in engineering, which greatly exceeds the requirement of 10% fluctuation rate of the robot terminal voltage . The present invention adjusts the output of the power supply module, which is controlled by the real-time current feedback signal after processing, and can compensate the voltage drop on the wire. Therefore, regardless of the robot's working action and load current, the voltage loaded to the remote robot is the 110V voltage required for the normal operation of the robot, and the fluctuation rate is within ±10%, realizing the automatic voltage regulation of the remote robot's variable load , Steady current regulation, stable power supply for the robot.
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| CN105154158A (en) * | 2015-09-15 | 2015-12-16 | 中南林业科技大学 | Device for collecting methane in forest soil |
| CN108472007A (en) * | 2015-11-02 | 2018-08-31 | 皇家飞利浦有限公司 | The active distributed of high-voltage power supply for ultrasonic transducer |
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