CN110855148A - Active-disturbance-rejection control method of three-level LLC resonant converter - Google Patents

Active-disturbance-rejection control method of three-level LLC resonant converter Download PDF

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CN110855148A
CN110855148A CN201911083327.9A CN201911083327A CN110855148A CN 110855148 A CN110855148 A CN 110855148A CN 201911083327 A CN201911083327 A CN 201911083327A CN 110855148 A CN110855148 A CN 110855148A
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disturbance
output voltage
voltage
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llc resonant
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孟繁荣
李鹏
刘永伟
巩冰
边笑宇
吴悠
杨天奇
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Harbin Engineering University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
    • H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
    • H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
    • H02M3/325—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
    • H02M3/335—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/33507—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of the output voltage or current, e.g. flyback converters
    • H02M3/33523—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of the output voltage or current, e.g. flyback converters with galvanic isolation between input and output of both the power stage and the feedback loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
    • H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
    • H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
    • H02M3/325—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
    • H02M3/335—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/33569—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements
    • 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
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • 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
    • H02M1/0048—Circuits or arrangements for reducing losses
    • H02M1/0054—Transistor switching losses
    • H02M1/0058—Transistor switching losses by employing soft switching techniques, i.e. commutation of transistors when applied voltage is zero or when current flow is zero
    • 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
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/4815—Resonant converters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
    • Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes

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Abstract

The invention provides an active disturbance rejection control method of a three-level LLC resonant converter, which comprises the following steps: establishing a model of the three-level LLC resonant converter by adopting an extended description function method; smoothing the reference given signal by adopting an Fal function; designing a linear extended state observer according to the order of the transfer function model, and estimating the disturbance quantity of the system by using the output voltage and the control quantity; the difference between the smoothed signal and actual output voltage is used to amplify the error, which is then subtracted from the estimated total disturbance signal by dividing by b0And then generating a control quantity, wherein the control quantity is used for controlling the output voltage of the converter. The control method can effectively inhibit the disturbances such as resonance frequency deviation, load disturbance, voltage disturbance and the like, so that the control system has better robustness and adaptability. The control method solves the problem that the input voltage is influenced by factors such as input voltage fluctuation, parasitic parameter change and load disturbance in the resonant converterThe output voltage ripple is large.

Description

Active-disturbance-rejection control method of three-level LLC resonant converter
Technical Field
The invention belongs to the field of control of resonant converters, and particularly relates to a linear active-disturbance-rejection control method applied to a three-level LLC resonant converter.
Background
The resonant DC/DC converter is widely favored by engineers and scholars due to the advantages of small volume, high power density, high efficiency and the like, while the LLC series resonant converter can realize ZVS (zero voltage switching) of a switching tube in a full-load range, reduce switching loss, realize ZCS (zero current switching) of a rectifying tube, reduce reverse oscillation loss of a diode, greatly improve the efficiency of the converter, realize soft switching in a wide range, and have small electromagnetic interference due to the fact that the resonant current is high-frequency sine alternating current, thereby being very popular in industrial system converters. However, the converter adopts pulse frequency control (PFM), which is greatly influenced by circuit parasitic parameters, such as inter-turn capacitance of a high-frequency transformer and large variation of inter-turn capacitance of lines at different switching frequencies, and resonant inductance and resonant capacitance are both non-ideal devices, and exhibit different characteristics with the variation of frequency, which can be classified as converter internal disturbance. The output voltage value is also influenced by factors such as load size and input voltage fluctuation, the disturbance outside the converter is called external disturbance, and the comprehensive action of the disturbances puts higher requirements on the robustness of the controller. And the auto-disturbance-rejection controller can greatly improve the robustness of the controller, so that the controller is very suitable for the control requirements of resonance.
Disclosure of Invention
Aiming at the prior art, the technical problem to be solved by the invention is to provide an active disturbance rejection control method of a three-level LLC resonant converter, which can effectively improve the robustness of a system.
In order to solve the above technical problem, an active disturbance rejection control method of a three-level LLC resonant converter of the present invention includes the following steps:
step 1: establishing a mathematical model for the three-level LLC resonant converter circuit by adopting an extended description function method;
step 2: using a non-linear Fal function filter for a given voltage command urefFiltering is carried out, and the value after filtering is uref’；
And step 3: according to the order of the transfer function, a linear extended state observer is established, which specifically comprises the following steps: the first order inertial system is represented as:
Figure BDA0002264617860000011
where f is the total disturbance, y is the output, u is the controlled variable, and the linear extended state observer is represented as:
Figure BDA0002264617860000012
z1，z2respectively an observed value of an output quantity and an observed value of a disturbance, β1，β2As observer coefficients, b0By real-time acquisition of output voltage v as a system parameteroForming a new state variable f by the control quantity u to observe the system disturbance;
and 4, step 4: value u after filtering with a given voltageref' with the actual output voltage voMaking difference, proportional controlling the error, and amplifying kpMultiplying and generating a control quantity u0；
And 5: the observed system disturbance quantities f and u0Are subtracted and then divided by b0Forming a system control quantity u;
step 6: and (4) carrying out amplitude limiting processing on the calculated control quantity u, wherein u is switching frequency, and transmitting the switching frequency into the voltage-frequency converter module to form PWM (pulse-width modulation) pulse to drive the converter.
The invention also includes:
the Fal function filter in step 2 is specifically:
wherein: u. ofrefIs a given command of the output voltage; u. ofref' is the voltage given command after low pass filtering through function Fal;
Figure BDA0002264617860000022
is urefK is a scaling factor that adjusts the response speed, and δ is a filter factor of the Fal function filter.
The invention has the beneficial effects that:
1. the linear active disturbance rejection control method applied to the three-level LLC resonant converter can perform disturbance compensation on the condition of parasitic parameter change generated in the switching frequency regulation process in the PFM modulation method, and enhances the robustness of a system.
2. Compared with a PI algorithm, the control method has better anti-interference performance and shorter time for loading and unloading and input voltage change recovery.
3. The control method can effectively reduce the magnitude of the resonant current in the starting process, prolong the service life of the system and improve the stability and reliability of the system.
Drawings
Fig. 1 is a diagram of a main circuit of a three-level LLC resonant converter.
Fig. 2 is a block diagram of the Fal function filter structure.
Fig. 3 is a block diagram of the extended state observer.
Fig. 4 is a block diagram of the Fal function filter structure.
Fig. 5 is a block diagram of the application of a second order linear active disturbance rejection algorithm in a three-level LLC converter.
FIG. 6 is a graph comparing output voltage for operating conditions.
FIG. 7 is a graph comparing output voltages for two operating conditions.
FIG. 8 is a comparison graph of output voltages for three operating conditions.
Fig. 9 is a comparison graph of start-up resonance current suppression.
Fig. 10 is a flow chart of the method of the present patent.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention provides an active disturbance rejection control method applied to a three-level LLC resonant converter, and relates to the resonance classThe field of converter control. The control method solves the problem that output voltage ripples are large due to the influence of input voltage fluctuation, parasitic parameter change, load disturbance and other factors in the resonant converter. The control method comprises the following steps: a. establishing a model of the three-level LLC resonant converter by adopting an extended description function method; b. smoothing the reference given signal by adopting an Fal function; c. designing a linear extended state observer according to the order of the transfer function model (Linear Extended StateObserverLESO), estimating the disturbance amount of the system using the output voltage and the control amount; d. the difference between the smoothed signal and actual output voltage is used to amplify the error, which is then subtracted from the estimated total disturbance signal by dividing by b0And then generating a control quantity, wherein the control quantity is used for controlling the output voltage of the converter. The control method can effectively inhibit the disturbances such as resonance frequency deviation, load disturbance, voltage disturbance and the like, so that the control system has better robustness and adaptability.
With reference to fig. 10, the present invention combines the characteristics of the linear active disturbance rejection control algorithm, and the specific technical solution is as follows:
and (3) performing small-signal modeling on the three-level LLC resonant converter at a steady-state working point by adopting an extended description function method, and making a system transfer function bode diagram to obtain a model which is approximate to a first-order inertia link.
Designing a second-order linear extended state observer in the active disturbance rejection controller according to the first-order inertia link characteristic,
Figure BDA0002264617860000031
z1，z2respectively, an observed value of the output quantity, an observed value of the disturbance, β1，β2As observer coefficients, b0For system parameters, in relation to a model of the modeling system, by collecting the output voltage v in real timeoThe control amount u forms an observation system disturbance amount f.
The Fal function is a special non-linear structure with characteristics of large error, small gain, small error and large gain. Fal the function is specifically expressed as follows:
Figure BDA0002264617860000032
in the formula: e is the input error; a, determining the nonlinearity of a nonlinear Fal function, wherein the nonlinearity is a constant between 0 and 1 and influences the tracking effect; delta is the length of the linear section interval, which influences the filtering effect. With the Fal function characteristics, the filter is constructed:
Figure BDA0002264617860000033
wherein: u. ofrefIs a given command of the output voltage; u. ofref' is the voltage given command after low pass filtering through function Fal;
Figure BDA0002264617860000034
is urefK is a scaling factor that adjusts the response speed, and δ is a filter factor of the Fal function filter, as shown in fig. 4.
Will output a voltage value voAnd uref' Difference making, in the error feedback control law, a proportion link k is adoptedpTo yield u0Then divided by a model-dependent parameter b by a difference from the disturbance estimate f0And in the three-level LLC resonant converter, the control quantity u is the switching frequency, and a control driving pulse is generated through a voltage-frequency converter (VCO) module to control a main circuit.
Fig. 1 is a main circuit diagram of a three-level LLC resonant converter, which is similar to a two-level LLC converter, and which is implemented by a PFM modulation method and a spread description function method to perform small-signal modeling, limited to space, on the three-level LLC resonant converter, where a Bode plot of switching frequency to output voltage is directly given, as shown in fig. 2. From the Bode diagram, it can be seen that the three-level LLC resonant converter can be equivalent to a first-order inertia element.
Figure BDA0002264617860000041
Can be described as:
Figure BDA0002264617860000042
where f is the total disturbance, including internal and external disturbances, y is the output voltage, b0As parameters associated with the model, here b01.1726, the size of which affects the immunity of the system, a second-order Linear Extended State Observer (LESO) is designed, the corresponding form of observer is:
Figure BDA0002264617860000043
wherein z is1As an output voltage estimate, z2In order to disturb the observed quantity f, u is the switching frequency of the control quantity, y is the output voltage, and the control structure is shown in the attached figure 3.
To prevent excessive impact of the resonant current during start-up, the given signal is low pass filtered by a function Fal to smooth the rise of the given signal, as shown in fig. 4.
While ignoring the observed disturbance z2In case of error from the actual disturbance f, let
Figure BDA0002264617860000044
Will output a voltage voWith the filtered given instruction urefMaking difference, in error feedback law, adopting proportional control to obtain u0It can be expressed as:
u0＝kp(uref’-vo) (7)
kprepresenting the bandwidth meaning the controller, from equation (4) an overall block diagram of the linear active disturbance rejection controller can be derived, where the control quantity u represents the modulation quantity of the switching frequency in a three-level LLC resonant converter, as shown in fig. 5.
And (3) simulation results:
the method of the patent is subjected to simulation verification, and the result is as follows:
a three-level LLC resonant converter is built in Matlab/Simulink for verification of the anti-interference performance and rated input voltage Vd3200V, resonant frequency fr20kHz, adopting PFM modulation mode and switching frequency fs＝0.7fr～1.5frRated load of 16 omega and rated output voltage VoAfter comprehensive consideration, the control parameter a of the function Fal is finally determined to be 0.9, k is 200 and δ is 20. Linear active disturbance rejection controller parameter kp＝200，β1＝400，β240000, comparing output voltage fluctuation under working conditions of sudden resonance frequency shift, random input voltage disturbance, sudden load increase and decrease and the like when the PI controller and the linear active disturbance rejection controller work in a steady state respectively.
The working condition I is as follows: simulating the change of parasitic capacitance parameters, the equivalent resonance capacitance value will suddenly change, assuming that the capacitance value suddenly changes to 1.2 times of the original capacitance value, and then changes to 0.8 times of the original capacitance value, namely the resonance frequency frThe offset occurs and the output voltage is compared as shown in fig. 6, and it can be seen from the figure that the linear active disturbance rejection controller can greatly reduce the influence of the resonant frequency offset on the output voltage.
Working conditions are as follows: simulating the input voltage fluctuation and adding random interference signals to the input voltage, as shown in fig. 7, it can be seen that the output voltage fluctuation of the PI controller is about 0.2V, while the output voltage fluctuation of the linear active disturbance rejection controller is only 0.05V.
Working conditions are as follows: and (3) simulating sudden load increase and sudden load decrease, wherein the load is changed from the rated load to 200% of the rated load and then to 50% of the rated load, and the PI controller is larger in fluctuation than the active disturbance rejection controller.
The Fal function low pass filter is used to reduce the resonant starting current vs. the starting current as shown in fig. 9. It can be seen that during the start-up process, the resonant current is greatly suppressed, and the magnitude of the suppression capability is related to the upper limit of the switching frequency.
According to the simulation result, the situation that the active disturbance rejection controller is reasonably used in the resonant converter and has strong robustness can be obtained, and the influence of resonant frequency deviation caused by the change of parasitic characteristics in a circuit due to the change of switching frequency on output voltage can be reduced in PFM modulation; load shedding is carried out, and the influence of input voltage fluctuation on output voltage is reduced to the minimum; the starting resonant current is greatly reduced, and soft start is realized. It is within the scope of the invention for a person skilled in the art to modify the specific measures described in other resonant converters, such as LCC resonant converters, etc.

Claims (2)

1. An active disturbance rejection control method of a three-level LLC resonant converter is characterized by comprising the following steps:
step 1: establishing a mathematical model for the three-level LLC resonant converter circuit by adopting an extended description function method;
step 2: using a non-linear Fal function filter for a given voltage command urefFiltering is carried out, and the value after filtering is uref’；
And step 3: according to the order of the transfer function, a linear extended state observer is established, which specifically comprises the following steps: the first order inertial system is represented as:
Figure FDA0002264617850000011
where f is the total disturbance, y is the output, u is the controlled variable, and the linear extended state observer is represented as:z1，z2respectively an observed value of an output quantity and an observed value of a disturbance, β1，β2As observer coefficients, b0By real-time acquisition of output voltage v as a system parameteroForming a new state variable f by the control quantity u to observe the system disturbance;
and 4, step 4: value u after filtering with a given voltageref' with the actual output voltage voMaking difference, proportional controlling the error, and amplifying kpMultiplying and generating a control quantity u0；
And 5: the observed system disturbance quantities f and u0Are subtracted and then divided by b0Form aA system control amount u;
step 6: and (4) carrying out amplitude limiting processing on the calculated control quantity u, wherein u is switching frequency, and transmitting the switching frequency into the voltage-frequency converter module to form PWM (pulse-width modulation) pulse to drive the converter.
2. An active disturbance rejection control method of a three-level LLC resonant converter according to claim 1, characterized in that: the Fal function filter in step 2 is specifically:
Figure FDA0002264617850000013
wherein: u. ofrefIs a given command of the output voltage; u. ofref' is the voltage given command after low pass filtering through function Fal;
Figure FDA0002264617850000014
is urefK is a scaling factor that adjusts the response speed, and δ is a filter factor of the Fal function filter.
CN201911083327.9A 2019-11-07 2019-11-07 Active-disturbance-rejection control method of three-level LLC resonant converter Pending CN110855148A (en)

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
CN111416524A (en) * 2020-04-27 2020-07-14 山东大学 High-disturbance-rejection fast-response control system and method for resonant DC-DC converter
CN111555627A (en) * 2020-05-09 2020-08-18 哈尔滨工业大学 Control method of high-order LCLCLCL direct current converter
CN114070147A (en) * 2021-10-13 2022-02-18 北京工业大学 Motor control method with high robustness and low current harmonic

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Publication number Priority date Publication date Assignee Title
CN111416524A (en) * 2020-04-27 2020-07-14 山东大学 High-disturbance-rejection fast-response control system and method for resonant DC-DC converter
CN111555627A (en) * 2020-05-09 2020-08-18 哈尔滨工业大学 Control method of high-order LCLCLCL direct current converter
CN111555627B (en) * 2020-05-09 2022-09-06 哈尔滨工业大学 Control method of high-order LCLCL direct current converter
CN114070147A (en) * 2021-10-13 2022-02-18 北京工业大学 Motor control method with high robustness and low current harmonic
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