CN107346885B - A kind of DC/DC bi-directional inverter stable DC busbar voltage method for optimally controlling - Google Patents
A kind of DC/DC bi-directional inverter stable DC busbar voltage method for optimally controlling Download PDFInfo
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Abstract
A kind of DC/DC bi-directional inverter stable DC busbar voltage method for optimally controlling: in the case where boosting and being depressured two kinds of operating modes, the affine nonlinear mathematical model of DC/DC bi-directional inverter is established；It is performance indicator that it is most short in the transfer time of the affine nonlinear mathematical model under boost operating mode and the state variable in the affine nonlinear mathematical model being depressured under operating mode, which to choose DC/DC bi-directional inverter, time optimal controller is constructed, timing-optimal control rule is sought；It is performance indicator that DC/DC bi-directional inverter, which is chosen, in the Quadratic Function Optimization of the affine nonlinear mathematical model under boost operating mode and the state variable in the affine nonlinear mathematical model being depressured under operating mode, state optimization adjuster is constructed, state optimization control law is sought；Fuzzy rule is established for timing-optimal control rule and state optimization control law, fuzzy self-adaption weight tuning controller is constructed, seeks the weight of timing-optimal control rule and state optimization control law.Present invention realization can be to the optimum control of DC/DC bi-directional inverter.
Description
Technical field
The present invention relates to a kind of direct current bus voltage control methods.Stablize more particularly to a kind of DC/DC bi-directional inverter
DC bus-bar voltage method for optimally controlling.
Background technique
The quantity of the ratio and DC load that are connected to the grid with new energy increasingly increases, and direct-current grid has become
One of hot spot of research.The problem of in direct-current grid without the concern for angle stability and frequency stabilization, energy can be effectively reduced
Measure conversion links.DC bus-bar voltage is the important indicator for evaluating the operation of direct-current grid normal table.Thus need to design phase
The control strategy answered is to maintain DC bus-bar voltage to stablize.The energy-storage units in direct-current grid are usually chosen, it is bis- by DC/DC
Carry out stable DC busbar voltage to inverter, and stabilizes the power swing in micro-capacitance sensor.
DC/DC bi-directional inverter has the characteristics that switch non-linearity, traditional control method do not consider its non-linear behavior.
In addition, wish to use DC/DC bi-directional inverter can either stabilize power swing in engineering, DC bus-bar voltage is maintained, and can be with
The shortest time completes the adjusting of transient process.Thus, it is necessary to research and develop a kind of direct current for taking into account regulating time and status adjustment
Busbar voltage method for optimally controlling.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of direct-current grid environment that consideration has new energy to access
Under, a kind of power swing stabilized in direct-current grid by DC/DC bi-directional inverter is provided, and maintain DC bus-bar voltage steady
Fixed DC/DC bi-directional inverter stable DC busbar voltage method for optimally controlling.
The technical scheme adopted by the invention is that: a kind of DC/DC bi-directional inverter stable DC busbar voltage optimum control
Method includes the following steps:
1) in the case where boosting and being depressured two kinds of operating modes, the affine nonlinear mathematics of DC/DC bi-directional inverter is established respectively
Model；
2) affine nonlinear mathematical model of the DC/DC bi-directional inverter under boost operating mode is chosen respectively and is being dropped
Pressing the transfer time of the state variable in the affine nonlinear mathematical model under operating mode most short is performance indicator, constructs the time
Optimal controller seeks timing-optimal control rule；
3) affine nonlinear mathematical model of the DC/DC bi-directional inverter under boost operating mode is chosen respectively and is being dropped
The Quadratic Function Optimization for pressing the state variable in the affine nonlinear mathematical model under operating mode is performance indicator, and building state is most
Excellent adjuster seeks state optimization control law；
4) it is directed to the timing-optimal control rule that step 2) obtains and the state optimization control law that step 3) obtains is established and obscured
Rule constructs fuzzy self-adaption weight tuning controller, seeks the power of timing-optimal control rule and state optimization control law respectively
Weight.
In step 1) under boost operating mode, the affine nonlinear mathematical model for establishing DC/DC bi-directional inverter includes:
The differential equation that column write DC/DC bi-directional inverter under boost operating mode is as follows:
Wherein, each symbol definition is as follows: usAnd udcRespectively represent energy-storage units exit potential and DC bus-bar voltage, iLWith
ioRespectively represent energy storage side inductive current and direct-current grid equivalent load electric current, iLrefRepresent the reference of energy storage side inductive current
Value, dtRepresentation switch pipe S1Duty ratio, L represents energy-storage units side inductance, and C represents DC bus equivalent capacity, ytIt represents and rises
The output function of the differential equation of DC/DC bi-directional inverter under die pressing type；
The integral term that output function is introduced to the differential equation of the DC/DC bi-directional inverter under boost operating mode, obtains
Following formula:
Wherein, ztFor the state variable under boost mode in DC/DC bi-directional inverter affine nonlinear mathematical model；zt1Generation
The integral of the departure of DC/DC bi-directional inverter energy storage side inductive current, z under table boost modet2Represent DC/DC under boost mode
The departure of bi-directional inverter energy storage side inductive current；
By the liter after the differential equation and introducing output function integral term of the DC/DC bi-directional inverter under boost operating mode
The differential equation under operating mode is pressed, affine nonlinear mathematical model of the DC/DC bi-directional inverter under boost operating mode is obtained
It is as follows:
Wherein:vtFor the pre-control variable under boost mode, vtWith dtRelationship be shown below:
In step 1) in the case where being depressured operating mode, the affine nonlinear mathematical model for establishing DC/DC bi-directional inverter includes:
The differential equation that column write DC/DC bi-directional inverter under decompression operating mode is as follows:
Wherein, each symbol definition is as follows: usAnd udcRespectively represent energy-storage units exit potential and DC bus-bar voltage, iLWith
ioRespectively represent energy storage side inductive current and direct-current grid equivalent load electric current, iLrefRepresent the reference of energy storage side inductive current
Value, dkRepresentation switch pipe S2Duty ratio, L represents energy-storage units side inductance, and C represents DC bus equivalent capacity, ytRepresent drop
The output function of the differential equation of DC/DC bi-directional inverter under die pressing type；
The integral term that output function is introduced to the differential equation of DC/DC bi-directional inverter under decompression operating mode, obtains down
Formula:
Wherein, zkFor the state variable under decompression mode in DC/DC bi-directional inverter affine nonlinear mathematical model.zk1Generation
The integral of the departure of DC/DC bi-directional inverter energy storage side inductive current, z under table decompression modek2Represent DC/DC under decompression mode
The departure of bi-directional inverter energy storage side inductive current；
By being depressured after the differential equation of DC/DC bi-directional inverter under decompression operating mode and the integral term of introducing output function
The differential equation under operating mode, obtain DC/DC bi-directional inverter the affine nonlinear mathematical model being depressured under operating mode such as
Under:
Wherein:vkFor the pre-control variable under decompression mode, vkWith dkRelationship be shown below:
Step 2) includes:
Affine nonlinear mathematical model of the DC/DC bi-directional inverter under boost operating mode is chosen respectively and is being depressured
The time that state variable is transferred to stable state from original state in affine nonlinear mathematical model under operating mode is most short to be
Performance indicator, the performance indicator such as following formula:
Define the switching curve equation such as following formula of timing-optimal control:
Wherein, under boost mode, z1=zt1Represent DC/DC bi-directional inverter energy storage side inductive current under boost mode
The integral of departure, z2=zt2Represent the departure of DC/DC bi-directional inverter energy storage side inductive current under boost mode；It is being depressured
Under mode, z1=zk1Represent the integral of the departure of DC/DC bi-directional inverter energy storage side inductive current under decompression mode, z2=zk2
The departure of DC/DC bi-directional inverter energy storage side inductive current under decompression mode is represented, S indicates switching curve function, J representative
It can index；
Define timing-optimal control rule such as following formula:
Wherein, under boost mode, v=vt, y=yt；vtAnd ytRespectively indicate pre-control variable and boosting mould under boost mode
Output function under formula；In buck mode, v=vk, y=yk；vkAnd ykRespectively indicate pre-control variable and decompression mould under decompression mode
Output function under formula, sgn indicate sign function.
Step 3) includes:
Affine nonlinear mathematical model of the DC/DC bi-directional inverter under boost operating mode is chosen respectively and is being depressured
The Quadratic Function Optimization of state variable is performance indicator in affine nonlinear mathematical model under operating mode, and formula is as follows:
Wherein, R and Q is respectively the weight matrix of pre-control variable and state variable；Under boost mode, z=zt, v=vt；
ztAnd vtRespectively indicate under boost mode state variable and pre-control variable in DC/DC bi-directional inverter affine nonlinear mathematical model；
In buck mode, z=zk, v=vk；zkAnd vkRespectively indicate DC/DC bi-directional inverter affine nonlinear mathematics under decompression mode
State variable and pre-control variable in model, J indicate performance indicator；
State optimization control law such as following formula in the case where Quadratic Function Optimization is performance indicator:
V=-Kz=-R-1BTP*z (13)
Wherein, each symbol definition is as follows, and K is state feedback matrix, P*For the solution of Riccati equation, R is pre-control variable power
Weight matrix, B are the input matrix in DC/DC mathematical model；Under boost mode, z=zt, v=vt；ztAnd vtRespectively indicate liter
State variable and pre-control variable in DC/DC bi-directional inverter affine nonlinear mathematical model under die pressing type；In buck mode, z
=zk, v=vk；zkAnd vkRespectively indicate under decompression mode state variable in DC/DC bi-directional inverter affine nonlinear mathematical model
With pre-control variable.
Step 4) includes:
The departure of DC/DC bi-directional inverter energy storage side inductive current is set as input quantity, corresponding fuzzy domain be [-
0.3,0.3]；The shared weight of timing-optimal control rule is output quantity, and corresponding fuzzy domain is [0,1]；Timing-optimal control
The sum of weight coefficient controlled with state optimization is 1；Fuzzy rule is established, fuzzy self-adaption weight association is constructed according to fuzzy rule
Controller is adjusted, the power of timing-optimal control and state optimization control is determined by the output of fuzzy self-adaption weight tuning controller
Weight.
The fuzzy rule is as follows:
Rule 1: if z2For NL, then ρ is L；
Rule 2: if z2For NM, then ρ is M；
Rule 3: if z2For NS, then ρ is S；
Rule 4: if z2For Z, then ρ is VS；
Rule 5: if z2For PS, then ρ is S；
Rule 6: if z2For PM, then ρ is M；
Rule 7: if z2For PL, then ρ is L；
Wherein: each symbol definition is as follows, and NL represents negative big, and NM is represented in negative, and NS representative is born small, and Z is representing zero, PS and representing just
Small, PM represents center, and PL represents honest；Under boost mode, z2=zt2Represent DC/DC bi-directional inverter energy storage under boost mode
The departure of side inductive current；In buck mode, z2=zk2Represent DC/DC bi-directional inverter energy storage side inductance under decompression mode
The departure of electric current, ρ represent the shared weight of timing-optimal control rule.
A kind of DC/DC bi-directional inverter stable DC busbar voltage method for optimally controlling of the invention has following beneficial
Effect:
(1) method of the invention can fully consider the nonlinear characteristic of DC/DC bi-directional inverter, and boosting and be depressured
Under two kinds of operating modes, the optimum control to DC/DC bi-directional inverter is realized；
(2) time optimal controller designed in method of the invention, the direct current in transient process that can effectively shorten are female
The transit time of line voltage, DC bus-bar voltage is made to be quickly restored to reference point；
(3) state optimization adjuster designed in method of the invention can reduce DC bus electricity in transient process
The hyperharmonic number of oscillation of the quantity of states such as pressure and inductive current, and inhibit by timing-optimal control bring Flutter Problem；
(4) fuzzy self-adaption weight tuning controller designed in method of the invention, can adaptively be the time
Optimal controller and state optimization adjuster distribute weight coefficient, to guarantee pair of state transfer time and status adjustment process
Re-optimization.
Detailed description of the invention
Fig. 1 is DC/DC bi-directional inverter topological diagram；
Fig. 2 is that time optimal controller realizes block diagram；
Fig. 3 is that fuzzy self-adaption weight tuning controller realizes block diagram；
Fig. 4 is direct-current grid typical topology figure；
Fig. 5 is voltage waveform comparison waveform diagram under three kinds of control modes under the conditions of embodiment 1；
Fig. 6 is the energy storage side inductive current waveform obtained under the conditions of embodiment 1 by control method of the present invention；
Fig. 7 is the DC bus-bar voltage waveform obtained under the conditions of embodiment 2 by control method of the present invention；
Fig. 8 is the energy storage side inductive current waveform obtained under the conditions of embodiment 2 by control method of the present invention.
Specific embodiment
It is optimal to a kind of DC/DC bi-directional inverter stable DC busbar voltage of the invention below with reference to embodiment and attached drawing
Control method is described in detail.
A kind of DC/DC bi-directional inverter stable DC busbar voltage method for optimally controlling of the invention, includes the following steps:
1) in the case where boosting and being depressured two kinds of operating modes, the affine nonlinear mathematics of DC/DC bi-directional inverter is established respectively
Model；Wherein, DC/DC bi-directional inverter topological diagram is as shown in Figure 1.
(1) under boost operating mode, the affine nonlinear mathematical model for establishing DC/DC bi-directional inverter includes:
The differential equation that column write DC/DC bi-directional inverter under boost operating mode is as follows:
Wherein, each symbol definition is as follows: usAnd udcRespectively represent energy-storage units exit potential and DC bus-bar voltage, iLWith
ioRespectively represent energy storage side inductive current and direct-current grid equivalent load electric current, iLrefRepresent the reference of energy storage side inductive current
Value, dtRepresentation switch pipe S1Duty ratio, L represents energy-storage units side inductance, and C represents DC bus equivalent capacity, ytIt represents and rises
The output function of the differential equation of DC/DC bi-directional inverter under die pressing type.
The integral term that output function is introduced to the differential equation of the DC/DC bi-directional inverter under boost operating mode, obtains
Following formula:
Wherein, ztFor the state variable under boost mode in DC/DC bi-directional inverter affine nonlinear mathematical model；zt1Generation
The integral of the departure of DC/DC bi-directional inverter energy storage side inductive current, z under table boost modet2Represent DC/DC under boost mode
The departure of bi-directional inverter energy storage side inductive current.
By the liter after the differential equation and introducing output function integral term of the DC/DC bi-directional inverter under boost operating mode
The differential equation under operating mode is pressed, affine nonlinear mathematical model of the DC/DC bi-directional inverter under boost operating mode is obtained
It is as follows:
Wherein:vtFor the pre-control variable under boost mode, vtWith dtRelationship be shown below:
(2) in the case where being depressured operating mode, the affine nonlinear mathematical model for establishing DC/DC bi-directional inverter includes:
The differential equation that column write DC/DC bi-directional inverter under decompression operating mode is as follows:
Wherein, each symbol definition is as follows: usAnd udcRespectively represent energy-storage units exit potential and DC bus-bar voltage, iLWith
ioRespectively represent energy storage side inductive current and direct-current grid equivalent load electric current, iLrefRepresent the reference of energy storage side inductive current
Value, dkRepresentation switch pipe S2Duty ratio, L represents energy-storage units side inductance, and C represents DC bus equivalent capacity, ytRepresent drop
The output function of the differential equation of DC/DC bi-directional inverter under die pressing type.
The integral term that output function is introduced to the differential equation of DC/DC bi-directional inverter under decompression operating mode, obtains down
Formula:
Wherein, zkFor the state variable under decompression mode in DC/DC bi-directional inverter affine nonlinear mathematical model.zk1Generation
The integral of the departure of DC/DC bi-directional inverter energy storage side inductive current, z under table decompression modek2Represent DC/DC under decompression mode
The departure of bi-directional inverter energy storage side inductive current.
By being depressured after the differential equation of DC/DC bi-directional inverter under decompression operating mode and the integral term of introducing output function
The differential equation under operating mode, obtain DC/DC bi-directional inverter the affine nonlinear mathematical model being depressured under operating mode such as
Under:
Wherein:vkFor the pre-control variable under decompression mode, vkWith dkRelationship be shown below:
2) affine nonlinear mathematical model of the DC/DC bi-directional inverter under boost operating mode is chosen respectively and is being dropped
Pressing the transfer time of state variable in the affine nonlinear mathematical model under operating mode most short is performance indicator, and the building time is most
Excellent controller seeks timing-optimal control rule；Include:
Affine nonlinear mathematical model of the DC/DC bi-directional inverter under boost operating mode is chosen respectively and is being depressured
The time that state variable is transferred to stable state from original state in affine nonlinear mathematical model under operating mode is most short to be
Performance indicator, the performance indicator such as following formula:
Define the switching curve equation such as following formula of timing-optimal control:
Wherein, under boost mode, z1=zt1Represent DC/DC bi-directional inverter energy storage side inductive current under boost mode
The integral of departure, z2=zt2Represent the departure of DC/DC bi-directional inverter energy storage side inductive current under boost mode；It is being depressured
Under mode, z1=zk1Represent the integral of the departure of DC/DC bi-directional inverter energy storage side inductive current under decompression mode, z2=zk2
The departure of DC/DC bi-directional inverter energy storage side inductive current under decompression mode is represented, S indicates switching curve function, J representative
It can index.
Define timing-optimal control rule such as following formula:
Wherein, under boost mode, v=vt, y=yt；vtAnd ytRespectively indicate pre-control variable and boosting mould under boost mode
Output function under formula；In buck mode, v=vk, y=yk；vkAnd ykRespectively indicate pre-control variable and decompression mould under decompression mode
Output function under formula, sgn indicate sign function.
Time optimal controller realizes that block diagram is as shown in Figure 2.
3) affine nonlinear mathematical model of the DC/DC bi-directional inverter under boost operating mode is chosen respectively and is being dropped
The Quadratic Function Optimization for pressing state variable in the affine nonlinear mathematical model under operating mode is performance indicator, constructs state optimization
Adjuster seeks state optimization control law；Include:
Affine nonlinear mathematical model of the DC/DC bi-directional inverter under boost operating mode is chosen respectively and is being depressured
The Quadratic Function Optimization of state variable is performance indicator in affine nonlinear mathematical model under operating mode, and formula is as follows:
Wherein, R and Q is respectively the weight matrix of pre-control variable and state variable.Under boost mode, z=zt, v=vt；
ztAnd vtRespectively indicate under boost mode state variable and pre-control variable in DC/DC bi-directional inverter affine nonlinear mathematical model；
In buck mode, z=zk, v=vk；zkAnd vkRespectively indicate DC/DC bi-directional inverter affine nonlinear mathematics under decompression mode
State variable and pre-control variable in model, J indicate performance indicator.
State optimization control law such as following formula in the case where Quadratic Function Optimization is performance indicator:
V=-Kz=-R-1BTP*z (13)
Wherein, each symbol definition is as follows, and K is state feedback matrix, P*For the solution of Riccati equation, R is pre-control variable power
Weight matrix, B are the input matrix in DC/DC mathematical model；Under boost mode, z=zt, v=vt；ztAnd vtRespectively indicate liter
State variable and pre-control variable in DC/DC bi-directional inverter affine nonlinear mathematical model under die pressing type；In buck mode, z
=zk, v=vk；zkAnd vkRespectively indicate under decompression mode state variable in DC/DC bi-directional inverter affine nonlinear mathematical model
With pre-control variable.
4) it is directed to the timing-optimal control rule that step 2) obtains and the state optimization control law that step 3) obtains is established and obscured
Rule constructs fuzzy self-adaption weight tuning controller, seeks the power of timing-optimal control rule and state optimization control law respectively
Weight.Include:
The departure of DC/DC bi-directional inverter energy storage side inductive current is set as input quantity, corresponding fuzzy domain be [-
0.3,0.3]；The shared weight of timing-optimal control rule is output quantity, and corresponding fuzzy domain is [0,1]；Timing-optimal control
The sum of weight coefficient controlled with state optimization is 1；Fuzzy rule is established, fuzzy self-adaption weight association is constructed according to fuzzy rule
Controller is adjusted, the power of timing-optimal control and state optimization control is determined by the output of fuzzy self-adaption weight tuning controller
Weight.Fuzzy self-adaption weight tuning controller realizes that block diagram is as shown in Figure 3.
The fuzzy rule is as follows:
Rule 1: if z2For NL, then ρ is L；
Rule 2: if z2For NM, then ρ is M；
Rule 3: if z2For NS, then ρ is S；
Rule 4: if z2For Z, then ρ is VS；
Rule 5: if z2For PS, then ρ is S；
Rule 6: if z2For PM, then ρ is M；
Rule 7: if z2For PL, then ρ is L；
Wherein: each symbol definition is as follows, and NL represents negative big, and NM is represented in negative, and NS representative is born small, and Z is representing zero, PS and representing just
Small, PM represents center, and PL represents honest.Under boost mode, z2=zt2Represent DC/DC bi-directional inverter energy storage under boost mode
The departure of side inductive current；In buck mode, z2=zk2Represent DC/DC bi-directional inverter energy storage side inductance under decompression mode
The departure of electric current, ρ represent the shared weight of timing-optimal control rule.
Embodiment is given below.
Under DC micro-electric web frame shown in Fig. 4, related embodiment is provided.Wherein, parameters are as follows: AC network
Voltage 10kV, transformer voltage ratio 10kV/220V, DC bus voltage rating 560V, DC/DC bi-directional inverter switching frequency
10kHz, energy-storage units port voltage 250V.
Embodiment 1: when system is run to 1s, active power is uprushed 100kW in direct-current grid.The two-way change of current of DC/DC
Device uses conventional PI control mode, linear optimal contro8 (LQR control), and DC bus is electric when mentioned method for optimally controlling of the invention
Pressure comparison waveform is as shown in Figure 5.Energy storage side inductive current waveform is as shown in Figure 6 under the mentioned optimum control of the present invention.
As seen from Figure 5, it compared to conventional PI control mode and linear optimal contro8 mode, is mentioned in the present invention optimal
DC bus-bar voltage under control method has shorter regulating time, and there is no oscillations in the transient process that voltage is adjusted
Phenomenon, overshoot is in engineering allowed band.As seen from Figure 6, under the mentioned method of the present invention, energy-storage units can be from sky
Not busy mode quick response movement, starts to charge, and chatter phenomenon does not occur in charging current, meets actual motion requirement.
Embodiment 2: when system is run to 1s, active power is uprushed 80kW in direct-current grid, DC load when 1.5s
DC load is further added by 100kW when increase 80kW, 2s.DC/DC bi-directional inverter is using the mentioned method for optimally controlling of the present invention, directly
It flows busbar voltage waveform and inductive current waveform difference in energy storage side is as shown in Figure 7 and Figure 8.
It is worked under two kinds of operating modes of decompression and boosting by DC/DC bi-directional inverter it can be seen from Fig. 7 and Fig. 8, it can be with
Effectively DC bus-bar voltage is maintained to stablize, and can be realized that regulating time is most short, and overshoot is sufficiently small, gone out without oscillatory occurences
It is existing.
Claims (7)
1. a kind of DC/DC bi-directional inverter stable DC busbar voltage method for optimally controlling, which is characterized in that including walking as follows
It is rapid:
1) in the case where boosting and being depressured two kinds of operating modes, the affine nonlinear mathematical model of DC/DC bi-directional inverter is established respectively；
2) affine nonlinear mathematical model of the DC/DC bi-directional inverter under boost operating mode is chosen respectively and in decompression work
It is performance indicator that the transfer time of the state variable in affine nonlinear mathematical model under operation mode is most short, constructs time optimal
Controller seeks timing-optimal control rule；
3) affine nonlinear mathematical model of the DC/DC bi-directional inverter under boost operating mode is chosen respectively and in decompression work
The Quadratic Function Optimization of the state variable in affine nonlinear mathematical model under operation mode is performance indicator, constructs state optimization tune
Device is saved, state optimization control law is sought；
4) it is directed to the timing-optimal control rule that step 2) obtains and the state optimization control law that step 3) obtains establishes fuzzy rule,
Fuzzy self-adaption weight tuning controller is constructed, seeks the weight of timing-optimal control rule and state optimization control law respectively.
2. a kind of DC/DC bi-directional inverter stable DC busbar voltage method for optimally controlling according to claim 1, special
Sign is, in step 1) under boost operating mode, the affine nonlinear mathematical model for establishing DC/DC bi-directional inverter includes:
The differential equation that column write DC/DC bi-directional inverter under boost operating mode is as follows:
Wherein, each symbol definition is as follows: usAnd udcRespectively represent energy-storage units exit potential and DC bus-bar voltage, iLAnd ioPoint
Energy storage side inductive current and direct-current grid equivalent load electric current, i are not representedLrefRepresent the reference value of energy storage side inductive current, dt
Representation switch pipe S1Duty ratio, L represents energy-storage units side inductance, and C represents DC bus equivalent capacity, ytRepresent boosting mould
The output function of the differential equation of DC/DC bi-directional inverter under formula；
The integral term that output function is introduced to the differential equation of the DC/DC bi-directional inverter under boost operating mode, obtains following formula:
Wherein, ztFor the state variable under boost mode in DC/DC bi-directional inverter affine nonlinear mathematical model；zt1It represents and rises
The integral of the departure of DC/DC bi-directional inverter energy storage side inductive current, z under die pressing typet2It is two-way to represent DC/DC under boost mode
The departure of inverter energy storage side inductive current；
By the boosting work after the differential equation and introducing output function integral term of the DC/DC bi-directional inverter under boost operating mode
It is as follows to obtain affine nonlinear mathematical model of the DC/DC bi-directional inverter under boost operating mode for the differential equation under operation mode:
Wherein:vtFor the pre-control variable under boost mode, vtWith dtRelationship be shown below:
3. a kind of DC/DC bi-directional inverter stable DC busbar voltage method for optimally controlling according to claim 1, special
Sign is, in step 1) in the case where being depressured operating mode, the affine nonlinear mathematical model for establishing DC/DC bi-directional inverter includes:
The differential equation that column write DC/DC bi-directional inverter under decompression operating mode is as follows:
Wherein, each symbol definition is as follows: usAnd udcRespectively represent energy-storage units exit potential and DC bus-bar voltage, iLAnd ioPoint
Energy storage side inductive current and direct-current grid equivalent load electric current, i are not representedLrefRepresent the reference value of energy storage side inductive current, dk
Representation switch pipe S2Duty ratio, L represents energy-storage units side inductance, and C represents DC bus equivalent capacity, ytRepresent decompression mould
The output function of the differential equation of DC/DC bi-directional inverter under formula；
The integral term that output function is introduced to the differential equation of DC/DC bi-directional inverter under decompression operating mode, obtains following formula:
Wherein, zkFor the state variable under decompression mode in DC/DC bi-directional inverter affine nonlinear mathematical model；zk1Represent drop
The integral of the departure of DC/DC bi-directional inverter energy storage side inductive current, z under die pressing typek2It is two-way to represent DC/DC under decompression mode
The departure of inverter energy storage side inductive current；
By being depressured work after the differential equation of DC/DC bi-directional inverter under decompression operating mode and the integral term of introducing output function
It is as follows in the affine nonlinear mathematical model being depressured under operating mode to obtain DC/DC bi-directional inverter for the differential equation under mode:
Wherein:vkFor the pre-control variable under decompression mode, vkWith dkRelationship be shown below:
4. a kind of DC/DC bi-directional inverter stable DC busbar voltage method for optimally controlling according to claim 1, special
Sign is that step 2) includes:
Affine nonlinear mathematical model of the DC/DC bi-directional inverter under boost operating mode is chosen respectively and in decompression work
The time that state variable is transferred to stable state from original state in affine nonlinear mathematical model under mode is most short for performance
Index, the performance indicator such as following formula:
Define the switching curve equation such as following formula of timing-optimal control:
Wherein, under boost mode, z1=zt1Represent the deviation of DC/DC bi-directional inverter energy storage side inductive current under boost mode
The integral of amount, z2=zt2Represent the departure of DC/DC bi-directional inverter energy storage side inductive current under boost mode；In decompression mode
Under, z1=zk1Represent the integral of the departure of DC/DC bi-directional inverter energy storage side inductive current under decompression mode, z2=zk2It represents
The departure of DC/DC bi-directional inverter energy storage side inductive current under decompression mode, S indicate that switching curve function, J indicate that performance refers to
Mark；
Define timing-optimal control rule such as following formula:
Wherein, under boost mode, v=vt, y=yt；vtAnd ytIt respectively indicates under boost mode under pre-control variable and boost mode
Output function；In buck mode, v=vk, y=yk；vkAnd ykIt respectively indicates under decompression mode under pre-control variable and decompression mode
Output function, sgn indicate sign function.
5. a kind of DC/DC bi-directional inverter stable DC busbar voltage method for optimally controlling according to claim 1, special
Sign is that step 3) includes:
Affine nonlinear mathematical model of the DC/DC bi-directional inverter under boost operating mode is chosen respectively and in decompression work
The Quadratic Function Optimization of state variable is performance indicator in affine nonlinear mathematical model under mode, and formula is as follows:
Wherein, R and Q is respectively the weight matrix of pre-control variable and state variable；Under boost mode, z=zt, v=vt；ztAnd vt
Respectively indicate under boost mode state variable and pre-control variable in DC/DC bi-directional inverter affine nonlinear mathematical model；It is dropping
Under die pressing type, z=zk, v=vk；zkAnd vkRespectively indicate DC/DC bi-directional inverter affine nonlinear mathematical model under decompression mode
Middle state variable and pre-control variable, J indicate performance indicator；
State optimization control law such as following formula in the case where Quadratic Function Optimization is performance indicator:
V=-Kz=-R-1BTP*z (13)
Wherein, each symbol definition is as follows, and K is state feedback matrix, P*For the solution of Riccati equation, R is pre-control variable weight square
Battle array, B are the input matrix in DC/DC mathematical model；Under boost mode, z=zt, v=vt；ztAnd vtRespectively indicate boosting mould
State variable and pre-control variable in DC/DC bi-directional inverter affine nonlinear mathematical model under formula；In buck mode, z=zk,
V=vk；zkAnd vkRespectively indicate under decompression mode in DC/DC bi-directional inverter affine nonlinear mathematical model state variable and pre-
Control variable.
6. a kind of DC/DC bi-directional inverter stable DC busbar voltage method for optimally controlling according to claim 1, special
Sign is that step 4) includes:
The departure of DC/DC bi-directional inverter energy storage side inductive current is set as input quantity, corresponding fuzzy domain be [- 0.3,
0.3]；The shared weight of timing-optimal control rule is output quantity, and corresponding fuzzy domain is [0,1]；Timing-optimal control and shape
The sum of weight coefficient of state optimum control is 1；Fuzzy rule is established, fuzzy self-adaption weight is constructed according to fuzzy rule and coordinates control
Device processed is determined the weight of timing-optimal control and state optimization control by the output of fuzzy self-adaption weight tuning controller.
7. a kind of DC/DC bi-directional inverter stable DC busbar voltage method for optimally controlling according to claim 6, special
Sign is that the fuzzy rule is as follows:
Rule 1: if z2For NL, then ρ is L；
Rule 2: if z2For NM, then ρ is M；
Rule 3: if z2For NS, then ρ is S；
Rule 4: if z2For Z, then ρ is VS；
Rule 5: if z2For PS, then ρ is S；
Rule 6: if z2For PM, then ρ is M；
Rule 7: if z2For PL, then ρ is L；
Wherein: each symbol definition is as follows, and NL represents negative big, and NM is represented in negative, NS representative bear it is small, Z represent zero, PS represent it is just small,
PM represents center, and PL represents honest；Under boost mode, z2=zt2Represent DC/DC bi-directional inverter energy storage side under boost mode
The departure of inductive current；In buck mode, z2=zk2Represent inductance electricity in DC/DC bi-directional inverter energy storage side under decompression mode
The departure of stream, ρ represent the shared weight of timing-optimal control rule.
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