CN108306505A - A kind of compound adaptive model forecast Control Algorithm of Boost - Google Patents
A kind of compound adaptive model forecast Control Algorithm of Boost Download PDFInfo
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- CN108306505A CN108306505A CN201810135694.8A CN201810135694A CN108306505A CN 108306505 A CN108306505 A CN 108306505A CN 201810135694 A CN201810135694 A CN 201810135694A CN 108306505 A CN108306505 A CN 108306505A
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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
-
- 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
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0012—Control circuits using digital or numerical techniques
-
- 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
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0016—Control circuits providing compensation of output voltage deviations using feedforward of disturbance parameters
-
- 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
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0025—Arrangements for modifying reference values, feedback values or error values in the control loop of a converter
Abstract
The present invention proposes a kind of compound adaptive model forecast Control Algorithm of Boost, including：According to equivalent circuit of the Boost under different on off states, continuous model is established, and by continuous model discretization, obtain the discrete model of Boost；Discrete model based on Boost designs Luenberger observer, obtains the observation of inductive resistance and load resistance using circuit output voltage and inductive current as quantity of state；The controller for establishing Boost, the outer shroud using PI controllers and based on the feed-forward compensator of discrete model as controller；Using Model Predictive Control as inner ring；Square composition cost function of the difference of inductive current predicted value in the inductive current reference value and inner ring that are generated based on outer shroud；Optimized switching state is selected by minimizing cost function.The present invention obtains the tracing control that optimal on off state realizes electric current and voltage by the prediction result of the more different on off states of cost function, to rapidly restore to stablize from disturbance.
Description
Technical field
The invention belongs to electronic power convertor control fields, and in particular to a kind of Boost it is compound adaptive
Model predictive control method.
Background technology
With semiconductor devices, the raising and improvement of computer technology, power electronic technique has obtained quick development.
Important component of the Boost as electronic power convertor, have it is simple in structure, can be neatly to input voltage
The advantages that realizing boosting rectifier control, is widely used in fields such as DC Motor Drives, hybrid electric vehicle and photovoltaic generations.
By generate corresponding switching signal obtain it is expected stabilize the output voltage be Boost control important goal, well
Dynamic response be also control effect important indicator.The modeling of Control-oriented and System design based on model obtain quickly in recent years
Development, and in practical application, unmatched models caused by parameter uncertainty and load disturbance can have an impact control effect.
According to the structure of closed-loop system, the control of Boost mainly has multi-variable design method and cascade Mach-Zehnder interferometer
Tactful two types.Multivariable Control rule design when need strong robustness or by the way of additional to systematic parameter into
Closed-loop system is divided into outer shroud and inner ring to realize control by row identification, cascade Mach-Zehnder interferometer, have should be readily appreciated that, realizes it is simply excellent
Point, basic cascade Mach-Zehnder interferometer are the control design cases that carry out system inner ring and outer rings are controlled based on PI, disclosure satisfy that basic control
System requires, but is difficult in system parameter variations to meet the dynamic of system and static cost control performance.On the basis of cascade Mach-Zehnder interferometer,
Many researchs are by ring controller in changing to obtain better control performance, such as track with zero error, sliding formwork control and mould
Type PREDICTIVE CONTROL (Model Predictive Control, MPC).Wherein Model Predictive Control is the optimal control based on model
Strategy has quick dynamic property, and has the characteristics of strong robustness, for the switching characteristic of execution unit, with sliding formwork
Control and intelligent algorithm are compared, and Model Predictive Control being capable of tracing control that is intuitive and effectively realizing converter.
(Kim, Seok-Kyoon, et al.A stabilizing model the predictive controller such as Kim
for voltage regulation of a dc/dc boost converter[J],IEEE Transactions on
Control Systems Technology,2014,22(5):2016-2023.) using Model Predictive Control as cascade Mach-Zehnder interferometer
Interior ring controller illustrates the better control effect compared with the cascade Mach-Zehnder interferometer of traditional PI structure, but its dynamic response time one
Determining the PI controllers in degree by outer shroud is influenced.In addition, when performance model PREDICTIVE CONTROL controls Boost, by
It is inaccurate in the structure of model, it as a result will lead to that there are certain steady-state errors between output valve and reference value.
Invention content
The present invention is directed to the influence of parameter uncertainty and load disturbance to Boost control effect, especially
Influence to the dynamic control performance of system provides a kind of compound adaptive model forecast Control Algorithm of Boost.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of compound adaptive model forecast Control Algorithm of Boost, including：
1) according to the Boost equivalent circuit structure corresponding in semiconductor switching module working condition difference,
The continuous model under inductor current continuous mode (Continuous Conduction Mode, CCM) is established, and utilizes single order
Forward direction Euler approximation obtains the discrete model of Boost；
2) using circuit output voltage and inductive current as quantity of state, Luenberger observer is designed, observes in circuit and joins
Number deviation, and according to the model in the continuous correction model PREDICTIVE CONTROL of its deviation and the feed-forward compensator based on model, mainly
It is to be modified to inductive resistance and load resistance, and then realize accurate voltage-tracing control, and improve system and become to parameter
The reaction of change；
3) basic structure for utilizing cascade Mach-Zehnder interferometer, establishes the controller of Boost, wherein using PI controls and base
In outer shroud of the feed-forward compensator as controller of model, i.e. voltage control loop, effect is according to reference voltage and output
Error amount between voltage generates the reference value of inductive current, and uses Model Predictive Control as inner ring, i.e. current regulator,
By, into line trace, realizing the tracing control to output voltage indirectly to inductive current.
The introducing of feed-forward compensator is primarily to improve the dynamic response process of system, and the effect of PI controllers is then
Eliminate the steady-state error generated because model structure is inaccurate.In addition, according to Boost when the model predictive controller design of inner ring
The characteristics of converter switches state Finite, using limited domination set Model Predictive Control FCS-MPC (Finite Control
Set-Model Predictive Control), it is obtained by the prediction result of the more different on off states of cost function optimal
On off state realize electric current tracing control.
The present invention has the advantages that：
(1) compared with traditional PI MPC (Model Predictive Control), base of the present invention in PI controllers
The feed-forward compensator based on model is introduced on plinth, there is faster dynamic response process, and controller uses cascade Mach-Zehnder interferometer plan
Slightly, PI controls are regard as voltage control loop, compared with only carrying out control with MPC, can achievees the purpose that eliminate steady-state error；
(2) present invention changes correction model by the Parameters variation of observer reaction system, and according to it, can reduce and is
The influence that parameter of uniting is inaccurate and load disturbance is to control effect, while can observe the situation of change of parameter, and improve
Dynamic response of the system in Parameters variation, there is faster response process；
(3) if the gain of the PI links of the present invention is set as 0, that is, remove the PI controls of voltage control loop, controller knot
Structure will degenerate into adaptive model PREDICTIVE CONTROL (Unknown Offset Free Model Predictive Control, UOF
MPC), and compared with the present invention, PI links are added in the present invention on the basis of UOF MPC, can reduce UOF MPC to accurate electricity
The dependence of road model, and accurate voltage output can be obtained.
Invention is further described in detail with reference to the accompanying drawings and embodiments, but a kind of Boost transformation of the present invention
The compound adaptive model forecast Control Algorithm of device is not limited to embodiment.
Description of the drawings
Fig. 1 is the schematic diagram and its equivalent circuit of Boost, and wherein Fig. 1 (a) is complete circuit diagram, Fig. 1 (b)
(c) it is respectively switching device S1In conducting and equivalent circuit when shutdown；
Fig. 2 is the functional block diagram of control method of the present invention；
Fig. 3 is the flow chart of control method program thereby of the present invention；
Fig. 4 is the simulation result that the present invention is exported when output reference voltage changes, and wherein Fig. 4 (a) and (b) are respectively
The situation of change of output voltage and inductive current, Fig. 4 (c) and (d) are respectively the observed result of load resistance and inductive resistance；
Fig. 5 is the simulation result that the present invention is exported when load resistance changes, and wherein Fig. 5 (a) and (b) are exported respectively
The situation of change of voltage and inductive current, Fig. 5 (c) and (d) are respectively the observed result of load resistance and inductive resistance；
Fig. 6 is emulation (experiment) output of the present invention when inductive resistance changes, and wherein Fig. 6 (a) and (b) are defeated respectively
Go out the situation of change of voltage and inductive current, Fig. 6 (c) and (d) are respectively the observed result of load resistance and inductive resistance.
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with the accompanying drawings.
The present invention provides the compound adaptive model forecast Control Algorithms of Boost, including：
1) Boost model is established.According to the schematic diagram of Boost shown in Fig. 1 (a), in conjunction with Fig. 1 (b) and
(c) equivalent circuit under different on off states, using before single order to Euler approximation by after continuous model discretization, establish
The discrete model of Boost：
Wherein, RLIndicate the inductive resistance of equivalent circuit；TsIndicate the sampling period of equivalent circuit；L indicates equivalent circuit
Inductance value；VinIndicate the input voltage of equivalent circuit；VdIndicate the diode drop of equivalent circuit；R indicates the negative of equivalent circuit
Carry resistance；C indicates the capacitance of equivalent circuit；I (k) indicates the inductive current of kth time sampling；I (k+1) indicates that kth is adopted for+1 time
The inductive current of sample；uo(k) output voltage of kth time sampling is indicated；uo(k+1) output voltage of+1 sampling of kth is indicated；s
(k) ∈ { 0,1 } indicates the on off state in kth time sampling period circuit.
To simplify the calculation, Y=1/R is enabled, while using Y0And RL0The nominal value for indicating corresponding parameter respectively, by defining deviation
Δ Y and Δ RLFormula (1) can be rewritten as follows：
In conjunction with actual conditions, the Δ R in formulaL(k+1)=Δ RL(k) and Δ Y (k+1)=Δ Y (k) indicates that its variable is slow
Slow variation.
2) Luenberger observer designs.
On the basis of formula (2), enableIt can be reduced to：
So as to obtain the observer based on Long Beige structures in the present invention：
Wherein,Indicate the observation of corresponding parameter,Indicate the mistake between corresponding parameter estimator value and actual value
Difference；l1~l8For parameter to be asked.
Subtracted each other by formula (4) and formula (3), and enabledIts error can be obtained：
According to the convergent condition of observer, the characteristic value of order matrix A is 0.8, and by l in matrix2、l3、l6And l7It is set as
0, quaternary linear function group can be listed by being all 0.8 by matrix exgenvalue, and solution can obtain remaining parameter l1、l4、l5And l8Value, generation
Entering (6) can obtain：
The deviation that corresponding parameter is acquired according to above formula, so as to obtain the observation of Δ M (k)With Δ N (k)
ObservationFurther obtain the observation of load resistance and inductive resistance：
3) controller of Boost is established.
According to the structure of cascade Mach-Zehnder interferometer, feed-forward compensator is added on the basis of outer shroud PI is controlled, and see using observer
Survey load resistance and inductive resistance, load resistance and inductive resistance value in correction model, the control structure block diagram of closed-loop system is such as
Shown in Fig. 2.
The reference value i of inductive current in controller outer shroudrefThe ir generated by feed-forward compensator1And PI controllers generate
Ir2It is added gained, according to the input-output power relationship P of circuitin=PoutIt can obtain：
Wherein, urefIndicate reference voltage；
Two solutions can be obtained by above formula, from the point of view of energy, choose wherein smaller, i.e.,：
Its discrete form is as follows：
In addition, the ir that PI controls generate2It is expressed as：
Wherein, KPIndicate proportional gain, value 0.01；KIIndicate storage gain, value 4；
Then have
iref(k+1)=ir1(k+1)+ir2(k+1) (12)
Wherein, iref(k+1) the inductive current reference value of+1 sampling of kth is indicated；
Controller inner ring uses Model Predictive Control, cost function as follows：
In formula, ipredIndicate predicted value, ipred(k+1) the inductive current predicted value of+1 sampling of kth is indicated；According to FCS-
MPC principles, the circuit parameter acquired using current time calculate subsequent time under different on off states by discrete model
Predicted value is expressed as follows：
Optimized switching state s is selected by selecting the method for minimum relevant cost, it follows following equation：
In summary content, the compound adaptive model forecast Control Algorithm of Boost provided by the present invention
Control program flow diagram can be expressed as form shown in Fig. 3, and the operation principle of closed loop can be divided into following basic step：
A, digitial controller, the initial value for providing the variable used in algorithm are initialized, including circuit parameter is (especially
Load resistance and inductive resistance), PI control parameters, observer matrix A；
B, by sensor measurement variable i (k) and uo(k)；
C, estimate load resistance and inductive resistance with observer, while calculating the ir of PI controllers generation2；
D, by the observation of the obtained load resistance of filter process and inductive resistance, the fluctuation of estimated value is reduced；
E, the ir that feed-forward compensator generates is calculated1, wherein need to judge the part in radical sign in formula be with determination
No update ir1；
F, i is calculatedref, value is represented by iref=ir1+ir2；
G, the prediction in a sampling period exports i under calculating inductive current in different on off states with discrete modelpred
(k+1)；
H, the cost function of each on off state is assessed；
I, selection can minimize the on off state of cost function, and this on off state is exported, into next sampling
Period, and repeat the above process.
In order to show the performance of control method of the invention, below with reference to the section Example about the present invention in attached drawing
There is provided control method is briefly described, mainly algorithm is emulated by simulation software MATLAB/SIMULINK,
Simulation parameter is as shown in table 1, wherein fsIndicate sample frequency.
Table 1
The oscillogram of control variable and observation when the variation shown in Figure 4 for Boost output reference voltage,
Wherein reference voltage becomes 27V in 1s from 20V, and 20V is become again again in 2s, from the output voltage and inductance of Fig. 4 (a) and (b)
For the waveform it can be seen from the figure that of electric current in ascent stage, regulating time is about 0.045s, embodies the control with the present invention
When method controls Boost, there is faster dynamic response when reference voltage is mutated.
Shown in Figure 5 is waveform correlation figure of the Boost when load resistance changes, and load resistance is respectively in 1s
And become 15 Ω from 30 Ω when 2s and become 30 Ω again, it is defeated under the action of control method of the present invention according to Fig. 5 (a) and (b)
Go out the variation to load resistance can quickly respond, while Fig. 5 (c) has reflected the change procedure of load resistance.
Correspondingly, the waveform shown in Figure 6 for embodying the Boost output parameter when inductive resistance changes
Figure, similarly it can be seen that when in 1s, inductive resistance becomes 0.45 Ω from 0.3 Ω, system, which changes it, to be also made that rapidly
Reaction, and Fig. 6 (d) illustrates the change procedure of inductive resistance.
The present invention is on the basis of parameter uncertainty and load disturbance can lead to model inaccuracy, in the base of PI MPC
Observer is added in this structure, for improving the adverse consequences caused by circuit model, meanwhile, in order to make system have comparatively fast
Dynamic response process, outer shroud PI control on the basis of introduce the feed-forward compensator based on model, make so as to reach
The output of Boost can have good dynamic property on the basis of stabilization.Emulation and related experiment the result shows that, this
The there is provided control method of invention can realize accurate voltage-tracing, have good robustness and dynamic property, can be quickly
Restore to stablize from disturbance in ground.Further, since the introducing of observer, it being capable of real-time observation circuit inductive resistance in system operation
And the variation of load resistance.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of compound adaptive model forecast Control Algorithm of Boost, feature are, including：
Step 1, the equivalent circuit according to Boost under different on off states is established under inductor current continuous mode
Continuous model, and using before single order to Euler by continuous model discretization, obtain the discrete model of Boost；
Step 2, the discrete model based on Boost, using circuit output voltage and inductive current as quantity of state, design is imperial
Shellfish lattice observer, obtains the observation of inductive resistance and load resistance；
Step 3, using the basic structure of cascade Mach-Zehnder interferometer, the controller of Boost is established, using PI controllers and is based on
Outer shroud of the feed-forward compensator of discrete model as controller；Using Model Predictive Control as inner ring；It is generated based on outer shroud
Square composition cost function of the difference of inductive current predicted value in inductive current reference value and inner ring；It is worth letter by minimum
Number selection optimized switching state；Wherein, the reference value of inductive current is related to the observation of inductive resistance and load resistance；Inductance
Current forecasting value is related to the observation of inductive resistance.
2. the compound adaptive model forecast Control Algorithm of Boost according to claim 1, which is characterized in that
The discrete model for the Boost that step 1 obtains is as follows：
Wherein, RLIndicate the inductive resistance of equivalent circuit；TsIndicate the sampling period of equivalent circuit；L indicates the inductance of equivalent circuit
Amount；VinIndicate the input voltage of equivalent circuit；VdIndicate the diode drop of equivalent circuit；R indicates the load electricity of equivalent circuit
Resistance；C indicates the capacitance of equivalent circuit；I (k) indicates the inductive current of kth time sampling；I (k+1) indicates+1 sampling of kth
Inductive current；uo(k) output voltage of kth time sampling is indicated；uo(k+1) output voltage of+1 sampling of kth is indicated；s(k)∈
{ 0,1 } on off state in kth time sampling period circuit is indicated；
Y=1/R is enabled, while using Y0And RL0The nominal value for indicating corresponding parameter respectively, by defining deviation △ Y and △ RLIt obtains down
Formula：
Wherein, the △ R in formulaL(k+1)=△ RL(k) and △ Y (k+1)=△ Y (k) indicate that its variable is slowly varying.
3. the compound adaptive model forecast Control Algorithm of Boost according to claim 2, which is characterized in that
The step 2, specifically includes：
It enablesFormula (2) is reduced to：
It is as follows to obtain the observer based on Long Beige structures：
Wherein,Indicate the observation of corresponding parameter,Indicate the error between corresponding parameter estimator value and actual value；l1~
l8For parameter to be asked；
Subtracted each other by formula (4) and formula (3), and enabledIts error can be obtained：
According to the convergent condition of observer, the characteristic value of order matrix A is 0.8, obtains matrix
To obtain following formula：
The observation of △ M (k) is acquired according to above formulaWith the observation of △ N (k)Further obtain load resistance
And the observation of inductive resistance：
4. the compound adaptive model forecast Control Algorithm of Boost according to claim 3, which is characterized in that
The step 3, specifically includes：
The reference value i of inductive currentrefThe ir generated by feed-forward compensator1And the ir that PI controllers generate2It is added gained；According to
The input-output power of circuit is equal to be obtained：
Wherein, urefIndicate reference voltage；
Two solutions can be obtained by above formula, from the point of view of energy, wherein smaller is chosen, obtain：
Its discrete form is as follows：
The ir that PI controllers generate2It is expressed as：
Wherein, KPIndicate proportional gain；KIIndicate storage gain；
Then have
iref(k+1)=ir1(k+1)+ir2(k+1) (12)
Wherein, iref(k+1) the inductive current reference value of+1 sampling of kth is indicated；
Inner ring uses Model Predictive Control, cost function as follows：
Wherein, ipred(k+1) the inductive current predicted value of+1 sampling of kth is indicated；
According to FCS-MPC principles, the circuit parameter acquired using current time calculates subsequent time in difference by discrete model
Predicted value under on off state obtains ipred(k+1) expression formula is as follows：
Optimized switching state s, such as following formula are selected by selecting the method for minimum relevant cost：
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| CN109002671A (en) * | 2018-09-29 | 2018-12-14 | 国网四川省电力公司电力科学研究院 | A kind of modeling method of bidirectional DC-DC converter |
| CN109861565A (en) * | 2019-01-25 | 2019-06-07 | 湖南大学 | A kind of Model Reference Adaptive Control Method of two-stage type AC/DC converter |
| CN109861565B (en) * | 2019-01-25 | 2020-11-06 | 湖南大学 | Model reference self-adaptive control method of two-stage AC/DC converter |
| CN110190753A (en) * | 2019-05-29 | 2019-08-30 | 哈尔滨工程大学 | A kind of DC converter state feedback model forecast Control Algorithm |
| CN110190753B (en) * | 2019-05-29 | 2021-01-05 | 哈尔滨工程大学 | DC converter state feedback model prediction control method |
| CN111781831A (en) * | 2020-07-09 | 2020-10-16 | 济南大学 | Dual-mode prediction control method and system of boost circuit based on state estimation |
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