CN110492744B - Constant power load control method and circuit applied to DC-DC converter - Google Patents

Constant power load control method and circuit applied to DC-DC converter Download PDF

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CN110492744B
CN110492744B CN201910763948.5A CN201910763948A CN110492744B CN 110492744 B CN110492744 B CN 110492744B CN 201910763948 A CN201910763948 A CN 201910763948A CN 110492744 B CN110492744 B CN 110492744B
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CN110492744A (en
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陈艳峰
许铭林
张波
丘东元
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South China University of Technology SCUT
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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
    • H02M3/157—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
    • 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
    • H02M1/0009—Devices or circuits for detecting current in 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
    • 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

Abstract

The invention discloses a constant power load control method and a circuit applied to a DC-DC converter, comprising the following steps: 1) the output voltage and the inductive current are respectively sampled through a voltage sampling module and a current sampling module, and sampling signals are input into an ADC module; 2) converting the input sampling signal into a digital signal through an ADC module, and inputting the digital signal into a correction module; 3) the correction module compares the digital signal with a predicted value obtained by solving the prediction model, and the difference value of the digital signal and the predicted value is used as a correction signal to be input into the MLD-MPC control module; 4) and the MLD-MPC control module solves the control model according to the correction signal and realizes the constant power load control of the DC-DC converter according to the solved switching duty ratio. The invention solves the problems of steady-state error, poor dynamic performance and the like of the traditional constant power control method, so that the DC-DC converter can be quickly and stably regulated when the disturbance such as sudden input voltage change, sudden load change and the like is faced, and the constant power output is maintained.

Description

Constant power load control method and circuit applied to DC-DC converter
Technical Field
The invention relates to the technical field of power electronic DC-DC converters, in particular to a constant power load control method and a constant power load control circuit applied to a DC-DC converter.
Background
The power electronic DC-DC converter is widely applied to the direct-current micro-grid due to the advantages of small volume, light weight, high efficiency and the like. With the application scenes of the DC-DC converter becoming more diversified, nonlinear loads such as constant power loads and the like put higher requirements on the control method of the DC-DC converter. The traditional linear modeling method is difficult to accurately describe the nonlinear characteristics of the DC-DC converter with the constant-power load, so that the constant-power control of the DC-DC converter needs a more accurate model.
The current constant power load control method applied to the DC-DC converter mainly comprises the following steps: 1. and (3) state feedback control: the output capacitance and the output resistance of the DC-DC converter are used as feedback variables, a system state equation is listed and Taylor expansion is carried out, the state equation is linearized by modes of abandoning high-order infinite small terms and the like, and the approximate linear system is controlled. 2. Virtual impedance control: a current sampling module is added into the DC-DC converter, so that a sampling current flows through a virtual resistor and then is added into a control link to improve the stability of the system. The Davining equivalent circuit of the control element is equivalent to connecting a resistor in series in the circuit, but the virtual resistor does not consume power, so the control element is also called virtual impedance control. The existing constant power load control method of the DC-DC converter adopts linear approximation and other modes, and can achieve the control effect, but has the problems of steady-state error, overshoot, long regulation time and the like in the aspects of accuracy, dynamic performance and the like.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a constant power load control method and a circuit applied to a DC-DC converter, and solves the problems of steady-state error, poor dynamic performance and the like of the traditional constant power control method, so that the DC-DC converter can be quickly and stably regulated when the disturbance such as sudden input voltage change, sudden load change and the like is faced, and the constant power output is maintained.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: the constant power load control method applied to the DC-DC converter needs to be provided with a voltage sampling module, a current sampling module, an ADC module, a correction module and an MLD-MPC control module, wherein the voltage sampling module is used for sampling an output voltage, the current sampling module is used for sampling an inductive current, the ADC module is used for converting a sampling signal into a digital signal, the correction module is used for correcting a control model error, and the MLD-MPC control module is used for controlling the duty ratio of the DC-DC converter;
the constant power load control method comprises the following steps:
1) the output voltage and the inductive current are respectively sampled through a voltage sampling module and a current sampling module, and sampling signals are input into an ADC module;
2) converting the input sampling signal into a digital signal through an ADC module, and inputting the digital signal into a correction module;
3) the correction module compares the digital signal with a predicted value obtained by solving the prediction model, and the difference value of the digital signal and the predicted value is used as a correction signal to be input into the MLD-MPC control module;
4) and the MLD-MPC control module solves the control model according to the correction signal and realizes the constant power load control of the DC-DC converter according to the solved switching duty ratio.
Further, a mixed logic dynamic model, namely an MLD model, is used inside the correction module to predict the output voltage and the inductor current, and the MLD model has the basic characteristics that: dividing a nonlinear system of the DC-DC converter into a set of M finite linear subsystems by defining 0-1 logic variables, constructing auxiliary variables and expressing the auxiliary variables into a linear system form, describing switching logic among the subsystems by a mixed integer inequality, wherein the MLD model has the following form:
Figure GDA0002445450950000031
wherein M represents that the nonlinear system can be divided into M linear submodels; k represents the discrete model time, t is kTs corresponding to the continuous time, and Ts is the sampling time of the discrete model; x (k) represents the state variable of the system at time k; x (k +1) represents the state variable of the system at time k + 1; u (k) represents the input variables of the system at time k; y (k) represents the output variable of the system at time k;jis the 0-1 logical variable of the system at time k; a. thej,Bj,aj,Cj,Dj,bjRespectively, the system state equation corresponds to the parameter matrix.
Further, the control process of the MLD-MPC control module is as follows:
s1, initializing an MLD-MPC control module, and starting to perform optimization control on the system at the current moment;
s2, detecting whether system parameters change or not by the MLD-MPC control module; if the system parameters change, reconstructing a discrete state equation of the linear submodel according to the new system parameters, updating the MLD model according to the reconstructed discrete state equation, applying the new MLD model to the correction module and the MLD-MPC control module, and executing the step S3; if the system parameters are not changed, directly executing step S3;
s3, after updating the MLD model, reconstructing the MLD-MPC control model and solving by taking the updated MLD model as a constraint condition, wherein the process is completed in the MLD-MPC control module;
s4, judging whether the MLD-MPC control model has a feasible solution;
s5: if no feasible solution exists, the system is judged to be unstable, and an MLD-MPC control module reports errors and initializes;
s6: if the control model has a feasible solution, the first element of the system control sequence of the optimal solution is taken as the system control strategy at the moment, and the step S1 is returned to start the control optimization at the next moment.
The constant-power load control circuit applied to the DC-DC converter is composed of a voltage sampling module, a current sampling module, an ADC module, a correction module and an MLD-MPC control module, wherein the voltage sampling module is connected with two ends of a main circuit output capacitor of the DC-DC converter, the current sampling module is connected with a main circuit energy storage inductor of the DC-DC converter in series, the ADC module is respectively connected with the voltage sampling module, the current sampling module and the correction module, the correction module is connected with the MLD-MPC control module, and the MLD-MPC control module is in driving connection with a main circuit switching tube of the DC-DC converter; when the device works, the voltage sampling module and the current sampling module respectively sample output voltage and inductive current, sampling signals are input into the ADC module, the ADC module converts the input sampling signals into digital signals, the digital signals are input into the correction module, the correction module compares the digital signals with predicted values obtained by solving of the prediction model, difference values of the predicted values are used as correction signals and input into the MLD-MPC control module, the MLD-MPC control module solves the control model according to the correction signals, and the conduction state of a main circuit switching tube of the DC-DC converter is controlled according to the solved switching duty ratio, so that constant power load control of the DC-DC converter is achieved.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention has good starting performance, can quickly respond in the starting process of the converter and has no overshoot.
2. The invention has strong stability, and can still keep the output power constant when the input end or the load end generates larger disturbance.
3. The invention can be popularized to the cascade connection or parallel connection constant power control of a plurality of converter devices, and the method can be applied to the parallel connection or the cascade connection of a plurality of converter devices as long as the plurality of converter devices can be divided into the combination of a limited number of linear systems.
4. The invention is convenient for configuration and setting, and the control model can be automatically generated in the control module only by inputting the parameters of the converter element.
Drawings
FIG. 1 is a control logic diagram of an MLD-MPC control module.
Fig. 2 is a circuit diagram of a constant power load control circuit applied to a DC-DC converter.
Fig. 3 is an output power response of a constant power load control method applied to a DC-DC converter under an input voltage disturbance.
Fig. 4 is an output power response of a constant power load control method applied to a DC-DC converter under load resistance disturbance.
Fig. 5 is an actual output power response of a constant power load control method applied to a DC-DC converter under a change of an output power set value.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
The method for controlling a constant power load applied to a DC-DC converter provided by this embodiment includes configuring a voltage sampling module, a current sampling module, an ADC module, a correction module, and an MLD-MPC control module, where the voltage sampling module is configured to sample an output voltage, the current sampling module is configured to sample an inductor current, the ADC module is configured to convert a sampled signal into a digital signal, the correction module is configured to correct a control model error, and the MLD-MPC control module is configured to control a duty ratio of the DC-DC converter; the constant power load control method comprises the following steps:
1) the output voltage and the inductive current are respectively sampled through a voltage sampling module and a current sampling module, and sampling signals are input into an ADC module;
2) converting the input sampling signal into a digital signal through an ADC module, and inputting the digital signal into a correction module;
3) the correction module compares the digital signal with a predicted value obtained by solving the prediction model, and the difference value of the digital signal and the predicted value is used as a correction signal to be input into the MLD-MPC control module;
4) and the MLD-MPC control module solves the control model according to the correction signal and realizes the constant power load control of the DC-DC converter according to the solved switching duty ratio.
A mixed logic dynamic model, namely an MLD model, is used in the correction module to predict output voltage and inductive current, and the MLD model has the basic characteristics that: dividing a nonlinear system of the DC-DC converter into a set of M finite linear subsystems by defining 0-1 logic variables, constructing auxiliary variables and expressing the auxiliary variables into a linear system form, describing switching logic among the subsystems by a mixed integer inequality, wherein the MLD model has the following form:
Figure GDA0002445450950000061
wherein M represents that the nonlinear system can be divided into M linear submodels; k represents the discrete model time, t is kTs corresponding to the continuous time, and Ts is the sampling time of the discrete model; x (k) represents the state variable of the system at time k; x (k +1) represents the state variable of the system at time k + 1; u (k) represents the input variables of the system at time k; y (k) represents the output variable of the system at time k;jis the 0-1 logical variable of the system at time k; a. thej,Bj,aj,Cj,Dj,bjRespectively, the system state equation corresponds to the parameter matrix.
As shown in FIG. 1, the control process of the MLD-MPC control module is as follows:
s1, initializing an MLD-MPC control module, and starting to perform optimization control on the system at the current moment;
s2, detecting whether system parameters change or not by the MLD-MPC control module; if the system parameters change, reconstructing the discrete state equation of the linear submodel according to the new system parameters, updating the MLD model according to the reconstructed discrete state equation, applying the new MLD model to the correction module and the MLD-MPC control module, and then executing the step S3; if the system parameters are not changed, directly executing step S3;
s3, after updating the MLD model, reconstructing the MLD-MPC control model and solving by taking the updated MLD model as a constraint condition, wherein the process is completed in the MLD-MPC control module;
s4, judging whether the MLD-MPC control model has a feasible solution;
s5: if no feasible solution exists, the system is judged to be unstable, and an MLD-MPC control module reports errors and initializes;
s6: if the control model has a feasible solution, the first element of the system control sequence of the optimal solution is taken as the system control strategy at the moment, and the step S1 is returned to start the control optimization at the next moment.
As shown in fig. 2, a constant power load control circuit applied to a DC-DC converter is provided, where the DC-DC converter is specifically a Boost converter, and includes an input direct-current power supply, an energy storage inductor L, N channel MOS transistor, a power diode D, an output capacitor C, and an output load R, and the constant power load control circuit includes a voltage sampling module, a current sampling module, an ADC module, a correction module, and an MLD-MPC control module; the anode of the input direct current power supply is connected with one end of an energy storage inductor L; the other end of the energy storage inductor L is respectively connected with the anode of the power diode D and the D pole of the N-channel MOS tube; the cathode of the power diode D is respectively connected with one end of the output capacitor C and one end of the output load R; the other end of the output load R is connected with the other end of the output capacitor C, the S pole of the N-channel MOS tube and the negative pole of the input direct-current power supply; the voltage sampling module is connected with two ends of an output capacitor C, the current sampling module is connected with an energy storage inductor L to collect inductor current, the ADC module is respectively connected with the voltage sampling module, the current sampling module and the correction module, the correction module is connected with the MLD-MPC control module, and the MLD-MPC control module is in driving connection with an N-channel MOS tube. Output voltage VoutAnd the inductor current IlAnd after sampling and transmitting to a correction module, comparing with an MLD model prediction signal in the module, inputting an error signal serving as a correction variable into an MLD-MPC control module, and optimally solving by the MLD-MPC control module through the correction variable and a state variable to control the on and off of a switching tube so as to realize constant power control of a load.
Using output voltage uCAnd the inductor current iLAs its control variables and state variables, note that the state variables are:
x＝[iLuC]T
from the working logic of the Boost converter, the discrete linear subsystem state equations are obtained
x(k+1)＝Ad1x(k)+Bd1u(k)
x(k+1)＝Ad2x(k)+Bd2u(k)
x(k+1)＝Ad3x(k)
Wherein A isd1,Ad2,Ad3,Bd1,Bd2A parameter matrix of a state equation of a discrete linear subsystem is adopted, k represents the moment of a discrete model, and t is kT corresponding to the continuous times. According to the working logic of the converter, defining 0-1 discrete logic variables and establishing an MLD model thereof as follows:
Figure GDA0002445450950000081
wherein, C and D are respectively corresponding parameter matrixes of calculation output variables,3(k)，4(k)，5(k) respectively, represent the 0-1 logical variables at time k when the system is operating in three discrete linear subsystems.
And comparing the actual state variable of the Boost converter with the state variable obtained by calculation of the MLD model, taking the difference value as a correction variable, and inputting the correction variable and the state variable of the current moment into the MLD-MPC control module.
The MLD-MPC control module internal optimization control function is as follows
Figure GDA0002445450950000082
y(k|t)＝x(k|t)
Where x (K | t) represents the prediction of the system based on the state variables at time K, y (K | t) represents the output variables at time t, and K represents the prediction of the system based on the state variables at time KPredicting the time-domain length, ysetIndicating preset value of output variable, yset＝[I0U0]T，I0For inductor current preset value, U0Is a preset value of the capacitor voltage. Solving the equation according to the load power P and the resistance R can obtain:
Figure GDA0002445450950000083
and solving an optimization function in the MLD-MPC control module to obtain the optimal switching logic at the next moment, further determining the switching tube on-state at the next moment and maintaining the control variable stable at a set value.
As shown in fig. 3, the output power response under the input voltage disturbance is shown, where (a) in fig. 3 is an input voltage disturbance curve and (b) in fig. 3 is a load power response curve, and it can be seen from fig. 3 that when the input voltage suddenly changes within a range of 50% -200%, the output power can be adjusted quickly and maintained at the set value.
As shown in fig. 4, the output power response under load resistance disturbance is given, where (a) in fig. 4 is a load resistance disturbance curve, and (b) in fig. 4 is a load power response curve, and it can be seen from fig. 4 that when the input voltage is suddenly changed within a range of 25% -200%, the output power can be adjusted quickly and maintained at the set value.
As shown in fig. 5, the actual output power response under the change of the output power set value is shown, where (a) in fig. 5 is a load power set value change curve, and (b) in fig. 5 is an output power response curve, it can be seen from fig. 5 that when the load power set value changes suddenly within a range of 50% -150%, the output power can be adjusted rapidly along with the change, and the output power is maintained at a new set value and remains stable.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (2)

1. The constant power load control method applied to the DC-DC converter is characterized by comprising the following steps: a voltage sampling module, a current sampling module, an ADC module, a correction module and an MLD-MPC control module are required to be configured, wherein the voltage sampling module is used for sampling output voltage, the current sampling module is used for sampling main circuit energy storage inductive current, the ADC module is used for converting a sampling signal into a digital signal, the correction module is used for correcting a control model error, and the MLD-MPC control module is used for controlling the duty ratio of a DC-DC converter;
the constant power load control method comprises the following steps:
1) the output voltage and the inductive current are respectively sampled through a voltage sampling module and a current sampling module, and sampling signals are input into an ADC module;
2) converting the input sampling signal into a digital signal through an ADC module, and inputting the digital signal into a correction module;
3) the correction module compares the digital signal with a predicted value obtained by solving the prediction model, and the difference value of the digital signal and the predicted value is used as a correction signal to be input into the MLD-MPC control module;
4) the MLD-MPC control module solves the control model according to the correction signal and realizes the constant power load control of the DC-DC converter according to the solved switching duty ratio;
the correction module uses a mixed logic dynamic model (MLD model) to predict output voltage and inductive current, and the MLD model has the basic characteristics that: dividing a nonlinear system of the DC-DC converter into a set of M finite linear subsystems by defining 0-1 logic variables, constructing auxiliary variables and expressing the auxiliary variables into a linear system form, describing switching logic among the subsystems by a mixed integer inequality, wherein the MLD model has the following form:
Figure FDA0002528696470000021
where M denotes that the nonlinear system can be divided into M linear systemsA sub-model; k represents the discrete model time, t is kTs corresponding to the continuous time, and Ts is the sampling time of the discrete model; x (k) represents the state variable of the system at time k; x (k +1) represents the state variable of the system at time k + 1; u (k) represents the input variables of the system at time k; y (k) represents the output variable of the system at time k;jis the 0-1 logical variable of the system at time k; a. thej,Bj,aj,Cj,Dj,bjRespectively, the system state equation corresponds to the parameter matrix.
2. The constant power load control method applied to the DC-DC converter according to claim 1, wherein: the control process of the MLD-MPC control module is as follows:
s1, initializing an MLD-MPC control module, and starting to perform optimization control on the system at the current moment;
s2, detecting whether system parameters change or not by the MLD-MPC control module; if the system parameters change, reconstructing the discrete state equation of the linear submodel according to the new system parameters, updating the MLD model according to the reconstructed discrete state equation, applying the new MLD model to the correction module and the MLD-MPC control module, and then executing the step S3; if the system parameters are not changed, directly executing step S3;
s3, if the system parameters change, updating the MLD model, taking the new MLD model as a constraint condition, if the system parameters do not change, taking the original MLD model as the constraint condition, constructing an MLD-MPC control model and solving the MLD-MPC control model, wherein the process is completed in the MLD-MPC control module;
s4, judging whether the MLD-MPC control model has a feasible solution;
s5: if no feasible solution exists, the system is judged to be unstable, and an MLD-MPC control module reports errors and initializes;
s6: if the control model has a feasible solution, the first element of the system control sequence of the optimal solution is taken as the system control strategy at the moment, and the step S1 is returned to start the control optimization at the next moment.
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