CN110401346B - Control method of cascade multiphase staggered parallel Boost converter - Google Patents

Control method of cascade multiphase staggered parallel Boost converter Download PDF

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CN110401346B
CN110401346B CN201910675907.0A CN201910675907A CN110401346B CN 110401346 B CN110401346 B CN 110401346B CN 201910675907 A CN201910675907 A CN 201910675907A CN 110401346 B CN110401346 B CN 110401346B
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刘蕾
陈松波
班建安
丁锐
吴仕统
孙纯哲
范佳伦
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Hefei JEE Power System Co Ltd
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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
    • H02M3/158—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 including plural semiconductor devices as final control devices for a single load
    • H02M3/1584—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 including plural semiconductor devices as final control devices for a single load with a plurality of power processing stages connected in parallel
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • 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
    • H02M3/158—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 including plural semiconductor devices as final control devices for a single load
    • H02M3/1584—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 including plural semiconductor devices as final control devices for a single load with a plurality of power processing stages connected in parallel
    • H02M3/1586—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 including plural semiconductor devices as final control devices for a single load with a plurality of power processing stages connected in parallel switched with a phase shift, i.e. interleaved

Abstract

The invention discloses a control method of a cascade multiphase interleaving parallel Boost converter, which comprises the following steps: reconstructing the state variable by ignoring output capacitance and input inductance parasitic resistance; establishing a small signal mathematical model of a three-phase interleaved Boost converter of a cascade system; converting the output current of the high-voltage battery corresponding to the load current through a power conservation law and feeding the current value forward to the output end of the voltage outer ring; and feeding forward a deviation value between the Boost reference value and the actual value of the Boost output voltage to the input end of the voltage outer ring. Wide application range and high efficiency.

Description

Control method of cascade multiphase staggered parallel Boost converter
Technical Field
The invention relates to the technical field of current sharing control of bidirectional direct current converters, in particular to a control method of a cascade type multiphase interleaving parallel Boost converter.
Background
The permanent magnet synchronous motor has been widely used in the field of electric vehicles due to its advantages of small size, high power density and torque density, etc. The three-phase interleaved Boost converter is arranged in front of the DC side of the traditional inverter, so that the flexibility of bus voltage selection can be improved, the low-speed torque pulsation of the permanent magnet synchronous motor can be reduced, and the control efficiency of a driving system can be improved. However, in a cascaded electric drive control system behind a front-mounted Boost converter, when the load current changes violently, if the Boost converter control system cannot respond in time, the bus voltage will fluctuate greatly, and the safety and performance of the whole drive system are affected. Therefore, the research of the Boost converter control strategy for suppressing the bus voltage fluctuation has great significance in the new driving system.
2. At present, a single-phase Boost converter generally adopts a control strategy of combining double closed-loop control of an inner loop current loop and an outer loop voltage loop with power feedforward, and a multiphase Boost converter only adopts the double closed-loop control strategy of the inner loop current loop and the outer loop voltage loop.
The single-phase Boost converter generally adopts a control strategy of combining double closed-loop control and power feedforward of an inner ring current loop and an outer ring voltage loop, and although the fluctuation of bus voltage can be restrained to a certain extent, the design and analysis process is only suitable for the single-phase Boost converter, the single-phase Boost converter is not suitable for the multiphase Boost converter, and the topological structure flexibility and the converter power level are lower than those of the multiphase Boost converter. In the design process of a multiphase Boost converter control system, a motor load is often regarded as a constant resistor and is controlled only in a double-closed-loop mode, and when the load current changes, the bus voltage fluctuation is large.
Disclosure of Invention
In order to solve the technical problems, the invention provides a control method of a cascade multiphase interleaving parallel Boost converter, which establishes a small-signal mathematical model of the three-phase interleaving parallel Boost converter suitable for a cascade system by state variable reconstruction on the premise of neglecting parasitic resistance of an output capacitor and an input inductor, and is based on a double closed loop control strategy of load current and bus voltage deviation feedforward.
The technical scheme of the invention is as follows:
a control method of a cascade multi-phase interleaving parallel Boost converter comprises the following steps:
s01: reconstructing state variables of a system state equation by neglecting parasitic resistances of an output capacitor and an input inductor;
s02: establishing a small signal mathematical model of a three-phase interleaved Boost converter of a cascade system;
s03: converting the output current of the high-voltage battery corresponding to the load current through a power conservation law and feeding the current value forward to the output end of the voltage outer ring; and feeding forward a deviation value between the Boost reference value and the actual value of the Boost output voltage to the input end of the voltage outer ring.
In a preferred technical solution, the reconstructing the system state equation in step S01 includes:
establishing a voltage state equation of the mth phase loop as follows:
Figure BDA0002143263470000021
wherein L is the inductance value of each phase,
Figure BDA0002143263470000022
is the state space average value of the battery voltage, D' is the steady state value of the duty ratio of the upper bridge arm,
Figure BDA0002143263470000023
is the state space average value of the converter output voltage, dm' is the state space average value of the m-th phase upper bridge arm duty ratio,
Figure BDA0002143263470000024
is the state space average value of the m-th phase inductive current.
Establishing a state equation of a positive node of the high-voltage side capacitor as follows:
Figure BDA0002143263470000025
wherein D' is aboveSteady state values of bridge arm duty cycles; i isLIs the sum of three-phase inductive currents i at a certain timeLThe steady-state value of (a) is,
Figure BDA0002143263470000026
is the load current average.
In a preferred technical solution, the step S02 specifically includes:
and decomposing the state variables of the voltage state equation and the positive node state equation of the high-voltage side capacitor into the sum of direct-current components and small disturbance, namely:
Figure BDA0002143263470000027
Figure BDA0002143263470000028
Figure BDA0002143263470000029
Figure BDA00021432634700000210
Figure BDA00021432634700000211
wherein, V, Vg、D、IloadAre respectively as
Figure BDA00021432634700000212
dm、
Figure BDA00021432634700000213
A steady state value of;
Figure BDA00021432634700000214
Figure BDA00021432634700000215
are respectively as
Figure BDA00021432634700000216
dm、
Figure BDA00021432634700000217
The perturbation value of (1).
Substituting the expression (11) into the expression (9) and the expression (10), eliminating direct current components and quadratic term components, and performing Laplace transform on the direct current components and the quadratic term components to obtain a small signal model of the phase, wherein the small signal model is as follows:
Figure BDA0002143263470000031
Figure BDA0002143263470000032
in a preferred technical scheme, after obtaining the small signal model of the phase, neglecting battery voltage disturbance and sorting the expressions (12) and (13) to obtain:
Figure BDA0002143263470000033
Figure BDA0002143263470000034
obtaining a transfer function of the system, comprising:
Figure BDA0002143263470000035
Figure BDA0002143263470000036
Figure BDA0002143263470000037
Figure BDA0002143263470000038
in a preferred embodiment, in step S03, the output of the voltage outer loop PI is a command value of an inductor current, the output of the current inner loop PI is a duty ratio, the voltage deviation is low-pass filtered by a second-order low-pass filter, and the load current is low-pass filtered by the second-order low-pass filter.
Compared with the prior art, the invention has the advantages that:
1. the scheme researches a cascade system of a three-phase interleaved parallel Boost converter arranged at the front of a direct current side of a permanent magnet synchronous motor inverter and provides a more reasonable three-phase interleaved parallel Boost small signal model establishing method aiming at the cascade system.
2. The modeling method provided by the scheme is not only suitable for the cascaded three-phase staggered parallel Boost converter, but also suitable for the cascaded arbitrary staggered parallel Boost converter, and is wide in application range.
3. According to the scheme, only an algorithm means is needed in the implementation process, the suppression of the voltage fluctuation of the bus caused by load change can be realized, any circuit does not need to be additionally arranged, and the cost is saved.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a topological diagram of a permanent magnet synchronous motor driving system of a front three-phase interleaved Boost converter according to the present invention;
fig. 2 is a schematic diagram of a current-sharing control model of a three-phase interleaved parallel Boost converter.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Example (b):
the preferred embodiments of the present invention will be further described with reference to the accompanying drawings.
The topological structure of the permanent magnet synchronous motor driving system with the three-phase staggered parallel Boost converter arranged in advance is shown in fig. 1 and comprises a high-voltage battery, a DC/DC converter, a motor inverter and a PMSM (permanent magnet synchronous motor), wherein the Boost converter part of the DC/DC converter comprises a three-phase filter inductor and a three-phase bridge type power unit, the upper bridge arm and the lower bridge arm of the same-phase IGBT (insulated gate bipolar transistor) of the three-phase bridge type power unit are conducted in a complementary mode, and the adjacent two-phase IGBTs are conducted in a phase-shifting mode at 120 degrees. Three-phase inductive currents are respectively iL1、iL2、iL3The battery voltage is VgThe load current is iload。
According to the scheme, a small-signal mathematical model suitable for a three-phase interleaved Boost converter of a cascade system is established through state variable reconstruction on the premise of neglecting parasitic resistance of an output capacitor and an input inductor, the influence of load current fluctuation on bus voltage stability is analyzed, and a double-closed-loop control strategy based on load current and bus voltage deviation feedforward is provided.
Firstly, a binary logic switching function for switching on and off the nth phase IGBT is defined:
Figure BDA0002143263470000041
from kirchhoff's voltage law, the voltage equation for the nth phase loop can be established as follows:
Figure BDA0002143263470000051
Figure BDA0002143263470000052
finishing to obtain:
Figure BDA0002143263470000053
wherein L is inductance value of each phase, iLnIs the value of the n-th phase inductance current i at a certain timeLIs the sum of three-phase inductive currents at a certain moment, i.e.
Figure BDA0002143263470000054
According to kirchhoff current law, establishing a positive node equation of a high-voltage side capacitor as follows:
Figure BDA0002143263470000055
where C is the output capacitance.
According to the state space averaging method, for an original circuit composed of RLC elements, independent power supplies, and periodic switches, the influence of each circuit state on the entire circuit can be described by the average value of the state of each circuit over the entire period. The average value of a variable x (t) in a switching period is calculated as follows:
Figure BDA0002143263470000056
using state space averaging, for Sn(t)、Sn(t)iLn(t) carrying out averaging treatment to obtain:
Figure BDA0002143263470000057
Figure BDA0002143263470000058
because the total inductive current control mode can not accurately perform current sharing control on each phase of inductive current, the average value deviation of the inductive current can be caused in the actual work of the DC/DC converter. On one hand, the one-phase inductor with the largest current flowing through can be saturated, so that the converter is damaged; on the other hand, the service life of each phase of IGBT will be different, and the phase with the largest current flowing for a long time will be damaged first, thus reducing the overall service life of the system.
In order to avoid the defects of the control mode of the total inductive current, the current sharing control of each phase can be realized by adopting a mode that each phase inductive current independently controls the duty ratio of each phase IGBT and the adjacent two phase IGBTs are conducted by shifting the phase by 120 degrees.
It is assumed that at a certain moment of the steady-state operation of the converter, the inductor current and the duty ratio of the m-th phase (m is 1, 2 and 3) are disturbed, and the inductor current and the duty ratio of the other two phases are still maintained at the steady-state values (the same also applies to other cases). From equations (4), (5), the state equation of the system can be described as follows:
Figure BDA0002143263470000061
Figure BDA0002143263470000062
wherein D' is a steady-state value of the duty ratio of the upper bridge arm; i isLIs iLThe steady-state value of (a) is,
Figure BDA0002143263470000063
is the state space average value of the battery voltage, D' is the steady state value of the duty ratio of the upper bridge arm,
Figure BDA0002143263470000064
is the state space average value of the converter output voltage, dm' is the state space average value of the m-th phase upper bridge arm duty ratio,
Figure BDA0002143263470000065
is the state space average value of the m-th phase inductive current.
Decomposing each state variable of the above formula into the sum of direct current component and small disturbance, thereby carrying out small signal analysis, and ordering:
Figure BDA0002143263470000066
Figure BDA0002143263470000067
Figure BDA0002143263470000068
Figure BDA0002143263470000069
Figure BDA00021432634700000610
wherein, V, Vg、D、IloadAre respectively as
Figure BDA00021432634700000611
dn、
Figure BDA00021432634700000612
A steady state value of;
Figure BDA00021432634700000613
Figure BDA00021432634700000614
are respectively as
Figure BDA00021432634700000615
dn、
Figure BDA00021432634700000616
The perturbation value of (1).
Substituting the expression (11) into the expression (9) and the expression (10), removing the direct current component and the quadratic term component, and performing laplace transform on the direct current component and the quadratic term component to obtain a small signal model of the phase, wherein the small signal model comprises the following steps:
Figure BDA00021432634700000617
Figure BDA00021432634700000618
neglecting the battery voltage disturbance and sorting the equations (12) and (13), the following can be obtained:
Figure BDA0002143263470000071
Figure BDA0002143263470000072
the transfer function of the system is therefore:
Figure BDA0002143263470000073
Figure BDA0002143263470000074
Figure BDA0002143263470000075
Figure BDA0002143263470000076
as can be seen from expressions (16), (17), (18), and (19), the bus voltage can be maintained stable by canceling the influence of the load current change on the output voltage in real time. Theoretically, the influence of load current on the fluctuation of the bus voltage can be completely eliminated by adopting a control strategy of combining double closed loop control and load current feedforward of an outer loop which is a voltage loop for controlling the bus voltage and an inner loop which is a current loop for controlling inductive current. However, the current inner loop PI parameter cannot be too large due to the influence of the stability of the whole control system, the response speed of the current inner loop has a certain delay, and the bus voltage still fluctuates greatly when the load current changes violently.
Therefore, the output current of the high-voltage battery corresponding to the load current is converted by the power conservation law and is fed forward to the output end of the voltage outer ring; the deviation value between the Boost reference value and the actual value of the Boost output voltage is fed forward to the input end of the voltage outer ring, finally, a double closed-loop control strategy combining load current feed-forward and voltage deviation feed-forward is provided, and a control mode model diagram of the current sharing control of the three-phase interleaved parallel Boost converter is converted according to a topological structure, as shown in fig. 2. The current sharing control of three-phase current can be realized, and the influence of load current fluctuation on bus voltage can be effectively restrained. Wherein the output of the voltage outer loop PI1 is the instruction value of the inductive current, the output of the current inner loop PI2 is the duty ratio, WV(S) is the transfer function of a second order low pass filter for low pass filtering of the voltage deviation, Wi(S) is the transfer function of a second order low pass filter that low pass filters the load current.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims (4)

1. A control method of a cascade multi-phase interleaving parallel Boost converter is characterized by comprising the following steps:
s01: reconstructing state variables of a system state equation by neglecting parasitic resistances of an output capacitor and an input inductor;
s02: establishing a small signal mathematical model of a three-phase interleaved Boost converter of a cascade system;
s03: converting the output current of the high-voltage battery corresponding to the load current through a power conservation law, feeding the current value forward to the output end of the voltage outer ring, and feeding the load current forward to the output end of the voltage outer ring after low-pass filtering the load current through a second-order low-pass filter; feeding forward a deviation value between a Boost reference value and an actual value of a Boost output voltage to an input end of a voltage outer ring, and feeding forward the voltage deviation to the input end of the voltage outer ring after low-pass filtering the voltage deviation by a second-order low-pass filter; the transfer function of a second order low pass filter for low pass filtering of voltage deviations is WV(S) the transfer function of a second order low pass filter for low pass filtering the load current is Wi(S)；
Wherein, reconstructing the system state equation in step S01 includes:
establishing a voltage state equation of the mth phase loop as follows:
Figure FDA0003082083470000011
wherein L is the inductance value of each phase,
Figure FDA0003082083470000012
is the state space average value of the battery voltage, D' is the steady state value of the duty ratio of the upper bridge arm,
Figure FDA0003082083470000017
is the state space average value of the converter output voltage, dm' is the state space average value of the m-th phase upper bridge arm duty ratio,
Figure FDA0003082083470000014
the state space average value of the m-th phase inductive current is obtained;
establishing a state equation of a positive node of the high-voltage side capacitor as follows:
Figure FDA0003082083470000015
wherein D' is a steady-state value of the duty ratio of the upper bridge arm; i isLIs the sum of three-phase inductive currents i at a certain timeLThe steady-state value of (a) is,
Figure FDA0003082083470000016
is the load current average.
2. The control method of the cascaded multiphase interleaved parallel Boost converter according to claim 1, wherein the step S02 comprises the following specific steps:
and decomposing the state variables of the voltage state equation and the positive node state equation of the high-voltage side capacitor into the sum of direct-current components and small disturbance, namely:
Figure FDA0003082083470000021
Figure FDA0003082083470000022
Figure FDA0003082083470000023
Figure FDA0003082083470000024
Figure FDA0003082083470000025
wherein, V, Vg、D、IloadAre respectively provided withIs composed of
Figure FDA0003082083470000026
dm、
Figure FDA0003082083470000027
A steady state value of;
Figure FDA0003082083470000028
Figure FDA0003082083470000029
are respectively as
Figure FDA00030820834700000210
dm、
Figure FDA00030820834700000211
The disturbance value of (2);
substituting the expression (11) into the expression (9) and the expression (10), eliminating direct current components and quadratic term components, and performing Laplace transform on the direct current components and the quadratic term components to obtain a small signal model of the phase, wherein the small signal model is as follows:
Figure FDA00030820834700000212
Figure FDA00030820834700000213
3. the method for controlling the cascaded multiphase interleaved parallel Boost converter according to claim 2, wherein after obtaining the small signal model of the phase, ignoring the battery voltage disturbance and sorting the equations (12) and (13), the method can obtain:
Figure FDA00030820834700000214
Figure FDA00030820834700000215
obtaining a transfer function of the system, comprising:
Figure FDA00030820834700000216
Figure FDA00030820834700000217
Figure FDA00030820834700000218
Figure FDA0003082083470000031
4. the control method of the cascaded multiphase interleaved parallel Boost converter according to claim 1, wherein in step S03, the output of the voltage outer loop PI is a command value of an inductor current, and the output of the current inner loop PI is a duty ratio.
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