CN111355307A - BD-WPT system power coordination control method based on PI controller optimization - Google Patents
BD-WPT system power coordination control method based on PI controller optimization Download PDFInfo
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- CN111355307A CN111355307A CN202010179006.5A CN202010179006A CN111355307A CN 111355307 A CN111355307 A CN 111355307A CN 202010179006 A CN202010179006 A CN 202010179006A CN 111355307 A CN111355307 A CN 111355307A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention relates to a BD-WPT system power coordination control method based on PI controller optimization, which comprises the following steps: 1) controlling the primary side inverter circuit to generate a constant voltage and keeping a phase angle and a phase shifting angle of the primary side inverter circuit unchanged; 2) taking the output power of the secondary side as an output variable, comparing the output variable with a corresponding reference value, and providing a comparison error for the optimized PI controller, wherein the PI controller parameters are obtained by combining a classical ZN (zero crossing over) method and a particle swarm intelligent algorithm; 3) generating a phase shift amount which should be generated by the output voltage of the secondary side of the system through an amplitude limiting link, a gain link and the like, and adjusting the phase shift amount of the output voltage of the inverter of the secondary side of the system to be equal to the value, 4) comparing the output power of the system with a reference value again, and adjusting the actual phase shift amount to be equal to the value; 5) and (3) repeating the steps 3) and 4) on the premise of ensuring that the phase difference between the output voltages of the secondary side inverter and the primary side inverter of the system is fixed to +/-90 degrees, wherein after a certain response time, the output of the system tends to be stable.
Description
Technical Field
The invention relates to a control method, in particular to a BD-WPT system power coordination control method based on PI controller optimization, and belongs to the technical field of bidirectional wireless power transmission system circuit output control.
Background
Wireless Power Transfer (WPT) is a technology that can realize energy Transfer without the need for a conventional physical connection. According to the technology, energy transfer is carried out in special modes such as a magnetic field, and the problems of line abrasion, electric leakage and the like in the conventional pile charging process are effectively solved. From the current research results, high efficiency transmission of various power levels can be realized in long distance or short distance applications. In addition, because the wireless power transmission technology does not need an artificial physical interface, compared with the traditional charging mode, the wireless power transmission technology has better flexibility, convenience and safety during charging. According to the different energy transmission principles, wireless power transmission technologies can be roughly classified into the following three categories: magnetic induction coupling type wireless power transmission technology, magnetic coupling resonance type wireless power transmission technology and radiation type wireless power transmission technology. The technical basis of the invention is a magnetic coupling resonance type wireless power transmission technology.
The basic principle of the magnetic coupling resonance type wireless power transmission technology lies in the coupling resonance principle. Two objects with the same vibration frequency are often in a strong coupling state, and when energy is transmitted between the two objects, the energy successfully exchanged is often far greater than the loss of the resonance body and the loss part in the medium, so that the transmission efficiency is often very high. The magnetic coupling resonance system is a typical system, when a system coupling coil is in a resonance state in the same frequency, electric energy is transmitted with high efficiency, the wireless transmission distance is far longer than that of a magnetic induction coupling type wireless energy transmission system, energy transmission of a meter level can be realized, and the requirement on transmission directionality is low. The BD-WPT (Bidirectional Wireless Power Transfer) is a special model of the Bidirectional Wireless Power Transfer, and in a macroscopic sense, the energy Transfer structure of the Bidirectional Wireless Power Transfer is just used as an energy intermediate station, and no specific 'source' and 'load' are specified. Currently, the power flow between "source" and "load" can be changed by controlling parameters in a BD-WPT system.
The BD-WPT technology has many similarities compared to the conventional unidirectional wireless power transmission technology. Compared with the latter, the circuit topology and the coil structure are often symmetrical, and the research focuses on the problems of energy bidirectional flow control, system stability analysis and the like of the system. In recent years, people have attracted attention to the technology because the technology can be well interfaced with an electric vehicle charging technology and a V2G technology, and can also meet the requirement of the electric vehicle as an interactive system between distributed energy storage and a power system. Secondly, the problem of phase and voltage synchronization in bidirectional energy control cannot be solved well at present, and optimization strategies are few. Therefore, the invention focuses on realizing synchronous accurate control of the bidirectional parameters of the system under the condition of given system output power and efficiency, thereby solving the problem of synchronization of the phase and the voltage.
In consideration of the fact that in the current research, when control structures for the phase shift angle of the inverter exist on two sides of the magnetic coupling mechanism at the same time, the problem of synchronization between the control schemes of the phase shift angle and the phase difference in the control structures on two sides is solved. At this time, a corresponding communication channel needs to be established in the system, or a more complex algorithm is designed to ensure the successful implementation of the energy flow direction control scheme realized by the phase-shifting voltage regulation method; this will greatly increase the design difficulty and complexity of the system, and also bring new problems, such as the possibility of interference by the transmission process of high frequency energy when introducing communication channels, and the reduced stability of the system. Therefore, the scheme comprehensively considers the simplicity and effectiveness of bidirectional energy transmission control, a unilateral inverter control mode is adopted to control and adjust the energy flow direction, the dynamic stability control during bidirectional energy flow is realized by using the PI controller, and the dynamic response performance of the system can be obviously improved after the parameter fixed value of the PI system is optimized by using the particle swarm optimization.
Disclosure of Invention
The invention provides a BD-WPT system power coordination control method based on PI controller optimization, which aims at solving the problems in the prior art, and the technical scheme is that on the basis of determining the energy flow direction of the BD-WPT system, the parameters of circuits on two sides of the system are respectively controlled, and the control target is to adjust the phase shift angle and the phase difference of inverter circuits on two sides of an energy transmission system, so that the system obtains the specified power and efficiency. In order to realize accurate control on the energy transmission power and efficiency of the system, a closed-loop control system is established by adopting a PI controller, and the dynamic response performance of a closed-loop circuit is improved by comprehensively using a ZN (zero crossing) method and a particle swarm optimization.
In order to achieve the above object, a power coordination control method for a BD-WPT system based on PI controller optimization according to the technical solution of the present invention includes the following steps:
1) controlling the primary side inverter circuit to generate a constant voltage and keeping a phase angle and a phase shifting angle of the primary side inverter circuit unchanged;
2) and taking the output power or the output voltage of the secondary side as an output variable, comparing the output variable with a corresponding reference value, and providing a comparison error for the optimized PI controller, wherein the PI controller parameters are obtained by combining a classical ZN (zero crossing over) method and a particle swarm intelligent algorithm.
3) Generating a phase shift amount which should be generated by the output voltage of the secondary side of the system through an amplitude limiting link, a gain link and the like, adjusting the phase shift amount of the output voltage of the inverter of the secondary side of the system to be equal to the phase shift amount, and simultaneously ensuring that the phase difference between the output voltages of the inverter of the secondary side and the inverter of the primary side of the system is fixed to be +/-90 degrees;
4) comparing the output power of the system with the reference value again, calculating the value of the phase shift quantity of the output voltage of the secondary side inverter again by using closed-loop regulation comprising a PI controller, and regulating the actual phase shift quantity to be equal to the value;
5) and (3) repeating the step on the premise of ensuring that the phase difference between the output voltages of the system secondary side inverter and the system primary side inverter is fixed to +/-90 degrees, wherein after a certain response time, the system output tends to be stable.
As an improvement of the invention, the scheme adopts a PI controller optimization method based on a particle swarm algorithm and a classical ZN integral method, and combines an equivalent mathematical model and an automatic control method, thereby realizing the accurate control of the energy flow direction, the power and the efficiency of the system. According to a system circuit mathematical model taking power and efficiency as targets, the influence of system parameters on the power and the efficiency is deduced and analyzed, and the conditions which the system parameters should meet when the transmission power/efficiency of the system is optimal are summarized. Then, the control conditions of the energy in the system for bidirectional transmission are analyzed, a control method is proposed, and a PI controller is applied to improve the closed-loop response characteristic of the system: after the control parameters of the PI system are set by using a classical Z-N method, the optimal result search is carried out near the setting value by using a particle swarm algorithm to obtain the optimal parameters of the PI system. Finally, the power efficiency requirement of the system is realized, the output power of the system is subjected to stability control, and a voltage output waveform with good dynamic characteristics can be observed by combining an experimental result.
Compared with the prior art, the invention has the following advantages that 1) the technical scheme sets the input direct current voltage amplitude of the primary side of the system and the phase shift angle of the inverter to be fixed quantities, and sets the control link only at the other side to adjust the phase shift angle of the inverter so as to control the phase difference between the inverters and the output voltage amplitude of the inverter at the other side. Theoretically, the effect of arranging the controller at the primary side inverter and the secondary side inverter is the same, but considering that the invention is applied to a bidirectional wireless power transmission system for charging the electric automobile under most conditions, the power system and the electric automobile are generally respectively arranged at the primary side and the secondary side of the magnetic coupling mechanism, and the direct adjustment of the controller at the electric automobile side is more convenient in actual operation. 2) The scheme combines an equivalent mathematical model and an automatic control method, and realizes the accurate control of the energy flow direction, the power and the efficiency of the system. 3) The scheme greatly improves the dynamic response characteristic of the PI closed-loop control. After the control parameters of the PI system are initially set by using a classical Z-N method, the dynamic response effect of the PI controller in the BD-WPT system is improved by using a particle swarm algorithm. 4) The control method adopted by the invention can be further applied to a BD-WPT system of a one-to-many type to further regulate the energy flow direction of a plurality of energy carriers. 5) By combining the analysis, the scheme not only realizes the power efficiency requirement of the system, but also performs stability control on the output power of the system, and can observe the voltage output waveform with better dynamic characteristics by combining the experimental result.
Drawings
FIG. 1 is a schematic diagram of a BD-WPT system architecture;
FIG. 2 shows the inverter outputs on both sides of the system under different power and efficiency requirements;
FIG. 3 is a diagram of an energy bi-directional flow control method implementation;
FIG. 4 is an implementation of a particle swarm algorithm to find optimal PI controller parameters;
the secondary side inverter output power waveform of the system of fig. 5.
The specific implementation mode is as follows:
for the purpose of enhancing an understanding of the present invention, the present embodiment will be described in detail below with reference to the accompanying drawings.
Example 1: referring to fig. 1, a BD-WPT system power coordination control method based on PI controller optimization specifically includes the following implementation steps:
(1) as shown in FIG. 1, this is a schematic diagram of the BD-WPT system structure. U shape1、U2The circuit in the dotted rectangular frame in fig. 1 is the two-side inverter circuit of the magnetic coupling mechanism, they work under 85kHz frequency and convert the two-side input dc power into ac power under the action of the control circuit, when the inverter circuit on one side works as the inverter circuit, the inverter circuit on the other side works as the rectifier circuit, for the inverter circuit, it can change the output voltage by adjusting the phase shift angle, therefore, in the circuit topology of fig. 1, assuming that the phase shift angle of the full bridge inverter circuit on the primary side and the secondary side of the magnetic coupling mechanism is α, the phase difference between the output voltages of the primary side inverter and the secondary side inverter is δ, the output voltages on the primary side and the secondary side of the inverter are respectively:
in the above formula: u shape1、U2The amplitudes of the direct current power supplies on two sides are respectively, n is the harmonic frequency, omegarIs the inverter operating frequency, and:
assuming that the forward transmission of the system power is defined as energy flowing from the primary side to the secondary side, and vice versa, the condition of satisfying the forward transmission of the system power is that the inverter outputs a phase difference delta ∈ (pi-2 pi), and when the phase difference is equal to or greater than the phase difference, the inverter outputs a phase difference delta ∈ (pi-2 pi)
When the system is in a normal state, the forward transmission efficiency reaches the maximum, and the reactive power transmission of the system is zero at the moment; in the same way, the method for preparing the composite material,
the reverse transmission efficiency of the system is the maximum value, the reactive power is zero, the values of the system power and the efficiency are also related to the amplitude of the output voltage of the inverter circuits on the primary side and the secondary side, and according to the formula (1), the amplitude of the output voltage of the inverter can be directly changed by adjusting the phase shift angle of the full-bridge inverter circuits on the primary side and the secondary side to α.
Therefore, in the BD-WPT system, the amplitude of the output voltage of the BD-WPT system can be changed by controlling the phase shift angles of the inverters on two sides of the BD-WPT system, so that the output power is changed; meanwhile, the flow direction of energy and the energy transmission power of the system can be changed by controlling the phase difference of the output voltages of the inverters on the two sides of the system. Therefore, when the amplitude of the input direct-current power supply voltage on the two sides is determined, the bidirectional flow of energy and the adjustment of the power can be realized directly by controlling the inverters on the two sides.
The input direct current voltage amplitude of the primary side of the system circuit and the inverter phase shift angle are set to be fixed quantities, a control link is only arranged on the other side, and the phase shift angle of the inverter is adjusted to control the phase difference between the inverters and the output voltage amplitude of the inverter on the other side. Theoretically, the effect of arranging the controller at the primary side and the secondary side inverters is the same, but considering that in a BD-WPT system applied to charging of an electric vehicle, a power system and the electric vehicle are generally respectively located at the primary side and the secondary side of a magnetic coupling mechanism, it is more convenient to directly adjust the controller at the side of the electric vehicle in actual operation, so the inverter circuit at the secondary side is controlled in this case. Another benefit of such an arrangement is that it facilitates further adjustment of the energy flow direction of multiple energy carriers in a BD-WPT system of the "one-to-many" type.
In summary, the specific steps of determining the phase difference and the phase shift angle include firstly setting a phase angle of output voltage of a primary side inverter to be constant and to be a reference vector, secondly selecting the phase difference of the output voltage of the inverter according to the energy flow direction requirement, secondly determining the value of the phase shift angle of a secondary side inverter according to the output power requirement, and finally determining the phase shift angle β of the secondary side inverter by combining the phase requirement and the phase shift angle requirement of the output voltage of the secondary side inverter, and simultaneously meeting the requirement that the phase difference of the output voltage of the two side inverters is delta, as shown in fig. 2, respectively showing the conditions of the output phase angles of the two side inverters of the system under the condition of meeting.
(2) After the control parameters of the PI system are set by adopting a Z-N classical setting method, the setting values are continuously adjusted by using a particle swarm algorithm work flow chart shown in figure 4, a dynamic response model of the BD-WPT system is established, a multi-objective optimization model is established by taking the dynamic response time and the overshoot parameter optimization of the system as targets, and an optimal solution is continuously searched near the PI parameters determined by the existing Z-N setting method. After the optimal parameters are applied to the system, the efficiency and power requirements of the system can be better adapted. And has good dynamic response characteristics.
(3) In a specific control scheme, the manner of generating the phase shift angle of the output voltage of the secondary side inverter is a closed-loop control method using a PI controller as shown in fig. 3. Driving a primary side inverter circuit by using a square wave signal to generate a constant voltage, and keeping a phase angle and a phase shift angle of the primary side inverter circuit constant; taking the output power or the output voltage of the secondary side as an output variable, comparing the output variable with a corresponding reference value, providing a comparison error for a PI controller, further generating a phase shift quantity through an amplitude limiting link, a gain link and the like, and applying the value of the phase shift quantity to the control of an inverter of the secondary side; finally, the output power of the system is compared with the reference value, the value of the phase shift quantity is adjusted again, and after a certain response time, the output of the system tends to be stable. Through such a control link, especially PI regulation, the stability of the system can be obviously increased, and the response overshoot and response time can be reduced. The power response waveform of the final system is shown in fig. 5.
It should be noted that the above-mentioned embodiments are not intended to limit the scope of the present invention, and all equivalent modifications and substitutions based on the above-mentioned technical solutions are within the scope of the present invention as defined in the claims.
Claims (3)
1. A BD-WPT system power coordination control method based on PI controller optimization is characterized by comprising the following steps:
1) controlling the primary side inverter circuit to generate a constant voltage and keeping a phase angle and a phase shifting angle of the primary side inverter circuit unchanged;
2) and taking the output power of the secondary side as an output variable, comparing the output variable with a corresponding reference value, and providing a comparison error for the optimized PI controller, wherein the parameters of the PI controller are obtained by combining a classical ZN (zero crossing) method and a particle swarm intelligent algorithm.
3) Generating a phase shift amount which should be generated by the output voltage of the secondary side of the system through an amplitude limiting link, a gain link and the like, adjusting the phase shift amount of the output voltage of the inverter of the secondary side of the system to be equal to the phase shift amount, and simultaneously ensuring that the phase difference between the output voltages of the inverter of the secondary side and the inverter of the primary side of the system is fixed to be +/-90 degrees;
4) comparing the output power of the system with the reference value again, calculating the value of the phase shift quantity of the output voltage of the secondary side inverter again by using closed-loop regulation comprising a PI controller, and regulating the actual phase shift quantity to be equal to the value;
5) and (3) repeating the steps 3) and 4) on the premise of ensuring that the phase difference between the output voltages of the secondary side inverter and the primary side inverter of the system is fixed to +/-90 degrees, wherein after a certain response time, the output of the system tends to be stable.
2. The power coordination control method of the BD-WPT system based on PI controller optimization according to claim 1, wherein based on a PI controller optimization method using a Z-N integration method and a particle swarm algorithm, after a dynamic response model of the BD-WPT system is established, a multi-objective optimization model is established with the optimal dynamic response indexes such as system response time, overshoot, regulation time and the like as targets to optimize parameters of the PI controller, firstly, a classic Z-N method is used for initially setting control parameters of the PI system, then, the particle swarm algorithm is used for performing optimal result search near the setting value to obtain optimal parameters of the PI system, and finally, better dynamic response indexes of the system are obtained.
3. The power coordination control method of the BD-WPT system based on PI controller optimization according to claim 1, wherein the influence of system parameters on power and efficiency is derived and analyzed according to a system circuit mathematical model with power and efficiency as targets, the conditions that the system parameters should meet when the system transmission power/efficiency is optimal are summarized, then the control conditions for bidirectional transmission of energy in the system are analyzed, and the system power efficiency meets the requirements by using the phase-shifting and voltage-regulating system control method.
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