CN106786492A - Hybrid energy-storing control system and its method for designing containing variable coefficient Load Torque Observer - Google Patents
Hybrid energy-storing control system and its method for designing containing variable coefficient Load Torque Observer Download PDFInfo
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- CN106786492A CN106786492A CN201710060701.8A CN201710060701A CN106786492A CN 106786492 A CN106786492 A CN 106786492A CN 201710060701 A CN201710060701 A CN 201710060701A CN 106786492 A CN106786492 A CN 106786492A
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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
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
- H02J1/10—Parallel operation of dc sources
- H02J1/102—Parallel operation of dc sources being switching converters
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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
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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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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to hybrid energy-storing control system and its method for designing containing variable coefficient Load Torque Observer, hybrid energy-storing control device output end connects batteries to store energy unit and super capacitor storage unit respectively, described batteries to store energy unit and super capacitor storage unit are connected in parallel on dc bus by two-way DC DC converters respectively, variable coefficient finite time Load Torque Observer output end connects hybrid energy-storing control device input, described variable coefficient finite time Load Torque Observer is using the real-time voltage of dc bus and real-time current value as input, output load impedance estimate is to hybrid energy-storing control device input, energy-storage units are controlled by hybrid energy-storing control device, maintain DC bus-bar voltage stabilization.Compared with prior art, the present invention has the advantages that the finite time Accurate Reconstruction for realizing state, the control performance that fast and accurately load condition estimation and raising energy-storage system are provided for hybrid energy-storing controller.
Description
Technical field
The present invention relates to load control field, more particularly, to a kind of hybrid energy-storing control containing variable coefficient Load Torque Observer
System processed and its method for designing.
Background technology
The stability of direct-current micro-grid operation is heavily dependent on the control performance of mixed energy storage system, due to mixing
Energy storage control system input variable includes load condition feedback information, and the information is difficult direct measurement, therefore demand load is seen
Survey device and obtain the information.But current most Load Torque Observer is all based under Lyapunov stability meaning what is discussed, essence
True load state information can only be tracked in infinite time, it is impossible to be obtained in finite time, and this point causes controller not
Control law can be rapidly and accurately generated, and then influences hybrid energy-storing control performance.
Because mixed energy storage system is time-varying system, load therein, busbar voltage and circuit parameter are time-varying ginseng
Number, the finite time Load Torque Observer of constant coefficient can not well observe load information.Therefore, design one kind is suitable for mixing storage
The variable coefficient finite time Load Torque Observer of energy control system is very necessary.
The content of the invention
The purpose of the present invention is exactly to provide a kind of negative containing variable coefficient for the defect for overcoming above-mentioned prior art to exist
Carry the hybrid energy-storing control system and its method for designing of observer.Variable coefficient finite time Load Torque Observer can be in finite time
The quick and precisely tracking of load condition is inside realized, for hybrid energy-storing control system provides accurate load condition feedback, improves mixed
Close energy storage control performance.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of hybrid energy-storing control system containing variable coefficient Load Torque Observer, described hybrid energy-storing control system includes
Batteries to store energy unit and super capacitor storage unit, and hybrid energy-storing control device, described hybrid energy-storing control device
Output end connects batteries to store energy unit and super capacitor storage unit, described batteries to store energy unit and super capacitor respectively
Energy-storage units are connected in parallel on dc bus by bidirectional DC-DC converter respectively, and described hybrid energy-storing control system also includes
Variable coefficient finite time Load Torque Observer, described variable coefficient finite time Load Torque Observer output end connection hybrid energy-storing control
Device input.
Described variable coefficient finite time Load Torque Observer is using the real-time voltage of dc bus and real-time current value as defeated
Enter, output load impedance estimate to hybrid energy-storing control device input, energy storage list is controlled by hybrid energy-storing control device
Unit, maintains DC bus-bar voltage stabilization.
A kind of method for designing for a kind of described hybrid energy-storing control system containing variable coefficient Load Torque Observer, it is described
Hybrid energy-storing control system by the total current of dc bus and load voltage input variable coefficient finite time Load Torque Observer, by
Variable coefficient finite time Load Torque Observer estimates load change information, and described variable coefficient finite time Load Torque Observer output is real
When load data to hybrid energy-storing control device, make hybrid energy-storing control device that real-time control is carried out to DC bus-bar voltage, tie up
DC bus-bar voltage stabilization is held, described method is comprised the following steps：
S1, the design of variable coefficient finite time Load Torque Observer；
S2, hybrid energy-storing control system Mathematical Models；
S3, the design of hybrid energy-storing control device.
Step S1 is specially：
Derive DC bus-bar voltage dynamical equation：
isThe current value of dc bus is injected into for energy-storage units, is also the input of variable coefficient finite time Load Torque Observer
Value；
vcIt is DC bus-bar voltage, R is load impedance；
In load side, variable coefficient finite time Load Torque Observer is designed：
It is DC bus-bar voltage estimate, is variations per hour, is also the input value of variable coefficient finite time Load Torque Observer；
It is the estimate of load impedance, is the output valve of variable coefficient finite time Load Torque Observer；
l1With l2It is Passive Shape Control device parameter；
FunctionWherein fractional power β=β1,β2, and meet 0 ＜ β1＜ 1,0
＜ β2＜ 1.
Step S2 is specially：Hybrid energy-storing control system Mathematical Modeling is as follows,
Wherein, Δ VC=VC-VC *It is the deviation between dc bus virtual voltage and expectation voltage, VC *It is the dc bus phase
Hope magnitude of voltage；
ΔVSC=VSC-VSC *It is the deviation between super capacitor virtual voltage and expectation voltage, VSC *For super capacitor is expected
Magnitude of voltage；
isc *、ib *The respectively output valve of Passive Shape Control device, i.e. super capacitor storage unit and batteries to store energy unit charge and discharge
Electric current；
R is load impedance；
C is dc bus equivalent capacity, CSCIt is the equivalent capacity of super capacitor；
isc、ibRespectively super capacitor and accumulator cell charging and discharging electric current；
VSC、Vb、VCRespectively super-capacitor voltage, battery tension and DC bus-bar voltage.
Step S3 is comprised the following steps：
S31, the design of Passive Shape Control device；
S32, regulating current device design.
Described Passive Shape Control device design：
Wherein α=jCCSC＞ 0；
C is dc bus equivalent capacity, CSCIt is the equivalent capacity of super capacitor；
VSC、Vb、VCWithThe respectively estimation of super-capacitor voltage, battery tension, DC bus-bar voltage and load impedance
Value, the i.e. input value of Passive Shape Control device；
isc *、ib *Respectively super capacitor and accumulator cell charging and discharging electric current, the i.e. output valve of Passive Shape Control device.
Described regulating current device design：
ub=KP1(ib-ib *)
usc=KP3(isc-isc *)
isc *、ib *Respectively the input value of regulating current device, is also the output valve of Passive Shape Control device；
ub、uscThe respectively output valve of regulating current device；
Wherein KP3With KP1It is proportional controller amplification coefficient.
Switch T is provided with described batteries to store energy unit1And T2, switch is provided with described super capacitor storage unit
T3And T4, described hybrid energy-storing control device is by controlling switch T1、T2、T3And T4Aperture control DC bus-bar voltage,
Switching control law is：Switch T1 control laws are 1-ub；Switch T2 control laws are ub；Switch T3 control laws are 1-usc；Switch T4 controls
System rule is usc。
Compared with prior art, the present invention has advantages below：
1) for there is load condition in hybrid energy-storing control system, this is difficult the input variable information of measurement to the present invention,
Design a kind of variable coefficient finite time Load Torque Observer for being suitable for hybrid energy-storing control system to estimate this information so that female
Line voltage control keeps stabilization；
2) observer uses finite time Observation Theory, realizes the finite time Accurate Reconstruction of state, is hybrid energy-storing
Controller provides fast and accurately load condition and estimates, improves the control performance of energy-storage system.
Brief description of the drawings
Fig. 1 is the hybrid energy-storing control system architecture figure containing variable coefficient Load Torque Observer；
Fig. 2 mixed energy storage system simplified structure diagrams；
Fig. 3 is based on the hybrid energy-storing Passive Shape Control structure chart of variable coefficient finite time Load Torque Observer；
Fig. 4 DC bus-bar voltage oscillograms；
Fig. 5 loads change and its observation oscillogram.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is a part of embodiment of the invention, rather than whole embodiments.Based on this hair
Embodiment in bright, the every other reality that those of ordinary skill in the art are obtained on the premise of creative work is not made
Example is applied, should all belong to the scope of protection of the invention.
Embodiment
Accurate load condition estimate can only be obtained in infinite time for Load Torque Observer, the present invention is with limited
Time observation is theoretical, improves Load Torque Observer design, realizes the finite time Accurate Reconstruction of state, is hybrid energy-storing control system
There is provided fast and accurately load condition to estimate, improve the control performance of mixed energy storage system.
For there is load condition in hybrid energy-storing control system, this is difficult the input variable information of measurement to the present invention, if
Count a kind of variable coefficient finite time Load Torque Observer for being suitable for hybrid energy-storing control system to estimate this information, such as Fig. 1 institutes
Show.The observer uses finite time Observation Theory, realizes the finite time Accurate Reconstruction of state, is that hybrid energy-storing controller is carried
Estimate for fast and accurately load condition, improve the control performance of energy-storage system.
With the hybrid energy-storing in micro-capacitance sensor as application background, the variable coefficient finite time for designing hybrid energy-storing control system is born
Observer is carried, Load Torque Observer output is applied to the design of hybrid energy-storing Passive Shape Control system；Hybrid energy-storing control system is included
There are hybrid energy-storing Passive Shape Control device and regulating current device；The design of hybrid energy-storing Passive Shape Control device is in mixed energy storage system mathematics
On the basis of model, drawn according to Passive Shape Control Theoretical Design, generate converter inductive current reference value；Regulating current device is
Proportional controller, its difference for being output as converter inductive current reference value and inductor current value；Hybrid energy-storing Passive Shape Control device is defeated
Enter one of signal for load condition, the state is estimated to draw by variable coefficient finite time Load Torque Observer.Specific design process is such as
Under：
Variable coefficient finite time Load Torque Observer design conventional method be：
It is for a nonlinear system：
Wherein, i=1 ..., n is natural number；X=(x1,...,xn)T∈RnIt is system mode, u is control input, and y is
System is exported.With fi(t,x1,...,xi,u)、fn(t,x1,...,xn, u) it is time-varying continuous function.
Finite time Load Torque Observer may be designed as：
Wherein,It is state xiObservation, 0 ＜ mi＜ 1, functionAndWithIt is time-varying continuous function, ki, knIt is Passive Shape Control device parameter.
1) variable coefficient finite time Load Torque Observer design
Because load state information R participates in the input of mixed energy storage system Passive Shape Control device, the value is difficult direct measurement, now sets
Meter variable coefficient finite time Load Torque Observer estimates this information.
Mixed energy storage system can be reduced to shown in Fig. 2, with Kirchhoff's laws of electric circuit, derive DC bus-bar voltage dynamic
Equation：
Wherein, isThe current value of dc bus is injected into by converter for energy-storage system.In load side, due to load R
And voltage vcTime-varying parameter is, for more accurate predictor R, variable coefficient finite time Load Torque Observer is designed：
Wherein,It is DC bus-bar voltage estimate； It is the estimate of load impedance；l1With l2It is Passive Shape Control
Device parameter；FunctionWherein fractional power β=β1,β2, and meet 0 ＜ β1The ＜ of ＜ 1,0
β2＜ 1.
In designed observer (4), vcIt is variations per hour, this point is different from the finite time observer of constant coefficient.
Variable coefficient finite time Load Torque Observer output estimation valueHybrid energy-storing controller is participated in as load impedance signal to be input into.
2) mixed energy storage system Mathematical Modeling
The design of mixed energy storage system Passive Shape Control device is based on mixed energy storage system Mathematical Modeling, according to kirchhoff
Circuital law and state-space model method, obtaining mixed energy storage system Mathematical Modeling is：
Wherein, R is load impedance；α1、α3Respectively switch T1And switch T3Dutycycle；C is dc bus equivalent electric
Hold, CSCIt is the equivalent capacity of super capacitor；LSCIt is connection super capacitor converter inductance, LbIt is connection battery converter electricity
Sense；isc、ibIt is super capacitor and accumulator cell charging and discharging electric current；VSC、Vb、VCRespectively super-capacitor voltage, battery tension and
DC bus-bar voltage.
Because current regulator governing speed is sufficiently fast, the electric current i that it is controlledscWith ibIts reference can quickly be tracked
Value i* scWith i* b, then iSC=iSC *, ib=ib *, carry it into mixed energy storage system Mathematical Modeling (5), obtain：
Wherein, Δ VC=VC-VC *It is the deviation between bus virtual voltage and expectation voltage, VC *For bus expects voltage
Value；ΔVSC=VSC-VSC *It is the deviation between super capacitor virtual voltage and expectation voltage, VSC *For super capacitor expects voltage
Value.
3) hybrid energy-storing Control System Design
Hybrid energy-storing control system includes hybrid energy-storing Passive Shape Control device and regulating current device；The passive control of hybrid energy-storing
Device design processed is on the basis of mixed energy storage system Mathematical Modeling, to be drawn according to Passive Shape Control Theoretical Design, generates converter
Inductive current reference value；Regulating current device is proportional controller, and it is output as converter inductive current reference value with inductance electricity
The difference of flow valuve.Hybrid energy-storing Passive Shape Control structure chart based on variable coefficient finite time Load Torque Observer is shown in Fig. 3.
31) Passive Shape Control device design
According to interconnection and damping configuration passive control method, when closed-loop system energy function is chosen, the energy letter of selection
Number is：
According to interconnection and damping passive configuration control equationConvolution (6) and energy function
(7) following matching equation can be derived：
Wherein,Interconnection matrixDamping matrix
j、r1、r2It is Passive Shape Control device parameter.
Super capacitor and accumulator cell charging and discharging reference current are released by formula (8)：
Super capacitor is used to adjust DC bus-bar voltage, battery is used to maintain super-capacitor voltage, and formula (9) simplifies
For：
Wherein α=jCCSC＞ 0.
It is to replace with by the load impedance R in formula (10)Then the Passive Shape Control device of mixed energy storage system is designed as：
32) regulating current device design
Adoption rate adjuster is used as regulating current device, control super capacitor and the quick follow current ginseng of battery current
Examine value.Proportional controller input is electric current and the error of current reference value, is output as：
ub=KP1(ib-ib *) (12)
usc=KP3(isc-isc *) (13)
Wherein KP3With KP1It is proportional controller amplification coefficient.
Converter switches control law is：Switch T1Control law is 1-ub；Switch T2Control law is ub；Switch T3Control law is 1-
usc；Switch T4Control law is usc。
In simulations, set load change to turn to shown in Fig. 5, be 10 Ω in 0~0.2s load resistances；0.2~0.4s is loaded
Resistance is 20 Ω；0.4~0.55s load resistances are 12.5 Ω, under the load situation of change more than, DC bus-bar voltage stabilization
In rated value 50V, as shown in Figure 4.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any
Those familiar with the art the invention discloses technical scope in, various equivalent modifications can be readily occurred in or replaced
Change, these modifications or replacement should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection domain be defined.
Claims (9)
1. a kind of hybrid energy-storing control system containing variable coefficient Load Torque Observer, described hybrid energy-storing control system includes storing
Battery energy storage unit and super capacitor storage unit, and hybrid energy-storing control device, described hybrid energy-storing control device are defeated
Go out end and connect batteries to store energy unit and super capacitor storage unit respectively, described batteries to store energy unit and super capacitor are stored up
Energy unit is connected in parallel on dc bus by bidirectional DC-DC converter respectively, it is characterised in that described hybrid energy-storing control system
System also includes variable coefficient finite time Load Torque Observer, described variable coefficient finite time Load Torque Observer output end connection mixing
Energy storage control device input.
2. a kind of hybrid energy-storing control system containing variable coefficient Load Torque Observer according to claim 1, its feature exists
In described variable coefficient finite time Load Torque Observer is defeated using the real-time voltage of dc bus and real-time current value as input
Go out load impedance estimate to hybrid energy-storing control device input, energy-storage units, dimension are controlled by hybrid energy-storing control device
Hold DC bus-bar voltage stabilization.
3. the design side of a kind of a kind of hybrid energy-storing control system containing variable coefficient Load Torque Observer for described in claim 1
Method, it is characterised in that described hybrid energy-storing control system has the total current of dc bus and load voltage input variable coefficient
Load Torque Observer between in limited time, load change information is estimated by variable coefficient finite time Load Torque Observer, and described variable coefficient is limited
Time load observer exports real time load data to hybrid energy-storing control device, makes hybrid energy-storing control device to dc bus
Voltage carries out real-time control, maintains DC bus-bar voltage stabilization, described method to comprise the following steps：
S1, the design of variable coefficient finite time Load Torque Observer；
S2, hybrid energy-storing control system Mathematical Models；
S3, the design of hybrid energy-storing control device.
4. a kind of a kind of mixing containing variable coefficient Load Torque Observer for described in claim 1 according to claim 3
The method for designing of energy storage control system, it is characterised in that step S1 is specially：
Derive DC bus-bar voltage dynamical equation：
isThe current value of dc bus is injected into for energy-storage units, is also the input value of variable coefficient finite time Load Torque Observer；
vcIt is DC bus-bar voltage, R is load impedance；
In load side, variable coefficient finite time Load Torque Observer is designed：
It is DC bus-bar voltage estimate, is variations per hour, is also the input value of variable coefficient finite time Load Torque Observer；
It is the estimate of load impedance, is the output valve of variable coefficient finite time Load Torque Observer；
l1With l2It is Passive Shape Control device parameter；
FunctionWherein fractional power β=β1,β2, and meet 0 ＜ β1The ＜ β of ＜ 1,02＜
1。
5. a kind of a kind of mixing containing variable coefficient Load Torque Observer for described in claim 1 according to claim 3
The method for designing of energy storage control system, it is characterised in that step S2 is specially：Hybrid energy-storing control system Mathematical Modeling is as follows,
Wherein, Δ VC=VC-VC *It is the deviation between dc bus virtual voltage and expectation voltage, VC *For dc bus expects electricity
Pressure value；
ΔVSC=VSC-VSC *It is the deviation between super capacitor virtual voltage and expectation voltage, VSC *For super capacitor expects voltage
Value；
isc *、ib *Respectively the output valve of Passive Shape Control device, i.e. super capacitor storage unit and the discharge and recharge of batteries to store energy unit are electric
Stream；
R is load impedance；
C is dc bus equivalent capacity, CSCIt is the equivalent capacity of super capacitor；
isc、ibRespectively super capacitor and accumulator cell charging and discharging electric current；
VSC、Vb、VCRespectively super-capacitor voltage, battery tension and DC bus-bar voltage.
6. a kind of a kind of mixing containing variable coefficient Load Torque Observer for described in claim 1 according to claim 3
The method for designing of energy storage control system, it is characterised in that step S3 is comprised the following steps：
S31, the design of Passive Shape Control device；
S32, regulating current device design.
7. a kind of a kind of mixing containing variable coefficient Load Torque Observer for described in claim 1 according to claim 6
The method for designing of energy storage control system, it is characterised in that described Passive Shape Control device design：
Wherein α=jCCSC＞ 0；
C is dc bus equivalent capacity, CSCIt is the equivalent capacity of super capacitor；
VSC、Vb、VCWithThe respectively estimate of super-capacitor voltage, battery tension, DC bus-bar voltage and load impedance,
That is the input value of Passive Shape Control device；
isc *、ib *Respectively super capacitor and accumulator cell charging and discharging electric current, the i.e. output valve of Passive Shape Control device.
8. a kind of a kind of mixing containing variable coefficient Load Torque Observer for described in claim 1 according to claim 7
The method for designing of energy storage control system, it is characterised in that described regulating current device design：
ub=KP1(ib-ib *)
usc=KP3(isc-isc *)
isc *、ib *Respectively the input value of regulating current device, is also the output valve of Passive Shape Control device；
ub、uscThe respectively output valve of regulating current device；
Wherein KP3With KP1It is proportional controller amplification coefficient.
9. a kind of a kind of mixing containing variable coefficient Load Torque Observer for described in claim 1 according to claim 8
The method for designing of energy storage control system, it is characterised in that
Switch T is provided with described batteries to store energy unit1And T2, switch T is provided with described super capacitor storage unit3With
T4, described hybrid energy-storing control device is by controlling switch T1、T2、T3And T4Aperture control DC bus-bar voltage, switch
Control law is：Switch T1 control laws are 1-ub；Switch T2 control laws are ub；Switch T3 control laws are 1-usc；Switch T4 control laws
It is usc。
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