CN112087063A - Improved active disturbance rejection control method and system of wireless power transmission system - Google Patents

Improved active disturbance rejection control method and system of wireless power transmission system Download PDF

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CN112087063A
CN112087063A CN202011159389.6A CN202011159389A CN112087063A CN 112087063 A CN112087063 A CN 112087063A CN 202011159389 A CN202011159389 A CN 202011159389A CN 112087063 A CN112087063 A CN 112087063A
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wireless power
power transmission
transmission system
disturbance
value
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CN112087063B (en
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夏晨阳
李晓丽
李壮
杨旭浩
魏楠
韩潇左
冯其凯
马帅
廖志娟
伍小杰
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China University of Mining and Technology CUMT
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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
    • H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
    • 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
    • H02J50/70—Circuit arrangements or systems for wireless supply or distribution of electric power involving the reduction of electric, magnetic or electromagnetic leakage fields
    • 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

Abstract

The invention provides an improved active disturbance rejection control method and system of a wireless power transmission system, which are based on known partial model information b of a controlled system in order to reduce the observation pressure of a linear extended state observer on complex disturbance1Firstly, a second-order LESO is adopted to disturb part of disturbance R of the wireless power transmission system0And performing observation estimation, observing other disturbance quantity omega (t) of the estimation system by a linear extended state observer, and compensating the observed total disturbance quantity F (t) in a linear state error feedback control law. The method provided by the invention has low model dependence, enables the wireless electric energy transmission system to realize voltage-stabilizing output under the conditions of external interference and internal parameter perturbation, and has easy parameter setting and strong robustness.

Description

Improved active disturbance rejection control method and system of wireless power transmission system
Technical Field
The invention relates to the technical field of wireless power transmission, in particular to an improved active disturbance rejection control method and system of a wireless power transmission system.
Background
The wireless power transmission technology is a novel power transmission technology, and can safely and reliably supply power to electrical equipment in a wireless manner. The method is widely applied to multiple fields such as smart phones, electric automobiles, intelligent household appliances and the like. Because different electrical equipment have a difference to the requirement of electric energy to the output characteristic of wireless power transmission system can receive the influence of self parameter (such as mutual inductance, load etc.) change and external environment interference, causes electric energy output unstable. Therefore, in order to realize stable and reliable output of the wireless power transmission system, research on output control of the system is necessary.
The wireless power transmission system is formed by combining various circuits (including a direct current source, a rectification inverter circuit, a resonance compensation circuit, an electromagnetic coupling mechanism and the like), and the characteristics of high order, nonlinearity and the like of the whole system are necessarily caused. At present, some nonlinear control algorithms are applied to a wireless power transmission system, such as PI control, interference and uncertainty existing in the system are restrained by applying a classical control theory, although the model dependence of a controller is low, the control effect on a high-order wireless power transmission system is not ideal; the sliding mode variable structure control method has the advantages that under the condition of external interference and perturbation, the system can still maintain robustness, but the problem of controller output jitter exists; h infinity control is adopted, a certain design index is realized on the premise that the system has uncertainty, but the system has strong conservation and high model dependence; at present, the problems of uncertainty and nonlinearity inside and outside the whole system are reasonably solved only by active disturbance rejection control, the degree of dependence on a model is low, the realization is simple, and the method is suitable for engineering application and ensures that the system has very strong robustness. However, three components of the conventional active disturbance rejection controller all adopt nonlinear functions, and the number of parameters is more, which can reach more than ten, so that the algorithm is complex and difficult to adjust, and the control target is difficult to realize simply and quickly in practical application.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides an improved active disturbance rejection control method and system of a wireless power transmission system, aiming at the problems that the traditional nonlinear active disturbance rejection controller in the wireless power transmission system has excessive parameters and complex adjustment, and the sum of disturbance items estimated by an extended state observer is too large, so that the observation pressure is very large, and the estimation precision is difficult to ensure. The invention uses the improved linear active disturbance rejection controller in the voltage stabilization control of the wireless power transmission system. The method comprises the steps of firstly obtaining partial disturbance quantity of a system by using a second-order LESO based on model compensation, and then compensating the partial disturbance quantity to a linear active disturbance rejection controller by using the disturbance quantity, so that a linear extended state observer in the active disturbance rejection controller does not need to estimate all disturbance quantities, the observation pressure of the observer is reduced, the estimation precision is improved, the robustness of the system is enhanced, and the parameter setting of the system is simplified.
The technical scheme is as follows: in order to achieve the technical effects, the technical scheme provided by the invention is as follows:
an improved active disturbance rejection control method of a wireless power transmission system comprises the following steps:
(1) performing mathematical modeling on a load output end of a controlled wireless power transmission system;
(2) detecting to obtain the output voltage U of the wireless power transmission systemoutAnd real part Re of 1-time component of output current of secondary side resonance compensation circuit<isr>1；
(3) According to UoutAnd Re<isr>1Designing output voltage U of a second-order linear extended state observer LESO to the wireless power transmission systemoutAnd observing the disturbance to obtain a partial disturbance quantity R of the system0(ii) a The expression of the second-order linear extended state observer LESO is as follows:
Figure BDA0002741514350000021
where-k is the closed loop expected pole of the second-order linear extended state observer LESO, k > 0, b1Information of a part of the model representing the known object to be controlled, z01For actually outputting a voltage value UoutEstimated tracking value of e1Is the difference between the estimated value and the actual value of the output voltage, z02Disturbance f (C) of the system for a second-order linear extended state observer LESOf，RL，<ucf>0) An estimated value of (i.e. the known disturbance R of the system)0，R0＝f(Cf，RL，<ucf>0)；
(4) According to the observed disturbance quantity R0Designing a linear extended state observer in a Linear Active Disturbance Rejection Controller (LADRC), and observing other disturbance quantity omega (t) of the wireless power transmission system; the expression of the linear extended state observer is as follows:
Figure BDA0002741514350000022
wherein e is2Is the difference between the observed value and the actual value, z, of the output voltage of the wireless power transmission system1For an estimated tracking value of the actual output voltage, z2For the purpose of tracking the estimated value of the other disturbance amount ω (t) of the wireless power transmission system, ω (t) ═ F (t) +(b-b)01)u-R0；b01Is an estimated value of a controller coefficient b, F (t) represents a total disturbance amount of the wireless power transmission system, beta01、β02All are adjustable parameters, and u is an improved active disturbance rejection control quantity;
(5) designing a linear state error feedback control law, and compensating the total disturbance quantity F (t) to obtain an improved active disturbance rejection control quantity u of the wireless power transmission system:
Figure BDA0002741514350000031
wherein the content of the first and second substances,
Figure BDA0002741514350000032
for a given voltage value, e is the difference between the given voltage value and the estimated tracking value of the actual output voltage, KpIs a proportionality coefficient;
(6) and converting the improved active disturbance rejection control quantity u into a duty ratio alpha, thereby carrying out voltage regulation control on the wireless power transmission system.
The invention further provides an improved active disturbance rejection control system of the wireless power transmission system, which comprises: the circuit comprises a voltage detector, a current detector, a second-order linear extended state observer LESO, a linear active disturbance rejection controller LADRC and a PWM driving circuit;
the voltage detector is used for detecting the output voltage of the controlled wireless power transmission system;
the current detector is used for detecting the output current of the secondary side resonance compensation circuit of the controlled wireless power transmission system;
the second-order linear extended state observer LESO outputs voltage U to the wireless power transmission systemoutAnd the disturbance is observed to obtain the systemPartial disturbance R0The expression of the second-order linear extended state observer LESO is:
Figure BDA0002741514350000033
where-k is the desired pole of the closed loop of the second-order linear extended state observer LESO, k > 0, b1Information of a part of the model representing the known object to be controlled, z01For actually outputting a voltage value UoutEstimated tracking value of e1Is the difference between the estimated value and the actual value of the output voltage, z02Disturbance f (C) of the system for the second-order linear extended state observer LESOf，RL，<ucf>0) An estimated value of (i.e. the known disturbance R of the system)0，R0＝f(Cf，RL，<ucf>0)；
And a linear extended state observer in the linear active disturbance rejection controller LADRC measures and estimates other disturbance quantity omega (t) of the wireless power transmission system, wherein the expression of the linear extended state observer is as follows:
Figure BDA0002741514350000034
wherein e is2Is the difference between the observed value and the actual value, z, of the output voltage of the wireless power transmission system1For an estimated tracking value of the actual output voltage, z2For the purpose of tracking the estimated value of the other disturbance amount ω (t) of the wireless power transmission system, ω (t) ═ F (t) +(b-b)01)u-R0；b01Is an estimated value of a controller coefficient b, F (t) represents a total disturbance amount of the wireless power transmission system, beta01、β02All are adjustable parameters, and u is an improved active disturbance rejection control quantity;
compensating the total disturbance quantity F (t) by a linear state error feedback control law in a linear active disturbance rejection controller LADRC to obtain an improved active disturbance rejection control quantity u for the wireless power transmission system:
Figure BDA0002741514350000041
wherein the content of the first and second substances,
Figure BDA0002741514350000042
for a given voltage value, e is the difference between the given voltage value and the estimated tracking value of the actual output voltage, KpIs a proportionality coefficient;
and the PWM driving circuit converts the improved active disturbance rejection control quantity u into a duty ratio alpha, so that the voltage regulation control is carried out on the wireless electric energy transmission system.
Has the advantages that: compared with the prior art, the invention has the following advantages:
(1) compared with a common nonlinear active disturbance rejection controller, the linear active disturbance rejection controller has the advantages that a tracking differentiator link is omitted, the number of parameters needing to be adjusted is reduced, the design complexity of the controller is reduced, the algorithm is simpler, and the control effect is better.
(2) The wireless power transmission system model-building method has the advantages that all the advantages of the active disturbance rejection controller are inherited, meanwhile, compared with the unmodified active disturbance rejection controller, the wireless power transmission system is partially modeled, the complexity of overall mathematical modeling of the system is avoided by utilizing the known model information of the part, and the control design is simplified; meanwhile, the observation burden of the linear extended state observer is obviously reduced, the amplitude of the disturbance to be estimated by the extended state observer is reduced, and the estimation precision of the system disturbance is obviously improved.
(3) The invention fully utilizes the advantages of the extended state observer, adopts the second-order LESO to observe partial disturbance quantity of the system, and then observes other disturbance quantities of the system by the linear extended state observer in the active disturbance rejection controller, can basically observe the total disturbance quantity of the system, and performs feedforward compensation, and has better disturbance rejection capability and robustness.
Drawings
Fig. 1 is a diagram illustrating an exemplary topology of an improved active disturbance rejection control loop of a wireless power transmission system according to an embodiment of the present invention;
FIG. 2 is a diagram of a prior art first order linear active disturbance rejection controller;
fig. 3 is a block diagram of an improved active disturbance rejection control system according to an embodiment of the present invention;
FIG. 4 is a simulated waveform diagram of output voltage under variable load conditions according to an embodiment of the present invention;
FIG. 5 is a simulated waveform diagram of output voltage under the condition of variable reference values according to the embodiment of the present invention
FIG. 6 is a simulated waveform diagram of output voltage under variable mutual inductance according to the embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments. It is to be understood that the present invention may be embodied in various forms, and that there is no intention to limit the invention to the specific embodiments illustrated, but on the contrary, the intention is to cover some exemplary and non-limiting embodiments shown in the attached drawings and described below.
It is to be understood that the features listed above for the different embodiments may be combined with each other to form further embodiments within the scope of the invention, where technically feasible. Furthermore, the particular examples and embodiments of the invention described are non-limiting, and various modifications may be made in the structure, steps, and sequence set forth above without departing from the scope of the invention.
In this embodiment, a wireless power transmission system model is built by taking a dual-LCL type wireless power transmission system as an example, and a control system for implementing an improved active disturbance rejection control method is built according to the wireless power transmission system model, where the structure of a whole improved active disturbance rejection control loop is shown in fig. 1:
because the LCL type resonance topology belongs to the composite resonance topology, and the resonance capacity is large, the constant-voltage constant-current output and higher power factor can be realized, the double-LCL type resonance topology is adopted in the embodiment, namely, the primary side and the secondary side adopt the LCL type compensation topology structure. As shown in figure 1, the system comprises a direct current source, a Buck circuit, an inverter circuit and a primary side LCL resonant network which are connected in sequenceSecondary LCL resonant network, rectifier circuit and filter capacitor CrAnd a load RLThe primary LCL resonant network comprises a resonant inductor Lpr、LpcAnd a resonance capacitor CpThe secondary LCL resonant network comprises a resonant inductor Lsr、LscAnd a resonance capacitor Cs(ii) a In order to realize the voltage regulating function, a Buck circuit is adopted for voltage regulation in the embodiment.
For the wireless power transmission system with dual LCL type resonance topology shown in fig. 1, we design an improved active disturbance rejection control system to perform active disturbance rejection control on it, and this improved active disturbance rejection control system includes: the circuit comprises a voltage detector, a current detector, a second-order linear extended state observer LESO, a linear active disturbance rejection controller LADRC and a PWM driving circuit.
For the wireless power transmission system with the double-LCL type resonance topology, a specific process for performing improved active disturbance rejection control on the wireless power transmission system is as follows:
1) the method comprises the following steps of performing mathematical modeling on a load output end of a controlled wireless power transmission system, and specifically comprises the following steps:
as shown in fig. 1, the voltage u is due to the filter capacitor 7cfIs equal to the system output voltage value, and the voltage u of the filter capacitor 7 is takencfThe fundamental component of (1) is a voltage u of a filter capacitor 7 which is an output voltage of a wireless power transmission system by a generalized state space averaging methodcfAnd establishing a generalized state space average model. The specific expression is as follows:
Figure BDA0002741514350000051
in the formula, Re<isr>1Representing the current through the inductance LsrThe real part of the current 1-th order component of (c),<ucf>0representing the filter capacitor voltage ucfThe fundamental component of (a);
Figure BDA0002741514350000061
the physical meaning of which is known to the controlled object as part of the model information.
Figure BDA0002741514350000062
2) Detecting an actual output voltage U of the wireless power transmission system shown in fig. 1 through a voltage detectorout(ii) a Current detector for detecting a flowing inductance L of the wireless power transmission system shown in fig. 1srAnd further extracts the current flowing through the inductor LsrReal part Re of the 1 st order component of the current of<isr>1。
3) According to the system output voltage UoutAnd a current flowing inductor LsrReal part Re of current 1-th order component of (1)<isr>1Designing a second-order linear extended state observer LESO, wherein the specific expression is as follows:
Figure BDA0002741514350000063
where-k (k > 0) is the desired pole of the closed loop of the second-order linear extended state observer LESO, and z01For actually outputting a voltage value UoutEstimated tracking value of e1Is the difference between the estimated value and the actual value of the output voltage, z02Disturbance f (C) of the system for the second-order linear extended state observer LESOf，RL，<ucf>0) An estimated value of (i.e. the known disturbance R of the system)0，R0＝f(Cf，RL，<ucf>0)。
The partial disturbance R of the radio transmission system shown in FIG. 1 can be observed by a second-order linear extended state observer LESO0。
4) The observed partial disturbance quantity R0Compensated into the linear active disturbance rejection controller LADRC such that the linear extended state observer in the linear active disturbance rejection controller LADRC does not need to estimate the full disturbance amount. To achieve this, we obtain a partial disturbance R from the observation0Designing a linear extended state observer in the linear active disturbance rejection controller LADRC to observe and estimate other momentum omega (t) of the wireless power transmission system shown in FIG. 1, and obtaining an observed value of the output voltagez1And an estimate z of the other disturbance ω (t) of the system2The specific expression of the linear extended state observer in the linear active disturbance rejection controller LADRC is as follows:
Figure BDA0002741514350000064
in the formula, z1For an estimated tracking value of the actual output voltage, e2Is the difference between the observed value and the actual value of the output voltage, z2An estimate of the total disturbance ω (t) for the tracking system, ω (t) ═ f (t) + (b-b)01)u-R0Compared with the previously observed F (t) + (b-b)0) u, the pressure is reduced much. b0And b01Is an estimate of the controller coefficient b, both close to b, which is determined by the wireless power transfer system. Beta is a01、β02Are all adjustable parameters.
From the above analysis, it can be seen that z1 can better estimate the actual output voltage2The magnitude of the disturbance term ω (t) to be estimated is smaller than before. The linear extended state observer in the linear active disturbance rejection controller LADRC is used for estimating the disturbance quantity with smaller amplitude, so that the estimation load of the linear extended state observer in the LADRC is lightened, the estimation precision can be ensured, and the control performance of the controller is improved.
5) And (3) carrying out proportional link processing on the deviation through a linear state error feedback control law in the linear active disturbance rejection controller LADRC, and carrying out total disturbance compensation. Specifically, as shown in FIG. 3, the linear state error feedback control law will give a voltage value
Figure BDA0002741514350000074
The error e between the observed value and the actual output voltage is processed by a proportion link to obtain a control action u0And obtaining a control quantity u of the controller through disturbance compensation, wherein the expression is as follows:
Figure BDA0002741514350000071
in the formula (I), the compound is shown in the specification,
Figure BDA0002741514350000072
for a given voltage value, z1For an estimated tracking value of the actual output voltage, z2The estimated value e of the total disturbance ω (t) for the tracking system is the difference between the given voltage value and the estimated tracking value of the actual output voltage of the LESO, KpIs a scaling factor. The control quantity u is converted into a duty ratio alpha through a PWM driving circuit, so that the voltage regulation control is performed on the wireless power transmission system.
Up to this point, according to the principle of first-order model compensation LADRC, the output voltage of the wireless power transmission system can be formulated as:
Figure BDA0002741514350000073
in the formula, R0The partial disturbance quantity of the system, i.e. the known part of the system model, is observed for the second order linear extended observer LESO. In the design of the improved active disturbance rejection controller, the known part R of a system model is fully utilized0And the improved active disturbance rejection controller is obtained, and a tracking differentiator is omitted, wherein the tracking differentiator comprises a linear state error feedback control law, a second-order LESO and a linear extended state observer.
The technical effect of the present invention will be further illustrated by experimental data by comparing the prior art shown in fig. 2 with the present embodiment.
Fig. 2 shows an active disturbance rejection control scheme for a wireless power transmission system according to the prior art before improvement. As shown in fig. 2, in the prior art, a linear extended state observer and a linear state error feedback control rate are used to implement active disturbance rejection control, and a specific expression is as follows:
Figure BDA0002741514350000081
in the formula of UoutFor the actual output voltage of the wireless power transmission system, e0Is the difference between the observed value and the actual output value of the output voltage, z11As an observed value of the actual output voltage, z12Representing the total disturbance estimate F of the tracking system0＝F(t)+(b-b0) u, wherein b0The estimated value of the active disturbance rejection controller b is obtained by a trial and error method because the system is not subjected to mathematical modeling before improvement and the value of b is unknown; f (t) represents the total disturbance of the system, and the specific mathematical expression of f (t) is not required to be known here. Beta is a01、β02Are all adjustable parameters.
The technical effect between the technical solution described in this embodiment and the prior art shown in fig. 2 is described by three sets of simulation experiments.
Fig. 4 is a simulation waveform diagram of the output voltage under the variable load condition, the output reference voltage is set to be 20V, and the simulation time is 0.08 s. When the set time is 0.04s, the load is changed from 20 Ω to 15 Ω, and two curves in the graph represent the tracking waveform of the output voltage of the improved auto-disturbance-rejection controller and the tracking waveform of the output voltage of the traditional first-order linear auto-disturbance-rejection controller respectively. The comparison between the two results shows that the system has no overshoot at the beginning of operation and during the load switching, the conventional first-order linear active disturbance rejection control system reaches the reference voltage value through about 0.025s and 0.05s respectively, and the improved active disturbance rejection control system reaches the reference voltage value through about 0.02s and 0.05s respectively. Therefore, the control method after optimization has shorter adjustment time and more advantages.
Fig. 5 is a simulated waveform diagram of output voltage under the condition of changing reference values, according to theoretical analysis, a closed-loop control system has the characteristic of inhibiting external interference, the initial input voltage is 15V at 0s, and the interference of 5V is added at 0.065 s. When the system starts to operate, the traditional first-order linear active disturbance rejection control system reaches a reference voltage value through about 0.035s, and the overshoot is about 6.67%; the improved active disturbance rejection control system reaches a reference voltage value after about 0.035s, and the overshoot is only about 5.33%; in the switching process of the reference value, the two are not overshot, and the traditional first-order linear active disturbance rejection control system reaches the reference voltage value approximately after 0.09 s; and the improved active disturbance rejection control system reaches the reference voltage value approximately through 0.08 s. It can be seen that the improved auto-disturbance-rejection controller can track to a stable value more quickly.
FIG. 6 is a simulated waveform diagram of output voltage under variable mutual inductance, and the mutual inductance is changed from 36.54 muH to 30 muH when the setting time is 0.06 s. When the system starts to operate, the traditional first-order linear active disturbance rejection control system reaches a reference voltage value after about 0.03s, and the overshoot is about 6.25%; although the improved active disturbance rejection control system reaches the reference voltage value after about 0.03s, the overshoot is only about 5%; in the mutual inductance value switching process, both the mutual inductance value and the mutual inductance value are not overshot, and the traditional first-order linear active disturbance rejection control system reaches a reference voltage value approximately after 0.08 s; and the improved active disturbance rejection control system reaches the reference voltage value after about 0.07 s. The result shows that the control performance of the improved active disturbance rejection controller on the output voltage of the wireless power transmission system is superior to that of the traditional first-order linear active disturbance rejection controller.
By adopting the technical scheme provided by the embodiment, the invention at least has the following technical effects:
the improved active disturbance rejection control method has low dependence of a mathematical model and easy parameter setting.
When the load, the mutual inductance and the reference value of the system fluctuate, the invention can quickly track the output voltage, reduce the adjustment time, the overshoot and the steady-state error of the system and improve the robustness of the system.
The active disturbance rejection control method provided by the invention has universality, namely the method is not only suitable for the double LCL type wireless power transmission system provided by the embodiment, but also suitable for the control of wireless power transmission systems with other topological structures such as S-S, S-P and the like.
The above-described embodiments, particularly any "preferred" embodiments, are possible examples of implementations, and are presented merely for a clear understanding of the principles of the invention. Many variations and modifications may be made to the above-described embodiments without departing substantially from the spirit and principles of the technology described herein, and such variations and modifications are to be considered within the scope of the invention.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims (2)

1. An improved active disturbance rejection control method of a wireless power transmission system, comprising the steps of:
(1) performing mathematical modeling on a load output end of a controlled wireless power transmission system;
(2) detecting to obtain the output voltage U of the wireless power transmission systemoutAnd real part Re of 1-time component of output current of secondary side resonance compensation circuit<isr>1；
(3) According to UoutAnd Re<isr>1Designing output voltage U of a second-order linear extended state observer LESO to the wireless power transmission systemoutAnd observing the disturbance to obtain a partial disturbance quantity R of the system0(ii) a The expression of the second-order linear extended state observer LESO is as follows:
Figure FDA0002741514340000011
where-k is the closed loop expected pole of the second-order linear extended state observer LESO, k > 0, b1Information of a part of the model representing the known object to be controlled, z01For actually outputting a voltage value UoutEstimated tracking value of e1Is the difference between the estimated value and the actual value of the output voltage, z02Disturbance f (C) of the system for a second-order linear extended state observer LESOf，RL，<ucf>0) An estimated value of (i.e. the known disturbance R of the system)0，R0＝f(Cf，RL，<ucf>0)；
(4) According to the observed disturbance quantity R0Designing a linear extended state observer in a Linear Active Disturbance Rejection Controller (LADRC) to observe other disturbances of the wireless power transmission systemMomentum ω (t); the expression of the linear extended state observer is as follows:
Figure FDA0002741514340000012
wherein e is2Is the difference between the observed value and the actual value, z, of the output voltage of the wireless power transmission system1For an estimated tracking value of the actual output voltage, z2For the purpose of tracking the estimated value of the other disturbance amount ω (t) of the wireless power transmission system, ω (t) ═ F (t) +(b-b)01)u-R0；b01Is an estimated value of a controller coefficient b, F (t) represents a total disturbance amount of the wireless power transmission system, beta01、β02All are adjustable parameters, and u is an improved active disturbance rejection control quantity;
(5) designing a linear state error feedback control law, and compensating the total disturbance quantity F (t) to obtain an improved active disturbance rejection control quantity u of the wireless power transmission system:
Figure FDA0002741514340000013
wherein the content of the first and second substances,
Figure FDA0002741514340000021
for a given voltage value, e is the difference between the given voltage value and the estimated tracking value of the actual output voltage, KpIs a proportionality coefficient;
(6) and converting the improved active disturbance rejection control quantity u into a duty ratio alpha, thereby carrying out voltage regulation control on the wireless power transmission system.
2. An improved active disturbance rejection control system for a wireless power transfer system, comprising: the circuit comprises a voltage detector, a current detector, a second-order linear extended state observer LESO, a linear active disturbance rejection controller LADRC and a PWM driving circuit;
the voltage detector is used for detecting the output voltage of the controlled wireless power transmission system;
the current detector is used for detecting the output current of the secondary side resonance compensation circuit of the controlled wireless power transmission system;
the second-order linear extended state observer LESO outputs voltage U to the wireless power transmission systemoutAnd observing the disturbance to obtain a partial disturbance quantity R of the system0The expression of the second-order linear extended state observer LESO is:
Figure FDA0002741514340000022
where-k is the desired pole of the closed loop of the second-order linear extended state observer LESO, k > 0, b1Information of a part of the model representing the known object to be controlled, z01For actually outputting a voltage value UoutEstimated tracking value of e1Is the difference between the estimated value and the actual value of the output voltage, z02Disturbance f (C) of the system for the second-order linear extended state observer LESOf，RL，<ucf>0) An estimated value of (i.e. the known disturbance R of the system)0，R0＝f(Cf，RL，<ucf>0)；
And a linear extended state observer in the linear active disturbance rejection controller LADRC measures and estimates other disturbance quantity omega (t) of the wireless power transmission system, wherein the expression of the linear extended state observer is as follows:
Figure FDA0002741514340000023
wherein e is2Is the difference between the observed value and the actual value, z, of the output voltage of the wireless power transmission system1For an estimated tracking value of the actual output voltage, z2For the purpose of tracking the estimated value of the other disturbance amount ω (t) of the wireless power transmission system, ω (t) ═ F (t) +(b-b)01)u-R0；b01Is an estimate of the controller coefficient b, F (t) represents the radio energy transmissionTotal disturbance of the system, beta01、β02All are adjustable parameters, and u is an improved active disturbance rejection control quantity;
compensating the total disturbance quantity F (t) by a linear state error feedback control law in a linear active disturbance rejection controller LADRC to obtain an improved active disturbance rejection control quantity u for the wireless power transmission system:
Figure FDA0002741514340000031
wherein the content of the first and second substances,
Figure FDA0002741514340000032
for a given voltage value, e is the difference between the given voltage value and the estimated tracking value of the actual output voltage, KpIs a proportionality coefficient;
and the PWM driving circuit converts the improved active disturbance rejection control quantity u into a duty ratio alpha, so that the voltage regulation control is carried out on the wireless electric energy transmission system.
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