CN107994777A - A kind of CLLLC types bidirectional DC-DC converter method for controlling frequency conversion - Google Patents
A kind of CLLLC types bidirectional DC-DC converter method for controlling frequency conversion Download PDFInfo
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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
- H02M3/22—Conversion of DC power input into DC power output with intermediate conversion into AC
- H02M3/24—Conversion of DC power input into DC power output with intermediate conversion into AC by static converters
- H02M3/28—Conversion of DC power input into DC power output with intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate AC
- H02M3/325—Conversion of DC power input into DC power output with intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate AC using devices of a triode or a transistor type requiring continuous application of a control signal
- H02M3/335—Conversion of DC power input into DC power output with intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate AC using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/3353—Conversion of DC power input into DC power output with intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate AC using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having at least two simultaneously operating switches on the input side, e.g. "double forward" or "double (switched) flyback" converter
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- H—ELECTRICITY
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Abstract
一种CLLLC型双向DC‑DC变换器变频控制方法是将给定电压与实际输出电压的差值作为调理电路的输入，调理电路的输出作为补偿控制器的输入，补偿器的输出作为压控振荡器的输入，压控振荡器的输出作为开关管的输入，压控振荡器将误差电压信号转化为频率信号，再将频率信号转化为相对应的驱动波形，驱动开关管。本方法解决了采用开环控制和传统移相控制方法时，CLLLC型双向DC‑DC变换器在受到电压或负载扰动时，不能保持输出电压稳定的问题，本方法使系统能够在较宽的频率范围内工作，具有较高的稳态控制精度，较好的动态响应速度，进一步提高了功率传输效率。
A CLLLC type bidirectional DC-DC converter frequency conversion control method is to use the difference between the given voltage and the actual output voltage as the input of the conditioning circuit, the output of the conditioning circuit as the input of the compensation controller, and the output of the compensator as the voltage-controlled oscillation The input of the device, the output of the voltage-controlled oscillator is used as the input of the switch tube, the voltage-controlled oscillator converts the error voltage signal into a frequency signal, and then converts the frequency signal into a corresponding driving waveform to drive the switch tube. This method solves the problem that the CLLLC type bidirectional DC-DC converter cannot keep the output voltage stable when it is disturbed by the voltage or load when the open-loop control and the traditional phase-shift control method are adopted. This method enables the system to operate at a wider frequency Working within the range, it has high steady-state control precision and good dynamic response speed, which further improves the power transmission efficiency.
Description
技术领域technical field
本发明涉及一种双向DC-DC变换器的控制方法，特别是一种CLLLC型双向DC-DC变换器的变频控制方法。The invention relates to a control method of a bidirectional DC-DC converter, in particular to a frequency conversion control method of a CLLLC type bidirectional DC-DC converter.
背景技术Background technique
近年来，世界各国提出将发展可再生能源作为发展战略，双向DC-DC变换器作为能量转换的关键环节受到了越来越广泛的研究。In recent years, countries around the world have proposed to develop renewable energy as a development strategy, and bidirectional DC-DC converters, as a key link in energy conversion, have been more and more widely studied.
常用的双向DC-DC变换器的控制方法有开环控制和移相控制等，采用开环控制方法简单，易于实现，如公开文献1，陈启超，纪延超，王建赜.双向CLLLC谐振型直流变压器的分析与设计[J].中国电机工程报,2014,18:2898-2905.采用开环控制方法，但当负载发生突变时，不能维持输出电压的稳定性；大多数公开文献采用移相控制方法，该方法动态性能好，易于控制，如公开号为：CN106357115A公开了一种《双向全桥DC-DC变换器的移相控制方法》，该方法通过调节开关管间的移相角来调节占空比，控制变换器的输出电压和输出功率；还有公开号为：CN105207486A公开了《一种双向谐振直流变换器及其控制方法》，当能量由低压侧向高压侧传输时，采用移相控制方法；当能量由高压侧向低压侧传输时，采用变频控制方法；该方法能够实现两侧能量的双向传输与控制，且能在全负载范围内实现软开关，但控制方法更加复杂，不易实现；针对CLLLC型双向DC-DC变化器的软开关特性，采用移相控制方法不能在整个工作范围内实现稳压；公开文献2，陈启超，王建赜，纪延超.双向LLC谐振型直流变压器的软启动及功率换向控制[J].电工技术学报,2014,08:180-186. 采用移相控制方法，开关频率工作于谐振频率处，使谐振电流的谐波分量增多，且不能在受到输入电压和负载扰动时保持电压稳定性。Commonly used bidirectional DC-DC converter control methods include open-loop control and phase-shift control, etc. The open-loop control method is simple and easy to implement, such as public literature 1, Chen Qichao, Ji Yanchao, Wang Jianxi. Analysis and Design [J]. China Electrical Engineering News, 2014, 18: 2898-2905. Open-loop control method is adopted, but when the load changes suddenly, the stability of output voltage cannot be maintained; most public documents use phase-shift control method , the method has good dynamic performance and is easy to control. For example, the publication number is: CN106357115A discloses a "phase-shift control method for bidirectional full-bridge DC-DC converter". The empty ratio controls the output voltage and output power of the converter; there is also a publication number: CN105207486A discloses "A Bidirectional Resonant DC Converter and Its Control Method". When energy is transmitted from the low voltage side to the high voltage side, phase shifting Control method; when the energy is transmitted from the high-voltage side to the low-voltage side, the frequency conversion control method is adopted; this method can realize two-way transmission and control of energy on both sides, and can realize soft switching in the full load range, but the control method is more complicated and difficult Realization; Aiming at the soft switching characteristics of CLLLC type bidirectional DC-DC converter, the phase-shift control method cannot achieve voltage stabilization in the entire working range; Public Document 2, Chen Qichao, Wang Jianxi, Ji Yanchao. Soft switching of bidirectional LLC resonant DC transformer Start-up and power commutation control[J]. Chinese Journal of Electrotechnical Society, 2014, 08:180-186. Using the phase-shift control method, the switching frequency works at the resonant frequency, which increases the harmonic component of the resonant current, and cannot Maintain voltage stability during voltage and load disturbances.
发明内容Contents of the invention
为了改进上述现有控制方法的不足，本发明提供一种CLLLC型双向DC-DC变换器变频控制方法。In order to improve the shortcomings of the above-mentioned existing control methods, the present invention provides a frequency conversion control method for a CLLLC type bidirectional DC-DC converter.
改进上述现有控制方法不足所采取的技术方案如下。The technical scheme adopted to improve the deficiency of the above-mentioned existing control method is as follows.
一种CLLLC型双向DC-DC变换器变频控制方法，其特征在于：所述变频控制方法是基于闭环控制系统，所述闭环控制的控制环是由采样电路、调理电路、补偿器及压控振荡器连接构成；所述压控振荡器是将误差电压信号转化为频率信号，再将所述频率信号转化为相对应的驱动波形来驱动开关管，具体变频控制是按下列方法进行的：A CLLLC type bidirectional DC-DC converter frequency conversion control method is characterized in that: the frequency conversion control method is based on a closed-loop control system, and the control loop of the closed-loop control is composed of a sampling circuit, a conditioning circuit, a compensator and a voltage-controlled oscillation The voltage-controlled oscillator converts the error voltage signal into a frequency signal, and then converts the frequency signal into a corresponding driving waveform to drive the switching tube. The specific frequency conversion control is carried out as follows:
将额定输出电压与实际测得输出电压的差值作为调理电路的输入；The difference between the rated output voltage and the actual measured output voltage is used as the input of the conditioning circuit;
将调理电路的输出作为补偿器的输入；The output of the conditioning circuit is used as the input of the compensator;
将补偿器的输出作为压控振荡器的输入；The output of the compensator is used as the input of the voltage controlled oscillator;
将压控振荡器的输出作为驱动电路的输入，从而驱动开关管。The output of the voltage-controlled oscillator is used as the input of the drive circuit to drive the switch tube.
进一步地，附加技术特征的方案如下。Further, the scheme of additional technical features is as follows.
所述系统的采样电路和调理电路的传递函数为：The transfer function of the sampling circuit and the conditioning circuit of the system is:
其中G s (s)为采样电路的传递函数，G ks (s)为调理电路的传递函数。Among them, G s (s) is the transfer function of the sampling circuit, and G ks (s) is the transfer function of the conditioning circuit.
所述系统的补偿器的传递函数为：The transfer function of the compensator of the system is:
其中，R 1、R 2为补偿器中的电阻，C 1、C 2为补偿器中的电容。Wherein, R 1 and R 2 are resistors in the compensator, and C 1 and C 2 are capacitors in the compensator.
所述系统的压控振荡器的传递函数为：The transfer function of the voltage-controlled oscillator of the system is:
其中，Δf为压控振荡器的输出频率测量范围，ΔU为压控振荡器的输入电压范围。Among them, Δ f is the output frequency measurement range of the voltage-controlled oscillator, and Δ U is the input voltage range of the voltage-controlled oscillator.
所述闭环控制的控制环传递函数为：The control loop transfer function of the closed-loop control is:
其中，G vω(s)为系统输出电压小扰动量时，输出-控制的传递函数。Among them, G vω (s) is the output-control transfer function when the output voltage of the system is small.
所述系统输出电压小扰动量为：The small disturbance of the output voltage of the system is:
其中，G vl(s)、G vi(s)分别为输出-负载，输出-电流的传递函数。Among them, G vl (s), G vi (s) are output-load, output-current transfer functions respectively.
分别为控制变量、输入电压、输出电流的小扰动量。 are the small disturbances of the control variable, input voltage, and output current, respectively.
实施本发明上述所提供的一种CLLLC型双向DC-DC变换器变频控制方法，与现有技术相比，具有如下的优点与积极效果。Compared with the prior art, implementing the above-mentioned CLLLC type bidirectional DC-DC converter frequency conversion control method provided by the present invention has the following advantages and positive effects.
本方法通过LLC谐振，可实现软开关，具有较高的稳定控制精度和较高的传输效率。The method can realize soft switching through LLC resonance, and has high stable control precision and high transmission efficiency.
本方法弥补了传统移相控制和开环控制不能调节电压的缺陷，能够在较宽的频率范围内工作，具有很好的调节性能，极大的提高了系统的动态精度。This method makes up for the defect that the traditional phase-shift control and open-loop control cannot adjust the voltage, can work in a wide frequency range, has good adjustment performance, and greatly improves the dynamic accuracy of the system.
附图说明Description of drawings
图1是本方法的控制框图。Figure 1 is a control block diagram of the method.
图2是本方法的系统图。Figure 2 is a system diagram of the method.
图3是本方法中压控振荡器的V-f曲线。Fig. 3 is the Vf curve of the voltage-controlled oscillator in this method.
图4是本方法的开环传递函数Bode图。Fig. 4 is a Bode diagram of the open-loop transfer function of the method.
图5是本方法的闭环补偿后传递函数Bode图。Fig. 5 is a Bode diagram of the transfer function after the closed-loop compensation of the method.
图6是本方法的开环实验波形。Figure 6 is the open-loop experimental waveform of this method.
图7是本方法的稳态实验波形。Fig. 7 is the steady-state experimental waveform of this method.
图8是本方法的动态实验波形。Fig. 8 is the dynamic experiment waveform of this method.
具体实施方式Detailed ways
附图1为本发明所提出的CLLLC型双向DC-DC变换器变频控制方法，下面以一台CLLLC型DC-DC变换器为平台来设计和验证本算法的有效性和可行性，系统参数：U 1=700V，U 2=400V，f s=20kHz，P=10kW，L 1=35uH，L 2=11.4uH，L m=665uH，C 1=7.24uF，C 2=22.17uF。Accompanying drawing 1 is the CLLLC type bidirectional DC-DC converter frequency conversion control method that the present invention proposes, below with a CLLLC type DC-DC converter as a platform to design and verify the effectiveness and feasibility of this algorithm, system parameters: U 1 =700V, U 2 =400V, f s =20kHz, P =10kW, L 1 =35uH, L 2 =11.4uH, L m =665uH, C 1 =7.24uF, C 2 =22.17uF.
附图2为系统图，U 1为高压侧直流电源，U 2为低压侧直流电源，将功率从左向右传输命为正向，功率从右往左传输命为反向，S1-S8为IGBT开关管，正向传输时，S1-S4构成全桥逆变电路，S5-S8构成全桥整流电路，L 1、L 2为谐振电感，分别包含高频变压器原边和副边的漏感，L m是高频变压器的励磁电感，C 1、C 2是谐振电容，其中电路结构对称，即L 2、C 2等效到变压器一次侧后与L 1、C 1数值相等，即L 1=n2 L 2，C 1=C 2/n2，该设计保证电路无论正向还是反向都可以实现LLC谐振，不需要另加缓冲电路，正向时，L 1、L m和C 1构成谐振单元；反向时，L 2、C 2和等效到变压器二次侧的L m构成谐振单元。Attached figure 2 is a system diagram, U1 is the DC power supply on the high voltage side, U2 is the DC power supply on the low voltage side, forward power is transmitted from left to right , and reverse is defined as power transmission from right to left, S 1 -S 8 is an IGBT switch tube. During forward transmission, S 1 -S 4 constitutes a full-bridge inverter circuit, S 5 -S 8 constitutes a full-bridge rectifier circuit, and L 1 and L 2 are resonant inductors, respectively containing the primary side of the high-frequency transformer and the leakage inductance of the secondary side, L m is the excitation inductance of the high-frequency transformer, C 1 and C 2 are resonant capacitors, and the circuit structure is symmetrical, that is, L 2 and C 2 are equivalent to the primary side of the transformer and then L 1 and C 1 The values are equal, that is, L 1 =n 2 L 2 , C 1 = C 2 /n 2 , this design ensures that the circuit can achieve LLC resonance regardless of forward or reverse, and no additional buffer circuit is required. When forward, L 1 , L m and C 1 form a resonant unit; in reverse, L 2 , C 2 and L m equivalent to the secondary side of the transformer form a resonant unit.
根据主电路的拓扑结构进行小信号建模，得到输入变量和输出变量的关系：According to the topology of the main circuit, small signal modeling is performed to obtain the relationship between input variables and output variables:
VCO是压控振荡器，是控制的核心装置，可以将误差电压信号转化为频率信号，再将频率信号转化为相对应的驱动波形，从而驱动开关管。VCO is a voltage-controlled oscillator, which is the core device of control. It can convert the error voltage signal into a frequency signal, and then convert the frequency signal into a corresponding driving waveform to drive the switch tube.
附图3为压控振荡器V-f曲线，在输入电压范围内，二者是线性关系，计算出传递函数 。Accompanying drawing 3 is the Vf curve of the voltage-controlled oscillator, within the range of the input voltage, the relationship between the two is linear, and the transfer function is calculated .
附图4为开环传递函数的Bode图，得到直流稳态幅值小于零，约为-20dB，频率带宽比较窄，这表明变换器在开环工作时稳态值较低，直流输出增益达不到理论值，动态响应速度较慢，从频律特性曲线可以看出，在整个频率区间上均大于-180°，变换器最小开关频率工作在满载状态时，系统性能较差。Accompanying drawing 4 is the Bode diagram of the open-loop transfer function, obtains that the DC steady-state amplitude is less than zero, about -20dB, and the frequency bandwidth is relatively narrow, which shows that the steady-state value of the converter is low when the open-loop operation, and the DC output gain reaches Less than the theoretical value, the dynamic response speed is slow. From the frequency characteristic curve, it can be seen that it is greater than -180° in the entire frequency range. When the minimum switching frequency of the converter works at full load, the system performance is poor.
根据采样调理电路的电路结构，计算出传递函数，信号调理电路滤除采样电压电流信号的高频噪声分量，并对电压电流信号的直流分量进行适当比例的调节。Calculate the transfer function according to the circuit structure of the sampling conditioning circuit , the signal conditioning circuit filters out the high-frequency noise component of the sampled voltage and current signal, and adjusts the DC component of the voltage and current signal in an appropriate proportion.
根据传递函数与采样调理电路、压控振荡器的关系，得到系统补偿前传递函数：According to the relationship between the transfer function and the sampling conditioning circuit and the voltage-controlled oscillator, the transfer function before system compensation is obtained:
，对其进行赋值，并采用零极点消去法，得到 , assign a value to it, and use the pole-zero elimination method to get
补偿电路中包含PI调节器，对传递函数进行环路补偿，提高其稳态幅值和动态响应速度，使系统稳定，得到补偿电路的传递函数The compensation circuit includes a PI regulator, which performs loop compensation on the transfer function, improves its steady-state amplitude and dynamic response speed, stabilizes the system, and obtains the transfer function of the compensation circuit
对补偿前的传递函数进行相位补偿，得到补偿后的传递函数，对其进行赋值，得到传递函数为：Perform phase compensation on the transfer function before compensation to obtain the transfer function after compensation , assign a value to it, and get the transfer function as:
经过上述设计后，变频控制系统的频率特性如附图5所示，直流稳态幅值、穿越频率及频率带宽相较于补偿前成倍数增大，但在穿越频率点的相位裕度均减小，不过仍然大于45°，这使得变换器的直流输出增益更加接近理论值，动态响应速度更快，提高了系统的动态响应速度。After the above design, the frequency characteristics of the frequency conversion control system are shown in Figure 5. The DC steady-state amplitude, crossover frequency and frequency bandwidth are multiplied compared with those before compensation, but the phase margin at the crossover frequency point decreases. Small, but still greater than 45°, which makes the DC output gain of the converter closer to the theoretical value, and the dynamic response speed is faster, which improves the dynamic response speed of the system.
实验从稳态、动态两个方面验证所提出控制方法的准确性，实验波形如附图6、附图7和附图8所示。Experiments verify the accuracy of the proposed control method from two aspects of steady state and dynamic. The experimental waveforms are shown in Figure 6, Figure 7 and Figure 8.
附图6为本方法的开环实验波形，验证了变换器发生了谐振，驱动信号U gs1到来之前，开关管S1两端电压U ce已经降为零，实现ZVS。Figure 6 is the open-loop experimental waveform of this method, which verifies that the converter has resonated, and before the drive signal U gs1 arrives, the voltage U ce at both ends of the switching tube S 1 has dropped to zero, realizing ZVS.
附图7为本方法的稳态实验波形，验证了该控制方法使系统有较高的稳态控制精度，在高压侧输入电压为700V时，进行该实验，附图7中可以看出驱动电压U gs1产生时，低压侧输出电压U 2为400V，谐振电流i L1近似为正弦波。Accompanying drawing 7 is the steady-state experimental wave form of this method, has verified that this control method makes the system have higher steady-state control accuracy, when the high-voltage side input voltage is 700V, carry out this experiment, it can be seen that the driving voltage When U gs1 is generated, the low-voltage side output voltage U 2 is 400V, and the resonant current i L1 is approximately a sine wave.
附图8为本方法的动态实验波形，验证了该控制方法使系统具有快速的动态响应精度，当负载由空载变为满载时，系统能在三个周期内完成输出电压U 2、谐振电流i L1的稳定。Figure 8 is the dynamic experimental waveform of this method, which verifies that the control method enables the system to have fast dynamic response accuracy. When the load changes from no-load to full-load, the system can complete the output voltage U 2 and the resonant current within three cycles. Stability of i L1 .
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