CN111355307B - 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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- 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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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 (5) 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, and 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 circuit output control of a bidirectional wireless power transmission system.
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 results of research, high efficiency transmission of various power levels can be achieved in both long distance and 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 Bidirectional Wireless Power Transfer (BD-WPT) is a special model of the Bidirectional Wireless Power Transfer (BD-WPT), and in a macroscopic sense, the energy Transfer structure of the Bidirectional Wireless Power Transfer (BD-WPT) is only 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 the 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.
It is considered that in the current research, when the control structure for the phase shift angle of the inverter exists on both sides of the magnetic coupling mechanism, the problem of synchronization between the phase shift angle and the phase difference control scheme in the control structure on both sides must be 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, aims to adopt a unilateral inverter control mode to control and adjust the energy flow direction, utilizes the PI controller to realize dynamic stable control during bidirectional energy flow, and adopts a particle swarm algorithm to optimize the parameter fixed value of the PI system, so that the dynamic response performance of the system can be obviously improved.
Disclosure of Invention
The technical scheme is that on the basis of determining the energy flow direction of the BD-WPT system, the circuits on two sides of the system are subjected to parameter control respectively, and the control target is to adjust the phase shift angle and the phase difference of the inverter circuits on two sides of the energy transfer 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 integral 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 condition of bidirectional energy transmission in the system is 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 PI closed-loop control. After the control parameters of the PI system are preliminarily set by using a classic Z-N method, the dynamic response effect of the PI controller in the BD-WPT system is improved by adopting 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, and the energy flow directions of a plurality of energy carriers can be further regulated. 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 BD-WPT system structure diagram. U shape 1 、U 2 The equivalent direct current input power supplies on two sides of the system. The circuits in the dotted line rectangular frame in fig. 1 are the inverter circuits on both sides of the magnetic coupling mechanism, and they work under the 85kHz frequency and convert the dc power input on both sides into ac power under the action of the control circuit. When one side of the inverter circuit works as an inverter circuit, the other side of the inverter circuit works as a rectifying circuit. For an inverter circuit, the output voltage can be varied 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, β, and the phase difference between the inverter output voltages on the primary side and the secondary side is δ, the inverter output voltages on the primary side and the secondary side are respectively:
in the above formula: u shape 1 、U 2 The amplitudes of the direct current power supplies on two sides are respectively, n is the harmonic frequency, ω r is the inverter operating frequency, and:
establishing corresponding double-port network, and calculating to obtain systemThe output power of the power supplies at two sides of the system is only related to the phase difference of the inverter circuits at two sides of the system. Suppose that the forward transmission of system power is defined as the energy flowing from the primary side to the secondary side, and vice versa. Then in the structure corresponding to fig. 1, the condition for satisfying the forward transmission of system power is: the inverter outputs a phase difference delta epsilon (pi-2 pi). And when
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,
and in time, the reverse transmission efficiency of the system is maximized, and the reactive power is zero. The values of the system power and efficiency are related to the amplitudes of the output voltages of the primary side inverter circuit and the secondary side inverter circuit, and according to the formula (1), the amplitudes of the output voltages of the inverters can be changed by directly adjusting the phase shift angles of the full-bridge inverter circuits of the primary side inverter circuit and the secondary side inverter circuit to be alpha and beta.
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 DC voltage amplitude value at the primary side of the system circuit and the inverter phase shift angle are set as fixed quantities, only the other side is provided with a control link, and the phase shift angle of the inverter is adjusted to control the phase difference between the inverters and the output voltage amplitude value of the inverter at 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 following steps: the specific steps for determining the phase difference and the phase shift angle are as follows: firstly, setting a phase angle of output voltage of a primary side inverter to be unchanged as a reference vector; secondly, selecting the phase difference of the output voltage of the inverter according to the requirement of the energy flow direction; then, according to the output power requirement, determining a phase shift angle value of the secondary side inverter; finally, the phase shift angle beta of the secondary side inverter is determined by combining the phase requirement of the output voltage of the secondary side inverter and the phase shift angle requirement, and meanwhile, the phase difference of the output voltage of the two side inverters is delta, as shown in fig. 2, the conditions of the output phase angles of the two side inverters of the system under the condition of meeting different power and efficiency requirements are respectively shown.
(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 a 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) 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) further 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 and a gain link, 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
；
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) ensuring the output voltage phase difference of the system secondary side inverter and the system primary side inverter to be fixed
Front of (2)And (4) repeating the steps 3) and 4), wherein the system output tends to be stable after a certain response time.
2. The power coordination control method for the BD-WPT system based on PI controller optimization according to claim 1, characterized in that based on a PI controller optimization method that comprehensively uses a Z-N calibration 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 system response time, overshoot and regulation time dynamic response indexes optimal as targets to optimize PI controller parameters, firstly, a classic Z-N method is used for initially calibrating control parameters of the PI system, then, the particle swarm algorithm is used for carrying out optimal result search near the calibration value to obtain optimal parameters of the PI system, and finally, better system dynamic response indexes 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 and efficiency are 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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| CN116094194A (en) * | 2023-04-07 | 2023-05-09 | 煤炭科学技术研究院有限公司 | Power control method and device for magnetic coupling resonance type wireless power transmission system |
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