CN106936313A - The sliding-mode control of Sofe Switch condition is realized based on SP type ICPT systems - Google Patents
The sliding-mode control of Sofe Switch condition is realized based on SP type ICPT systems Download PDFInfo
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- CN106936313A CN106936313A CN201710276321.8A CN201710276321A CN106936313A CN 106936313 A CN106936313 A CN 106936313A CN 201710276321 A CN201710276321 A CN 201710276321A CN 106936313 A CN106936313 A CN 106936313A
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
- Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes
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Abstract
The present invention proposes a kind of sliding-mode control that Sofe Switch condition is realized based on SP type ICPT systems, comprises the following steps:S1, primary circuit is equivalent to by the secondary circuit of mode of resonance inductive electric energy transmission system, and primary side resonance current is solved according to equivalent primary circuit;S2, the voltage source by primary-side-control is equivalent to by induced electromotive force, and secondary side rectification circuit is equivalent into a turn ratio by Fourier transformation isTransformer;S3, obtains the pc equivalent circuit of the mode of resonance inductive electric energy transmission system, and according to the difference equation of the pc equivalent circuit, the present invention is controlled from primary side, improves the efficiency of circuit work.The Second Order Sliding Mode Control algorithm of proposition only needs to the sampled value of output voltage and the zero crossing of resonance current, without the occurrence and any integral term of electric current.
Description
Technical field
Inductively coupled power transfer (ICPT) system reality is based on the present invention relates to automation control area, more particularly to one kind
The sliding-mode control of existing Sofe Switch condition.
Background technology
In the prior art, the Second Order Sliding Mode Control that traditional inductive electric energy transmission system control algolithm is not based on primary side is calculated
Method, without the second-order DC equivalent model set up for primary side series connection-secondary inductive electric energy transmission system in parallel, for control
Secondary-side switch cannot be solved adjusting the controller of output end voltage its efficiency, and controller is sensitive to load disturbance,
It is simultaneously larger by Circuit Parameter's Influence, it is impossible to quick dynamic response, and electric current is needed in the controller design of prior art
Sampled value and integral term.The output voltage of the inductive electric energy transmission system of traditional controller becomes in load disturbance and the coefficient of coup
, it is necessary to relatively long regulating time can be only achieved stable state in the case of change.This just needs those skilled in the art badly and solves accordingly
Technical problem.
The content of the invention
It is contemplated that at least solving technical problem present in prior art, especially innovatively propose a kind of based on SP
Type ICPT systems realize the sliding-mode control of Sofe Switch condition.
In order to realize above-mentioned purpose of the invention, Sofe Switch condition is realized based on ICPT systems the invention provides a kind of
Sliding-mode control, comprises the following steps:
S1, the secondary circuit of mode of resonance inductive electric energy transmission system is equivalent to primary circuit, according to equivalent primary side electricity
Road solves primary side resonance current;
S2, is equivalent to the voltage source by primary current control, while by Fourier transformation by the induced electromotive force of secondary
Secondary side rectification circuit is equivalent into a turn ratio isTransformer;
S3, obtains the pc equivalent circuit of the mode of resonance inductive electric energy transmission system, according to the difference of the pc equivalent circuit
Divide equation, setting reference voltage vref, by output voltage V and reference voltage vrefDifference be defined as the error signal of sliding variable
Value s;
S4, when setting the original state of dynamic parameter value β, s to bear, the switching condition of state is s >=β sm;The initial shape of s
State is timing, and the switching condition of state is s≤β sM, controller architecture is from humorous by two energy injection states and two energy
State of shaking and an original state composition;
S5, detects the zero crossing of primary side resonance current, it is ensured that circuit is operated in Sofe Switch state;
S6, according to the real-time update of dynamic parameter value, phase path is in the track in energy injection stage and energy self-resonance rank
The track of section mutually switches, and eventually arrives at sliding-mode surface
The described sliding-mode control that Sofe Switch condition is realized based on ICPT systems, it is preferred that the S1 includes:
Wherein, ω0The natural frequency of-circuit, the working frequency of ω-resonance circuit, the time constant of τ-resonance circuit, Q-
The quality factor of circuit,VpIt is original edge voltage, t is time constant.
The described sliding-mode control that Sofe Switch condition is realized based on ICPT systems, it is preferred that the S3 includes:
Circuit parameter expression formula after direct current is equivalent is:DC voltage isDC inductance:Lequ=Ls,
DC capacitor:Cequ=Cs, D.C. resistance:
Wherein
Obtain the difference equation expression formula of equivalent circuit
The described sliding-mode control that Sofe Switch condition is realized based on ICPT systems, it is preferred that the S3 also includes:
Based on difference equation expression formula, s=v is definedo-vref, vrefIt is the reference voltage for setting, the single order second order derivation of S
Equation is expressed as
From above formula, it is 2 that the circuit after simplifying slides dynamic Relative order;
Consider to use Second Order Sliding Mode Control device, therefore, choosing sliding-mode surface isBy the single order second order derivation of S
Equation abbreviation can obtain expressions below
For simplicity is analyzed, circuit is placed in open-circuit condition, ICPT systems are in undamped state, equivalent toFor
Zero;
Equation the right and left is multiplied byAnd integrate
Variable is setWillReplace, obtain
The energy injection stage,
The energy self-resonance stage,
re, rfThe respectively phase path radius of graph in energy injection stage and energy self-resonance stage, their value is by electricity
The original state on road is determined, it is assumed that initial value is s0, the switching generation of the pattern of circuit is in βNsm, βNIt is one between 0 to 1
Constant, the approach procedure of decision systems, smIt is the minimum value in energy injection stage, initial point is (s0, 0) and phase path figure.
The described sliding-mode control that Sofe Switch condition is realized based on ICPT systems, it is preferred that the S4 includes:
Obtain the β under limiting caseNAnd βP, i.e., by once switching, phase path reaches sliding-mode surface
In side circuit, in order to prevent the overshoot of output voltage
Similarly, if initial point is in RHP, obtain
Equally, to prevent output voltage overshoot
The described sliding-mode control that Sofe Switch condition is realized based on ICPT systems, it is preferred that the S5 includes:
The zero crossing of primary side resonance current is detected, is then corrected due to the phase that sample circuit brings by phase-correcting circuit
Position error, it is ensured that each switch motion was completed at the current zero-crossing point moment;Under the conditions of this is ensured, then realize Second Order Sliding Mode control
Algorithm processed.
In sum, by adopting the above-described technical solution, the beneficial effects of the invention are as follows:
The control program is controlled from primary side, and the control method is realized on the basis of ensureing to realize Sofe Switch
Control method, improves the efficiency of circuit work.
The Second Order Sliding Mode Control algorithm of proposition only needs to the sampled value of output voltage and the zero crossing of resonance current, without
Want the occurrence and any integral term of electric current.
The control algolithm has stronger robustness to the uncertainty of circuit parameter, and load disturbance.
This control algolithm is equally applicable to other topological ICPT (inductively coupled power transfer) circuits.
Additional aspect of the invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by practice of the invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein:
Fig. 1 is primary side series connection-secondary of the present invention inductive electric energy transmission system circuit topology in parallel;
Fig. 2 is of the invention by the equivalent circuit to after primary side of secondary;
Fig. 3 is that induced electromotive force is equivalent to preliminary secondary equivalent circuit diagram by the present invention;
Fig. 4 is primary side series connection-secondary of the present invention inductive electric energy transmission system pc equivalent circuit topology in parallel;
Fig. 5 is energy injection of the present invention and self-resonance phase path cluster partial schematic diagram;
Fig. 6 is that initial point of the present invention is (s0, 0) and phase path figure;
The state machine diagram of the controller of Fig. 7 Second Order Sliding Modes;
Fig. 8 is the Second Order Sliding Mode approach procedure schematic diagram of control method of the present invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
It is exemplary to scheme the embodiment of description, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " longitudinal direction ", " transverse direction ", " on ", D score, "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward " are based on accompanying drawing institute
The orientation or position relationship for showing, are for only for ease of the description present invention and simplify description, rather than the dress for indicating or implying meaning
Put or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limit of the invention
System.
In the description of the invention, unless otherwise prescribed with limit, it is necessary to explanation, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be mechanically connect or electrical connection, or two connections of element internal, can
Being to be joined directly together, it is also possible to be indirectly connected to by intermediary, for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term.
The present invention proposes the Second Order Sliding Mode Control method for realizing Sofe Switch condition for inductive electric energy transmission system.Pass through
It is DC source and the method for simplifying secondary side rectification circuit to replace primary side, establishes the induced electricity for the series connection of primary side series connection-secondary
The second-order DC equivalent model of energy Transmission system.And devise one the two of output end voltage is adjusted by controlling primary side switch
Rank sliding mode controller, the controller is realized with digital state machine.The parameter of controller is pushed away by the DC Model after simplification
Derive what is come.The controller has quick dynamic response performance and robustness to load disturbance and parameter uncertainty, while
The sampled value and integral term of electric current are not needed in the design of controller.The output voltage of system can be in load disturbance and coupling
In the case of index variation, stable state is reached with little switch motion.Wherein Fig. 1 is primary side series connection-secondary induced electricity in parallel
Can Transmission system circuit topology.Note:Vg- input voltage, Cp- primary side resonant capacitance, Lp- primary side resonant inductance, Rp- primary side resonance
Inductance, capacitor equivalent resistance value, Cs- secondary resonant capacitance, Ls- secondary resonant inductance, Rs- secondary resonant inductance, capacitor equivalent electricity
Resistance, Lout- filter inductance, Cout- filter capacitor, Re- dotted line interior element equivalent resistance, M be primary side inductance and secondary inductance it
Between mutual inductance.It is the primary side of mode of resonance inductive electric energy transmission system on the left of M, for mode of resonance induction electric energy transmits system on the right side of M
The secondary of system,
Wherein mode of resonance inductive electric energy transmission system includes a considerable amount of nonlinear switchings, and there is more energy storage
Element, real system shows complicated order switches non-linear behavior, so sliding mode control strategy has relatively strong fitting to the system
With the control mode of property.Sliding formwork control is relative to the robust that the main advantage of traditional control program is had parameter
Property, and its change to either disturbance and the load of linear or nonlinear system parameter all has insensitivity, tool
There is good dynamic and steady-state response.
Circuit equivalent process:Secondary circuit is equivalent to primary side, circuit topology shown in Fig. 2 is obtained, secondary is equivalent to original
Circuit behind side.Wherein ReIt is equivalent resistance.
The expression formula of primary side resonance current can be solved by the circuit:
Note:ω0The natural frequency of-circuit, the working frequency of ω-resonance circuit, the time constant of τ-resonance circuit, Q- electricity
The quality factor on road.VpIt is original edge voltage, t is time constant.
Thus, secondary circuit is equivalent to as shown in figure 3, wherein Voc(t)=wMipT () is the induced electromotive force of secondary,
Induced electromotive force is equivalent to the voltage source by primary current control.Form preliminary secondary equivalent circuit diagram.Meanwhile, by Fu
Rectification circuit can be equivalent to a turn ratio by leaf transformationTransformer.After equivalent, can obtain such as figure
Shown in 4, be rectification it is equivalent after secondary circuit.
nvocEquivalent induced electromotive force, IsThe equivalent secondary currents of/n, Ls, CsInductance capacitance after equivalent, CoutFilter capacitor,
LoutFilter inductance, RloadLoad resistance.
Further, we obtain the direct current isoboles of circuit, as shown in figure 5, primary side series connection-secondary induced electricity in parallel
Can Transmission system direct current equivalent topologies figure.
Fig. 6 is energy injection of the present invention and self-resonance phase path cluster partial schematic diagram;
Circuit parameter expression formula after direct current is equivalent is:DC voltage isDC inductance:Ls, direct current
Hold:Cs, D.C. resistance:
Wherein
The difference equation expression formula of equivalent circuit is obtained according to Fig. 5
Based on difference equation expression formula, s=v is definedo-vref, vrefIt is the reference voltage for setting.The single order second order derivation of S
Equation is expressed as
From above formula, it is 2 that the circuit after simplifying slides dynamic Relative order.
Consider to use Second Order Sliding Mode Control device, therefore, choosing sliding-mode surface is
Variable is setWillReplace, we obtain
The energy injection stage,The energy self-resonance stage,
re, rfThe respectively phase path radius of graph in energy injection stage and energy self-resonance stage, their value is by electricity
The original state on road is determined.It is assumed that initial value is s0, the switching generation of the pattern of circuit is in βNsm(βNIt is one between 0 to 1
Constant, the approach procedure of decision systems), that is, obtain as shown in fig. 7, smIt is the minimum value in energy injection stage.sMIt is energy injection
The maximum in stage.Initial point is (s0, 0) and phase path figure.The replacement done by reduced equation.
According to above-mentioned analysis, the state machine diagram of the controller based on Second Order Sliding Mode is as shown in figure 8, describe the work of controller
Make principle.
From in figure, the controller need to determine parameter betaNAnd δ, δ can be in circuit switching device maximal work
Frequency determines.Accordingly, it would be desirable to obtain βNValue.As seen from Figure 7, the optimum efficiency of switching is to be switched in the energy injection stage
After the energy self-resonance stage, phase path just reaches origin along self-resonance track.Can now obtain
In side circuit, in order to prevent the overshoot of output voltage
Similarly, if initial point is in RHP, can obtain
Equally, to prevent output voltage overshoot
(βN、βPIt is a constant between 0 to 1, the convergence mistake of decision systems
Journey, δ is sluggish constant, prevents switching frequency too high.)
Shown in the Second Order Sliding Mode approach procedure of control algolithm, βNMay decide that output valve reach reference value during, energy
The number of times switched between switching and self-resonance.Wherein, Limit Trajectories are limit running orbit, Energy
Injection is energy injection process, and Free oscillation are free harmonic vibration process, and Actual Trajectory are real
Border running orbit.
Fig. 1 is primary side series connection-secondary of the present invention inductive electric energy transmission system circuit topology in parallel;
Fig. 2 is of the invention by the equivalent circuit to after primary side of secondary;
Fig. 3 is that induced electromotive force is equivalent to preliminary secondary equivalent circuit diagram by the present invention;
Fig. 4 is primary side series connection-secondary of the present invention inductive electric energy transmission system pc equivalent circuit topology in parallel;
Fig. 5 is energy injection of the present invention and self-resonance phase path cluster partial schematic diagram;
Fig. 6 is that initial point of the present invention is (s0, 0) and phase path figure;
The state machine diagram of the controller of Fig. 7 Second Order Sliding Modes;
Fig. 8 is the Second Order Sliding Mode approach procedure schematic diagram of control method of the present invention.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point be contained at least one embodiment of the invention or example in this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that:Not
Can these embodiments be carried out with various changes, modification, replacement and modification in the case of departing from principle of the invention and objective, this
The scope of invention is limited by claim and its equivalent.
Claims (6)
1. a kind of sliding-mode control that Sofe Switch condition is realized based on SP type ICPT systems, it is characterised in that including following step
Suddenly:
S1, the secondary circuit of mode of resonance inductive electric energy transmission system is equivalent to primary circuit, asked according to equivalent primary circuit
Solution primary side resonance current;
S2, the voltage source by primary current control is equivalent to by the induced electromotive force of secondary, while by Fourier transformation by pair
Side rectification circuit is equivalent to a turn ratioTransformer;
S3, obtains the pc equivalent circuit of the mode of resonance inductive electric energy transmission system, according to the difference side of the pc equivalent circuit
Journey, setting reference voltage vref, by output voltage V and reference voltage vrefDifference be defined as the error signal value s of sliding variable;
S4, when setting the original state of dynamic parameter value β, s to bear, the switching condition of state is s >=β sm;The original state of s is
Timing, the switching condition of state is s≤β sM, controller architecture is by two energy injection states and two energy self-resonance shapes
State and an original state composition;
S5, detects the zero crossing of primary side resonance current, it is ensured that circuit is operated in Sofe Switch state;
S6, according to the real-time update of dynamic parameter value, phase path is in the track in energy injection stage and energy self-resonance stage
Track mutually switches, and eventually arrives at sliding-mode surface
2. the sliding-mode control that Sofe Switch condition is realized based on SP type ICPT systems according to claim 1, its feature
It is that the S1 includes:
Wherein, ω0The natural frequency of-circuit, the working frequency of ω-resonance circuit, the time constant of τ-resonance circuit, Q- circuits
Quality factor,VpIt is original edge voltage, t is time constant.
3. the sliding-mode control that Sofe Switch condition is realized based on SP type ICPT systems according to claim 1, its feature
It is that the S3 includes:
Circuit parameter expression formula after direct current is equivalent is:DC voltage isDC inductance:Lequ=Ls, direct current
Electric capacity:Cequ=Cs, D.C. resistance:
Wherein
Obtain the difference equation expression formula of equivalent circuit
4. the sliding-mode control that Sofe Switch condition is realized based on SP type ICPT systems according to claim 3, its feature
It is that the S3 also includes:
Based on difference equation expression formula, s=v is definedo-vref, vrefIt is the reference voltage for setting, the single order second order derivation equation table of S
It is shown as
From above formula, it is 2 that the circuit after simplifying slides dynamic Relative order;
Consider to use Second Order Sliding Mode Control device, therefore, choosing sliding-mode surface isBy the single order second order derivation equation of S
Letter can obtain expressions below
For simplicity is analyzed, circuit is placed in open-circuit condition, ICPT systems are in undamped state, equivalent toIt is zero;
Equation the right and left is multiplied byAnd integrate
Variable is setWillReplace, obtain
The energy injection stage,
The energy self-resonance stage,
re, rfThe respectively phase path radius of graph in energy injection stage and energy self-resonance stage, their value is by circuit
Original state is determined, it is assumed that initial value is s0, the switching generation of the pattern of circuit is in βNsm, βNIt is a constant between 0 to 1,
The approach procedure of decision systems, smIt is the minimum value in energy injection stage, initial point is (s0, 0) and phase path figure.
5. the sliding-mode control that Sofe Switch condition is realized based on SP type ICPT systems according to claim 1, its feature
It is that the S4 includes:
Obtain the β under limiting caseNAnd βP, i.e., by once switching, phase path reaches sliding-mode surface
In side circuit, in order to prevent the overshoot of output voltage
Similarly, if initial point is in RHP, can obtain
Equally, to prevent output voltage overshoot
smIt is the minimum value in energy injection stage, sMIt is the energy injection stage
Maximum.
6. the sliding-mode control that Sofe Switch condition is realized based on SP type ICPT systems according to claim 1, its feature
It is that the S5 includes:
The zero crossing of primary side resonance current is detected, then correcting the phase brought due to sample circuit by phase-correcting circuit is missed
Difference, it is ensured that each switch motion was completed at the current zero-crossing point moment;Under the conditions of this is ensured, then realize that Second Order Sliding Mode Control is calculated
Method.
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Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103378724A (en) * | 2013-07-25 | 2013-10-30 | 重庆大学 | DC-DC buck converter high-order sliding mode control method |
CN105915057A (en) * | 2016-05-25 | 2016-08-31 | 重庆大学 | Sliding mode control method for realizing soft switching condition based on ICPT system |
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2017
- 2017-04-17 CN CN201710276321.8A patent/CN106936313A/en active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN103378724A (en) * | 2013-07-25 | 2013-10-30 | 重庆大学 | DC-DC buck converter high-order sliding mode control method |
CN105915057A (en) * | 2016-05-25 | 2016-08-31 | 重庆大学 | Sliding mode control method for realizing soft switching condition based on ICPT system |
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Title |
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