CN112134372A - Wireless charging system output control method based on Longberger disturbance observer - Google Patents

Wireless charging system output control method based on Longberger disturbance observer Download PDF

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CN112134372A
CN112134372A CN202011083682.9A CN202011083682A CN112134372A CN 112134372 A CN112134372 A CN 112134372A CN 202011083682 A CN202011083682 A CN 202011083682A CN 112134372 A CN112134372 A CN 112134372A
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wireless charging
charging system
disturbance
voltage
representing
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CN112134372B (en
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黄东晓
刘辉
柯栋梁
仇逸
侯隽
于新红
汪凤翔
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Quanzhou Institute of Equipment Manufacturing
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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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00711—Regulation of charging or discharging current or voltage with introduction of pulses during the charging process
    • 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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
    • H02M1/088—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters for the simultaneous control of series or parallel connected semiconductor devices
    • 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
    • H02M3/3353—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having at least two simultaneously operating switches on the input side, e.g. "double forward" or "double (switched) flyback" converter
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
    • 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
    • H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J2207/20—Charging or discharging characterised by the power electronics converter
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0003—Details of control, feedback or regulation circuits
    • H02M1/0025—Arrangements for modifying reference values, feedback values or error values in the control loop of a converter
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention provides a wireless charging system output control method based on a Longberger disturbance observer, which belongs to the technical field of wireless charging and comprises the following steps: step S10, controlling the output voltage of the inverter circuit by using a phase-shifted full-bridge control technology; step S20, observing the disturbance of an internal current control loop and an external voltage control loop of the wireless charging system through a Luenberger disturbance observer; step S30, updating the phase angle of the inverter circuit offset based on the observed disturbance, controlling the output voltage of the inverter circuit, and further controlling the output voltage of the wireless charging system. The invention has the advantages that: the reliability of wireless charging system has very big promotion.

Description

Wireless charging system output control method based on Longberger disturbance observer
Technical Field
The invention relates to the technical field of wireless charging, in particular to a wireless charging system output control method based on a Longberger disturbance observer.
Background
When the wireless charging system supplies power to the load, the fluctuation of the output voltage and power of the system can be caused along with the change of the working environment and the change of the load, which affects the stability of the load operation and even causes certain damage to the load. For example, when the system charges a lithium battery, if the charging voltage is too high, the battery element may be damaged, and the service life of the battery element may be seriously reduced. Therefore, it is necessary to control the stability of the output voltage of the wireless charging system.
There are traditionally some non-linear control algorithms like PID control, H∞Control, mu comprehensive control and sliding mode voltage control. The control algorithms can control the stability of the system voltage, but have certain limitations. The PID control mainly depends on engineering experience, and when the dynamic characteristics of the system are changed due to the change of parameters such as system frequency, load and the like, the PID parameters need to be re-tuned; h∞The modeling structure of the control and mu comprehensive control method is complex, the compromise problem of robust stability and performance index can not be simultaneously processed under a unified framework, and the control design difficulty is high; the sliding mode control has the defect that the sliding surface motion is obtained and high-frequency buffeting is accompanied.
Therefore, how to provide a wireless charging system output control method based on the lunberg disturbance observer to improve the reliability of the wireless charging system becomes a problem to be solved urgently.
Disclosure of Invention
The invention aims to provide a wireless charging system output control method based on a Longberg disturbance observer, so as to improve the reliability of a wireless charging system.
The invention is realized by the following steps: a wireless charging system output control method based on a Luenberger disturbance observer comprises the following steps:
step S10, controlling the output voltage of the inverter circuit by using a phase-shifted full-bridge control technology;
step S20, observing the disturbance of an internal current control loop and an external voltage control loop of the wireless charging system through a Luenberger disturbance observer;
step S30, updating the phase angle of the inverter circuit offset based on the observed disturbance, controlling the output voltage of the inverter circuit, and further controlling the output voltage of the wireless charging system.
Further, the step S10 is specifically:
setting switch tube S1Switch tube S2Switch tube S3And a switching tube S4The duty ratio of the driving pulse is 50 percent, and the frequency is unchanged; setting switch tube S2And a switching tube S4Respectively lagging the switching tube S1And a switching tube S3A phase angle α, then:
Figure RE-GDA0002748491700000021
Figure RE-GDA0002748491700000022
wherein U isinRepresents an output voltage of the inverter circuit; u shapeRoutRepresenting an output voltage of the rectifier circuit; e represents the DC bus voltage; m represents the mutual inductance of the resonant circuit; l denotes L in the resonant circuitPAnd CPThe equivalent inductance of (2).
Further, in the step S20, the observing the disturbance of the internal current control loop of the wireless charging system specifically includes:
Figure RE-GDA0002748491700000023
wherein
Figure RE-GDA0002748491700000024
A preset reference voltage representing an output voltage of the rectifier circuit; l isfRepresenting an equivalent inductance of the wireless charging system;
Figure RE-GDA0002748491700000025
represents a current reference value of an equivalent inductance of the wireless charging system, an
Figure RE-GDA0002748491700000026
Representing the current sampling value at the time t; t iscA sampling period representing an internal current control loop;
Figure RE-GDA0002748491700000027
representing the observed perturbation of the current.
Further, in the step S20, the observing the disturbance of the external voltage control loop of the wireless charging system specifically includes:
Figure RE-GDA0002748491700000028
wherein
Figure RE-GDA0002748491700000031
Representing a current reference value of an equivalent inductance of the wireless charging system; cfRepresents a filter capacitance; t isSRepresents the sampling period of the outer voltage control loop;
Figure RE-GDA0002748491700000032
represents a load RLAnd a reference voltage of
Figure RE-GDA0002748491700000033
u0(t) represents the voltage sample value at time t;
Figure RE-GDA0002748491700000034
representing the observed disturbance value of the voltage.
Further, in the step S30, the updating the phase angle of the inverter circuit offset based on the observed disturbance is specifically:
will be provided with
Figure RE-GDA0002748491700000035
And
Figure RE-GDA0002748491700000036
the phase angle α of the inverter circuit offset is calculated by substituting the following equation:
Figure RE-GDA0002748491700000037
Figure RE-GDA0002748491700000038
wherein iLRepresenting the current of the equivalent inductor of the wireless charging system; diRepresenting the total disturbance of the current loop; u. of0Represents a load RLVoltage of (d); duRepresenting the total disturbance of the voltage loop.
The invention has the advantages that:
the output voltage of the inverter circuit is controlled through a phase-shifted full-bridge control technology, the structure of the wireless charging system is simplified, the disturbance of the internal current control circuit and the disturbance of the external voltage control circuit are observed through a Romberg disturbance observer, the phase angle of the offset of the inverter circuit is updated finally based on the observed disturbance, the output voltage of the inverter circuit is controlled, namely, the concentrated disturbance of the internal current control circuit and the concentrated disturbance of the external voltage control circuit are respectively estimated through the Romberg disturbance observer, then double-closed-loop control is carried out on the voltage and the current, the output voltage of the wireless charging system is greatly stabilized, and the reliability of the wireless charging system is greatly improved.
Drawings
The invention will be further described with reference to the following examples with reference to the accompanying drawings.
Fig. 1 is a flowchart of a wireless charging system output control method based on a lunberg disturbance observer according to the present invention.
Fig. 2 is a circuit diagram of the wireless charging system of the present invention.
Fig. 3 is an equivalent simplified circuit diagram of the wireless charging system of the present invention.
Fig. 4 is a logic diagram of the output control of the wireless charging system according to the present invention.
FIG. 5 is a schematic diagram of phase shift modulation according to the present invention.
Detailed Description
The wireless charging system using an LCL-S topology structure shown in FIG. 2 includes a DC power supply E, an inverter circuit, a resonant circuit, a rectifying circuit, a filter circuit, and a load RL；
One end of the inverter circuit is connected with a direct current power supply E, and the other end of the inverter circuit is connected with the resonance circuit; one end of the rectification circuit is connected with the resonance circuit, the other end of the rectification circuit is connected with the filter circuit, and the load RLIs connected with the filter circuit;
the inverter circuit comprises a switching tube S1Switch tube S2Switch tube S3And a switching tube S4(ii) a The resonant circuit comprises an inductance L1Capacitor C1Transmitting coil LPAnd a compensation capacitor CPReceiving coil LSAnd a compensation capacitor CS(ii) a The rectification circuit comprises a diode D1Diode D2Diode D3And a diode D4(ii) a The filter circuit comprises an inductor LfResistance rLAnd a filter capacitor Cf；
The inverter circuit converts the voltage of the DC power supply E into a high-frequency AC voltage UinAt the transmitting coil LPExciting a sinusoidal high-frequency alternating magnetic fieldRadiation coil LPAnd a receiving coil LSUnder the magnetic induction coupling action, the induced voltage is converted into direct current voltage through a rectifying circuit, and the direct current voltage u is filtered by a filter circuit0To a load RLAnd (6) outputting.
Referring to fig. 1 to 5, a preferred embodiment of a wireless charging system output control method based on a lunberg disturbance observer according to the present invention includes the following steps:
step S10, controlling the output voltage of the inverter circuit by using a phase-shifted full-bridge control technique to simplify the structure of the wireless charging system, which is equivalent to the circuit diagram shown in fig. 3, i.e., performing order reduction processing on the system to effectively reduce the difficulty in deriving the Lunberg Disturbance Observer (LDOB);
step S20, observing the disturbance of an internal current control loop and an external voltage control loop of the wireless charging system through a Luenberger disturbance observer;
step S30, updating the phase angle of the inverter circuit offset based on the observed disturbance, controlling the output voltage of the inverter circuit, and further controlling the output voltage of the wireless charging system.
The step S10 specifically includes:
as shown in FIG. 5, the switch tube S is set1Switch tube S2Switch tube S3And a switching tube S4The duty ratio of the driving pulse is 50 percent, and the frequency is unchanged; setting switch tube S2And a switching tube S4Respectively lagging the switching tube S1And a switching tube S3A phase angle α, then:
Figure RE-GDA0002748491700000051
Figure RE-GDA0002748491700000052
wherein U isinRepresents an output voltage of the inverter circuit; u shapeRoutRepresenting the output of a rectifying circuitA voltage; e represents the DC bus voltage; m represents the mutual inductance of the resonant circuit; l denotes L in the resonant circuitPAnd CPThe equivalent inductance of (2).
In step S20, the observing the disturbance of the internal current control loop of the wireless charging system specifically includes:
Figure RE-GDA0002748491700000053
wherein
Figure RE-GDA0002748491700000054
A preset reference voltage representing an output voltage of the rectifier circuit; l isfRepresenting an equivalent inductance of the wireless charging system;
Figure RE-GDA0002748491700000055
represents a current reference value of an equivalent inductance of the wireless charging system, an
Figure RE-GDA0002748491700000056
Representing the current sampling value at the time t; t iscA sampling period representing an internal current control loop;
Figure RE-GDA0002748491700000057
representing the observed perturbation of the current.
In step S20, the observing the disturbance of the external voltage control loop of the wireless charging system specifically includes:
Figure RE-GDA0002748491700000058
wherein
Figure RE-GDA0002748491700000059
Representing a current reference value of an equivalent inductance of the wireless charging system; cfRepresents a filter capacitance; t isSRepresents the sampling period of the outer voltage control loop;
Figure RE-GDA00027484917000000510
represents a load RLAnd a reference voltage of
Figure RE-GDA00027484917000000511
u0(t) represents the voltage sample value at time t;
Figure RE-GDA00027484917000000512
representing the observed disturbance value of the voltage.
In step S30, the updating the phase angle of the inverter circuit offset based on the observed disturbance specifically includes:
will be provided with
Figure RE-GDA00027484917000000513
And
Figure RE-GDA00027484917000000514
the phase angle α of the inverter circuit offset is calculated by substituting the following equation:
Figure RE-GDA0002748491700000061
Figure RE-GDA0002748491700000062
wherein iLRepresenting the current of the equivalent inductor of the wireless charging system; diRepresenting the total disturbance of the current loop; u. of0Represents a load RLVoltage of (d); duRepresenting the total disturbance of the voltage loop.
The derivation process of the formula for observing the disturbance of the internal current control loop of the wireless charging system is as follows:
obtaining a time domain differential equation of the simplified system according to the KCL and KVL theorem:
Figure RE-GDA0002748491700000063
discretizing the formula (1) according to an Euler formula to obtain an effective value of the output voltage of the rectifying circuit as follows:
Figure RE-GDA0002748491700000064
wherein T iscIs the current loop sampling period, set to iL(t+1)＝iL *Wherein iL *If the reference value is the inductor Current, then the dead-band-based Predictive Current Control (DPCC) is:
Figure RE-GDA0002748491700000065
it can be seen that the performance of DPCC depends largely on the accuracy of parameters in the wireless charging system, such as inductance and internal resistance, which vary with the operating and environmental conditions of the system. To analyze DPCC sensitivity to parameters, assume Lfo＝Lf+Lf′，rLo＝rL+rL', wherein Lf′，rL' is the uncertainty of the parameter, equation (3) may be changed to:
Figure RE-GDA0002748491700000066
wherein
Figure RE-GDA0002748491700000071
Combining formula (2) and formula (4) yields:
Figure RE-GDA0002748491700000072
it can be seen that there is an error between the reference current and the response current due to the variation of the parameter; the invention provides an improved DPCC method based on a Luenberger disturbance observer, which only needs to initializeLfThereby reducing the computational complexity and improving the robustness.
To observe
Figure RE-GDA0002748491700000073
Disturbance d iniDesigning a discrete Luenberger observer:
Figure RE-GDA0002748491700000074
wherein ldiFor observer to feed back gain, will
Figure RE-GDA0002748491700000075
Performing Euler dispersion:
Figure RE-GDA0002748491700000076
let iL(t +1) is equal to the reference voltage iL *If the disturbance observed in equation (6) is taken into equation (7), the current control law can be predicted based on the improvement of the lunberg observer:
Figure RE-GDA0002748491700000077
the derivation process of the formula for observing the disturbance of the external voltage control loop of the wireless charging system is as follows:
d due to the very small sampling period of the voltage loopuCan be regarded as a constant, i.e.
Figure RE-GDA0002748491700000078
The state function is designed as follows:
Figure RE-GDA0002748491700000081
wherein x is [ u ]0du]T，y＝u0，u＝iL *； (10)
Figure RE-GDA0002748491700000082
In the lunberger observer, the estimated state variable is corrected by comparing the estimated variable with the measured variable, with a state-dynamic equation of:
Figure RE-GDA0002748491700000083
wherein H ═ H1 h2]TIs observer feedback gain, satisfies the Helvelz polynomial p(s)＝s2+h2s+h1，
Figure RE-GDA0002748491700000084
Is an estimate of x which is the value of,
Figure RE-GDA0002748491700000085
is an estimate of y, observer error
Figure RE-GDA0002748491700000086
Comprises the following steps:
Figure RE-GDA0002748491700000087
the key problem of the observer is that it can always be satisfied under any initial conditions
Figure RE-GDA0002748491700000088
It is therefore desirable that all eigenvalues of (A-HC) have negative real parts and the convergence speed depends on the pole configuration of the observer, h1、 h2The observer characteristic equation can be configured as (s + l) by conceptual determination of bandwidthdu)2Corresponding H ═ 2ldu ldu 2]TAt this time, the systemThe method has better stability and better transition process, and the continuous observer is subjected to discretization treatment according to an Euler formula:
Figure RE-GDA0002748491700000089
in the formula, TsIs the sampling period of the voltage loop, sinceduThe larger the observer extremum, the further from the origin, the faster the system convergence speed. However, |duToo large the control system is not stable, so select lduA balance between response performance and robustness should be struck.
Will be provided with
Figure RE-GDA00027484917000000810
Discretizing:
Figure RE-GDA00027484917000000811
let uo(t +1) is equal to the reference voltage uo *And then, designing a control law based on the dead zone prediction voltage as follows:
Figure RE-GDA0002748491700000091
to ensure the stability of equation (16), i.e. the voltage error e ═ u, as time increaseso *-uo(t) increasingly smaller, the lyapunov function is constructed:
Figure RE-GDA0002748491700000092
deriving V yields:
Figure RE-GDA0002748491700000093
due to TS> 0, therefore
Figure RE-GDA0002748491700000094
The constructed lyapunov function can ensure that the system is consistently stable at the point x ═ 0, and when t → ∞ all error states converge to the equilibrium point, i.e., t → ∞, as known from the lasallel-Yoshizawa theorem. Will observe the disturbance
Figure RE-GDA0002748491700000095
Instead of the disturbance in (16), the voltage controller (LDOB-VC) based on the Luenberger disturbance observer is:
Figure RE-GDA0002748491700000096
the derivation process of the calculation formula of the phase angle of the inverter circuit offset is as follows:
the time domain differential equation of the simplified system obtained according to the KCL and KVL theorem is as follows:
Figure RE-GDA0002748491700000097
wherein iL，rLThe invention respectively represents inductive current and internal resistance in a circuit, and in an actual circuit, factors such as load change, component parameter fluctuation, external interference and the like are considered, so that the invention provides a wireless power transmission model comprising a nominal parameter and a disturbance part:
due to acquisition of URoutRequiring additional hardware, using reference voltage URout *Replacing the actual voltage URout，URout *And URoutThe mismatch between is incorporated into the perturbation part, assuming:
Figure RE-GDA0002748491700000098
the total perturbation of equation 1 in equation (20):
Figure RE-GDA0002748491700000101
similarly, the total perturbation in equation 2 is defined:
Figure RE-GDA0002748491700000102
the expanded system model is then:
Figure RE-GDA0002748491700000103
in summary, the invention has the advantages that:
the output voltage of the inverter circuit is controlled through a phase-shifted full-bridge control technology, the structure of the wireless charging system is simplified, the disturbance of the internal current control circuit and the disturbance of the external voltage control circuit are observed through a Romberg disturbance observer, the phase angle of the offset of the inverter circuit is updated finally based on the observed disturbance, the output voltage of the inverter circuit is controlled, namely, the concentrated disturbance of the internal current control circuit and the concentrated disturbance of the external voltage control circuit are respectively estimated through the Romberg disturbance observer, then double-closed-loop control is carried out on the voltage and the current, the output voltage of the wireless charging system is greatly stabilized, and the reliability of the wireless charging system is greatly improved.
Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.

Claims (5)

1. A wireless charging system output control method based on a Luenberger disturbance observer is characterized in that: the method comprises the following steps:
step S10, controlling the output voltage of the inverter circuit by using a phase-shifted full-bridge control technology;
step S20, observing the disturbance of an internal current control loop and an external voltage control loop of the wireless charging system through a Luenberger disturbance observer;
step S30, updating the phase angle of the inverter circuit offset based on the observed disturbance, controlling the output voltage of the inverter circuit, and further controlling the output voltage of the wireless charging system.
2. The output control method of the wireless charging system based on the Lorberg disturbance observer as claimed in claim 1, wherein: the step S10 specifically includes:
setting switch tube S1Switch tube S2Switch tube S3And a switching tube S4The duty ratio of the driving pulse is 50 percent, and the frequency is unchanged; setting switch tube S2And a switching tube S4Respectively lagging the switching tube S1And a switching tube S3A phase angle α, then:
Figure RE-FDA0002748491690000011
Figure RE-FDA0002748491690000012
wherein U isinRepresents an output voltage of the inverter circuit; u shapeRoutRepresenting an output voltage of the rectifier circuit; e represents the DC bus voltage; m represents the mutual inductance of the resonant circuit; l denotes L in the resonant circuitPAnd CPThe equivalent inductance of (2).
3. The output control method of the wireless charging system based on the Lorberg disturbance observer as claimed in claim 1, wherein: in step S20, the observing the disturbance of the internal current control loop of the wireless charging system specifically includes:
Figure RE-FDA0002748491690000013
wherein
Figure RE-FDA0002748491690000014
A preset reference voltage representing an output voltage of the rectifier circuit; l isfRepresenting an equivalent inductance of the wireless charging system;
Figure RE-FDA0002748491690000015
represents a current reference value of an equivalent inductance of the wireless charging system, an
Figure RE-FDA0002748491690000016
iL(t) represents the current sample value at time t; t iscA sampling period representing an internal current control loop;
Figure RE-FDA0002748491690000021
representing the observed perturbation of the current.
4. The output control method of the wireless charging system based on the Lorberg disturbance observer as claimed in claim 1, wherein: in step S20, the observing the disturbance of the external voltage control loop of the wireless charging system specifically includes:
Figure RE-FDA0002748491690000022
wherein
Figure RE-FDA0002748491690000023
Representing a current reference value of an equivalent inductance of the wireless charging system; cfRepresents a filter capacitance; t isSRepresents the sampling period of the outer voltage control loop;
Figure RE-FDA0002748491690000024
represents a load RLAnd a reference voltage of
Figure RE-FDA0002748491690000025
u0(t) represents the voltage sample value at time t;
Figure RE-FDA0002748491690000026
representing the observed disturbance value of the voltage.
5. The output control method of the wireless charging system based on the Lonberg disturbance observer as claimed in claim 3 or 4, wherein: in step S30, the updating the phase angle of the inverter circuit offset based on the observed disturbance specifically includes:
will be provided with
Figure RE-FDA0002748491690000027
And
Figure RE-FDA0002748491690000028
the phase angle α of the inverter circuit offset is calculated by substituting the following equation:
Figure RE-FDA0002748491690000029
Figure RE-FDA00027484916900000210
wherein iLRepresenting the current of the equivalent inductor of the wireless charging system; diRepresenting the total disturbance of the current loop; u. of0Represents a load RLVoltage of (d); duRepresenting the total disturbance of the voltage loop.
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