CN108539975A - A kind of DC-DC down-converter system control method based on extended state observer and sliding formwork control technology - Google Patents
A kind of DC-DC down-converter system control method based on extended state observer and sliding formwork control technology Download PDFInfo
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- CN108539975A CN108539975A CN201810245011.4A CN201810245011A CN108539975A CN 108539975 A CN108539975 A CN 108539975A CN 201810245011 A CN201810245011 A CN 201810245011A CN 108539975 A CN108539975 A CN 108539975A
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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
- H02M1/0025—Arrangements for modifying reference values, feedback values or error values in the control loop of a converter
-
- 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
- H02M3/157—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 with digital control
Abstract
A kind of DC-DC down-converter system control method based on extended state observer and sliding formwork control technology, suitable for the high-precision control to DC-DC down-converter system, this method takes voltage-tracing mode, disturbance is observed by designing an extended state observer to voltage change and ohmic load disturbance first, design sliding mode controller is having input voltage variation and the load resistance disturbance being capable of quick high precision tracking target voltage to obtain composite controller to control DC-DC down-converter system on this basis, this method is realized simple, parameter regulation is less, the purpose of the quick track reference signal of DC-DC down-converter system can not only be improved, and power electronics DC-DC down-converter steady-sxtate wave motion can be effectively reduced, meet the application of High-performance power electronics buck converter system.
Description
Technical field
The present invention relates to power electronics DC-DC down-converter systems, more particularly to one kind being based on extended state observer
With the DC-DC down-converter system control method of sliding formwork control technology.
Background technology
With the rapid development of modern science and technology, especially power electronic technique, microelectric technique, digital control skill
The huge advance of art and modern control theory creates advantage for the development of power electronics direct-current switch power supply system, special
It is not to be got over to direct-current switch power supply control performance requirement in robot, precision radar, military issue weapons, new energy photovoltaic system etc.
Come higher field, DC converter system receives more and more attention.
Currently, DC decompression converters system mostly uses the control structure of two close cycles, i.e. inner ring is electric current control
Ring processed, outer shroud are voltage control loop.Controller mostly uses PI adjusters.The effect of wherein electric current loop is the quick of raising system
Property, inhibit the interference of current internal in time；The effect of Voltage loop is the ability of raising system anti-disturbance, inhibits voltage steady
State fluctuates.
In actual DC power supply unit, since the workplace of DC converter system requires output voltage smart mostly
It spends quite high, and is required to rapidly adapt to a variety of different operating modes, but since the PI controllers used at present work as system
It is operated under different operating modes, such as mainly disturbance is eliminated to output voltage band using integral in the case where there is disturbance
The influence come is a kind of passive and slow control mode, especially encounters quick time-varying or periodically in system
It is difficult rapidly to track given voltage when disturbance, these disturbances include mainly the fluctuation of load, control source variation etc..If control
Device processed is not handled these disturbances quickly, then closed-loop system is extremely difficult to quickly and high-accuracy voltage exports property
Energy.Therefore in the case where DC decompression converters system exists and disturbs, system can in time carry out disturbance
Processing, it will be able to which the tracking velocity and precision for further increasing converters system meet power electronic system in height
The application in accuracy voltage output services field.
In order to handle in time system disturbance, the tracking accuracy of raising power electronics DC converter system,
Domestic and foreign scholars have carried out a large amount of research.Document 1 (sources Le Jiang, Xie Yunxiang, the .Boost converter accurate feedbacks such as flood celebrating ancestral
Linearize Sliding mode variable structure control [J] Proceedings of the CSEEs, 2011,31 (30):16-23. is devised based on accurate anti-
The Boost sliding mode variable structure control method of linearization is simplified original system by exact feedback linearization method
Linear system designs Sliding Mode Controller, but this method only considers single disturbance and do not consider input voltage fluctuation
In the case of controller design, for DC decompression converters control system system, 2 (Said of document
Oucheriah,Liping Guo. PWM-based adaptive sliding-mode control for boost DC–DC
Converters (J) .IEEE Transactions on Industrial Electronics, 2013, vol.60, no.8,
Pp.3291-3294. it) proposes using adaptive law design point observer, inhibits load disturbance and external input voltage
Variation, the experimental results showed that, the program can in time be handled disturbance, reach higher tracking accuracy.
Invention content
In order to overcome existing DC-DC down-converter system load variation and input voltage fluctuation caused by disturbance compared with
Greatly, the lower deficiency of speed and precision tracked, the present invention become for the load disturbance and input voltage of DC-DC down-converter
Change, disturbance estimated on the voltage status Information base acquired in an experiment first with extended state observer technology,
After obtaining load disturbance present in system and input voltage disturbance estimated information, gone out using sliding formwork control Technology design compound
Controller realizes the rapidity and accuracy tracked to DC-DC down-converter system given voltage.This method is easily achieved,
Parameter regulation is relatively easy, has good application value.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of DC-DC down-converter system control method based on extended state observer and sliding formwork control technology, packet
Include following steps：
Step 1：Topological structure based on DC-DC down-converter considers the switching characteristic of its strong nonlinearity, using even
The State-space Averaging Principle in modulus method is continued by state variable weighted average, non-linear, time-varying switching circuit is converted to
Effect it is linear, when constant continuous circuits；It is average by the time using the inductive current of system, capacitance voltage as state variable
Technology establishes the space State Average Model of system；
Step 2：In view of input voltage fluctuation and the load resistance variation of DC converter, expansion state is designed to it
Controller estimates load resistance variation and input voltage fluctuation, will on the basis of DC-DC converter unified model
Load resistance changes and the disturbance of input voltage fluctuation is estimated as d1(t), it is observed according to extended state observer Technology design
Device estimates disturbance；
Step 3：With extended state observer to disturbance estimate on the basis of, consider load resistance variation and
Sliding mode controller is designed in the case of input voltage fluctuation, composite controller ensures the output voltage v when system exists and disturbsc
It remains able to track faster and gives reference voltage vr。
The present invention has following beneficial outcomes：The present invention will be designed extended state observer and sliding formwork control technology knot
The composite controller of conjunction is applied to DC-DC down-converter can significantly inhibit in the case where ensureing dynamic performance
Load variation and input voltage fluctuation caused by disturbance, to greatly improve DC-DC down-converter tracking speed and essence
Degree.
Control method based on extended state observer and sliding formwork control technology is applied to DC-DC down-converter system,
In the case where ensureing former dynamic property, the Immunity Performance and tracking performance of DC decompression change system can be significantly improved, it is full
For sufficient DC-DC down-converter in the application in high-precision field, engineering staff only needs the parameter of less adjusting control device, with
Existing technology is compared, and has design principle simple, on the basis of ensuring dynamic property to the rapidity of buck converter and
Accuracy is obviously improved, and has the advantages that good inhibition to load disturbance and input voltage fluctuation.
Description of the drawings
Fig. 1 is the control of the DC-DC down-converter control method based on extended state observer and sliding formwork control technology
Block diagram；
Fig. 2 is the principle of the DC-DC down-converter control method based on extended state observer and sliding formwork control technology
Figure；
Fig. 3 is extended state observer structure chart；
Fig. 4 A are DC down-converter when load resistance sports 50 Ω by 94 Ω under SMC+ESO composite controllers
Device system output voltage responds lab diagram；
Fig. 4 B are DC down-converter when load resistance sports 50 Ω by 94 Ω under SMC+ESO composite controllers
Device system output current responds lab diagram；
Fig. 4 C are DC down-converter when load resistance sports 50 Ω by 94 Ω under SMC+ESO composite controllers
Device system output controlled quentity controlled variable responds lab diagram；
Fig. 5 A are DC-DC down-converter when input voltage sports 29V by 30V under SMC+ESO composite controllers
System output voltage responds lab diagram；
Fig. 5 B are DC-DC down-converter when input voltage sports 29V by 30V under SMC+ESO composite controllers
System output current responds lab diagram；
Fig. 5 C are DC-DC down-converter when input voltage sports 29V by 30V under SMC+ESO composite controllers
System output controlled quentity controlled variable responds lab diagram.
Specific implementation mode
It elaborates below in conjunction with the accompanying drawings to the embodiment of the present invention：The present embodiment is premised on inventive technique scheme
Under implemented, give detailed embodiment and specific implementation process, but protection scope of the present invention be not limited to it is following
Example.
Referring to Fig.1~Fig. 5 C, a kind of DC-DC down-converter system based on extended state observer and sliding formwork control technology
System control method, includes the following steps：
Step 1：
Structure chart as shown in Figure 1 establishes the basic block diagram of a DC-DC down-converter, with the inductive current of system,
Capacitance voltage is state variable, by time averaging, when time-varying, nonlinear switching circuit are converted to equivalent not
Become, linear continuous circuits, thus can carry out big signal instantaneous analysis to switch converters, the state space for establishing system is flat
Equal model.With two states μ=0 of switching tube or 1, the model for establishing buck converter is：
When switching tube Q shutdowns, controlled quentity controlled variable input is 0 i.e. μ=0, inductive current iLIt is flowed to outlet side by diode D,
The energy storage of inductance gives capacitor charging to load and capacitance transfer.At this point, the voltage being added on inductance is-Vs, therefore iLLinearly subtract
It is small.
When switching tube Q conductings, controlled quentity controlled variable input is 1 i.e. μ=1, supply voltage VinBy switching tube Q be added to diode D and
On output inductor L, output inductor C, diode D cut-offs.At this point, the voltage being added on inductance is Vin-Vs, therefore iL
Linear increase.
With two states μ=0 of switching tube or 1, above formula is unified for
Step 2：It is the block diagram of DC decompression Buck converter control systems shown in block diagram as shown in Figure 2, controller is
Refer to the algorithm of control, it is contemplated that the input voltage fluctuation and load resistance of DC converter change, and expansion state sight is designed it
Device is surveyed, load resistance variation and input voltage fluctuation are estimated, it, will on the basis of DC-DC converter unified model
Load resistance changes and the disturbance of input voltage variation is defined as According to
The theory of extended state observer, observer can be designed as：
In formulaFor the estimated value of the difference of output voltage and output voltage nominal value,It is defeated
Go out the estimated value after the difference derivation of voltage and output voltage nominal value,For load resistance variation and input voltage wave
Dynamic disturbance estimated value, parameter beta1、β2、β3>0.Wherein x1=e=vs-vr,
Step 3：Design sliding-mode surface：S=kx1+x2.On the basis of the extended state observer designed, design is negative
Carry the composite controller of state observer and sliding formwork control the technology combination of resistance-variable and input voltage fluctuation：
The output voltage v of closed-loop systemsIt is achieved that for reference voltage vrTracking.
In order to further verify being dropped based on extended state observer and the direct current of sliding formwork control technology for the present embodiment proposition
The validity for pressing change system control, the experiment porch in the present embodiment is DC decompression Buck converter systems, using based on
The all-digitized demodulator realization method of NI real-time control boards, programming language are LabVIEW language.The chief component of system
Have：Control card by NI companies be core form control circuit part, by unipolarity power field effect pipe MOSFET be core
The DC decompression Buck circuit parts and bearing power resistance of the heart, the sensors such as hall device further include keyboard and display mould
Block.The main application of each device is：For acquiring electric current and voltage signal, the Control card of NI companies is Hall sensor
For the core of entire DC decompression converter system, for acquiring current and voltage signals, the error of system is observed and
Calculate the main operationals such as the duty ratio of output PWM；Host computer keyboard and display module are for setup parameter and the current system of display
System state；For the driving circuit of power device using power device MOSFET as core, it controls letter according to the PWM that host computer generates
Number, the turn-off time is connected in control MOSFET.
In order to verify the noiseproof feature of designed controller, we observe the control effect of SMC+ESO controllers
Fruit.The case where when considering no input voltage fluctuation first, input voltage 30V, desired value 15V, desired duty cycle are μ=0.5.
| Description | Parameter | Regime values |
| Input voltage | E | 30(V) |
| Reference output voltage | vr | 15(V) |
| Inductance | L | 4.7(mH) |
| Capacitance | C | 1000(μF) |
| Load resistance | R | 94(Ω) |
Table 1
When load becomes 50 Ω from 94 Ω, output voltage, inductive current and controlled quentity controlled variable are based on expansion state as shown in Fig. 4
Observer and sliding mode controller restore 15V in load change output voltage after slightly disturbance.Will load from input voltage by
When 30V becomes 29V, Fig. 5 is seen, similarly, the parameter of system output voltage wherein sliding mode controller is set as k=11.98, η=
1000000, the parameter of extended state observer is set as β1=600, β2=120000, β3=8000000.From Fig. 4 (A, B, C)
With Fig. 5 (A, B, C) it can be seen that SMC+ESO controllers greatly enhance the rapidity of DC-DC down-converter system
And accuracy.
The present embodiment will be used for the control of DC-DC down-converter system based on extended state observer and sliding formwork control technology
System, DC decompression converters system exist disturb in the case of, system can timely to disturbance at
Reason, can further increase the tracking accuracy and speed of converters system, meet power electronics DC down-converter
Application of the device system in high-performance voltage output services field.The experimental results showed that：This method universality is strong, exists in system
Have good performance of noiseproof in the case of disturbance, and can significantly improve power electronics DC converter system with
Track speed and precision.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, without departing from the principle of the present invention, several improvements and modifications being expected can also be made, these change
Protection scope of the present invention is also should be regarded as into retouching.
Claims (4)
1. a kind of DC-DC down-converter system control method based on extended state observer and sliding formwork control technology, feature
It is, the control method includes the following steps：
Step 1：Topological structure based on DC-DC down-converter considers the switching characteristic of its strong nonlinearity, using continuous modeling
Non-linear, time-varying switching circuit is converted to equivalent line by state variable weighted average by the State-space Averaging Principle in method
Property, when constant continuous circuits；Using the inductive current of system, capacitance voltage as state variable, by time averaging, establish
The space State Average Model of system；
Step 2：In view of input voltage fluctuation and the load resistance variation of DC converter, expansion state control is designed it
Device is estimated load resistance variation and input voltage fluctuation, on the basis of DC-DC converter unified model, will be loaded
The disturbance of resistance variations and input voltage fluctuation is estimated as d1(t), according to extended state observer Technology design observer to disturbing
It is dynamic to be estimated；
Step 3：On the basis of estimating disturbance with extended state observer, load resistance variation and input are being considered
Sliding mode controller is designed in the case of voltage fluctuation, composite controller ensures the output voltage v when system exists and disturbscStill can
Enough faster tracking give reference voltage vr。
2. the DC-DC down-converter system control based on extended state observer and sliding formwork control technology as described in claim 1
Method processed, which is characterized in that flat by the time using the inductive current of system, load voltage as state variable in the step 1
Equal technology, constant, linear continuous circuits when time-varying, nonlinear switching circuit are converted to equivalent thus can be to switch
Converter carries out big signal instantaneous analysis, establishes the space State Average Model of system.With two states μ=0 of switching tube or
1, establish the model of buck converter：
When switching tube Q shutdowns, controlled quentity controlled variable input is 0 i.e. μ=0, inductive current iLIt is flowed to outlet side by diode D, inductance
Energy storage gives capacitor charging to load and capacitance transfer；At this point, the voltage being added on inductance is-Vs, therefore iLIt is linear to reduce；
When switching tube Q conductings, controlled quentity controlled variable input is 1 i.e. μ=1, supply voltage VinIt is added to diode D and output by switching tube Q
On filter inductance L, output inductor C, diode D cut-offs；At this point, the voltage being added on inductance is E-Vs, therefore iLIt is linear to increase
It is long；
With two states μ=0 of switching tube or 1, above formula is unified for
3. the DC-DC down-converter system based on extended state observer and sliding formwork control technology as claimed in claim 1 or 2
System control method, it is characterised in that：In the step 2, it is contemplated that the input voltage fluctuation and load resistance of DC converter become
Change, extended state observer is designed to it, load resistance variation and input voltage fluctuation is estimated, in DC-DC converter
On the basis of unified model, load resistance variation and the disturbance of input voltage fluctuation are estimated as d1(t), it is seen according to expansion state
The theory of device is surveyed, Design of Observer is：
In formulaFor the estimated value of the difference of output voltage and output voltage nominal value,For output voltage
And the estimated value after the difference derivation of output voltage nominal value,For the disturbance of load resistance variation and input voltage fluctuation
Estimated value, parameter beta1、β2、β3>0；Wherein x1=e=vs-vr,
4. the DC-DC down-converter system based on extended state observer and sliding formwork control technology as claimed in claim 1 or 2
System control method, it is characterised in that：In the step 3, sliding-mode surface is designed：S=kx1+x2, in the expansion state observation designed
On the basis of device, design in the compound of variable state observer and sliding formwork control the technology combination with input voltage fluctuation of load resistance
Controller：
The output voltage v of closed-loop systemsIt is achieved that for reference voltage vrTracking.
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Cited By (6)
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| CN111431403A (en) * | 2020-02-21 | 2020-07-17 | 浙江工业大学 | Direct-current boost converter system control method based on nonlinear extended state observer and PD control technology |
| CN111431404A (en) * | 2020-02-21 | 2020-07-17 | 浙江工业大学 | Direct-current buck converter system control method based on extended state observer and continuous nonsingular terminal sliding mode control technology |
| CN111769739A (en) * | 2020-06-29 | 2020-10-13 | 安徽科技学院 | Self-adaptive control method of Boost converter |
| CN112234820A (en) * | 2020-11-11 | 2021-01-15 | 重庆邮电大学 | Control method of DC-DC buck converter system based on time-varying load |
| CN114400892A (en) * | 2022-01-13 | 2022-04-26 | 电子科技大学 | Digital optimal time dynamic control method of Boost converter |
| CN117410953A (en) * | 2023-10-27 | 2024-01-16 | 陕西理工大学 | Design method of controller of bipolar direct-current micro-grid voltage balancer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114400892B (en) * | 2022-01-13 | 2023-04-25 | 电子科技大学 | Digital optimal time dynamic control method of Boost converter |
| CN117410953A (en) * | 2023-10-27 | 2024-01-16 | 陕西理工大学 | Design method of controller of bipolar direct-current micro-grid voltage balancer |
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