CN112187058B - Robust stable control method and device of DAB converter - Google Patents

Robust stable control method and device of DAB converter Download PDF

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CN112187058B
CN112187058B CN202010982573.4A CN202010982573A CN112187058B CN 112187058 B CN112187058 B CN 112187058B CN 202010982573 A CN202010982573 A CN 202010982573A CN 112187058 B CN112187058 B CN 112187058B
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switching device
level
controlled switching
full bridge
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CN112187058A (en
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刘金虎
韩永浩
刘国静
王连忠
张相飞
马宗超
袁远东
亓学庆
李涛
张孝杰
王海军
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State Grid Information and Telecommunication Co Ltd
Beijing Smartchip Microelectronics Technology Co Ltd
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Beijing Smartchip Microelectronics Technology Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
    • H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
    • H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
    • H02M3/325—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
    • H02M3/335—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/3353—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
    • 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
    • H02M1/083—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters for the ignition at the zero crossing of the voltage or the current
    • 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
    • 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
    • H02M7/483—Converters with outputs that each can have more than two voltages levels
    • H02M7/487—Neutral point clamped inverters
    • 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
    • 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
    • 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
    • H02M1/0038—Circuits or arrangements for suppressing, e.g. by masking incorrect turn-on or turn-off signals, e.g. due to current spikes in current mode control

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Dc-Dc Converters (AREA)

Abstract

The embodiment of the invention provides a robust stability control method and a robust stability control device for a diode clamping hybrid three-level DAB converter, and belongs to the technical field of DC-DC high-frequency isolation conversion. The method comprises the following steps: measuring the current i of a high-frequency inductorLInput voltage vinAnd an output voltage vout(ii) a Calculating a voltage transmission ratio M; determining an output voltage error tracking σ; determining a controller output u; determining a shift control amount; and driving the fully-controlled switching device S according to the shift control amount1～S6And a fully-controlled switching device Q1～Q4. The method inhibits the current oscillation of the DAB converter caused by the nonlinear characteristic of power electronic devices in the DAB converter, and solves the problem of instability of the DAB converter caused by load sudden change, power disturbance of a router port, device parameter change influence and the like, so that the safety and stability of a direct current port of the energy router are improved, and the stable operation level of the energy router is obviously improved.

Description

Robust stable control method and device of DAB converter
Technical Field
The invention relates to the technical field of DC-DC high-frequency isolation conversion, in particular to a robust stability control method and a robust stability control device for a diode clamping hybrid three-level DAB converter.
Background
The energy router is a power device which integrates an information technology and a power electronic conversion technology and realizes efficient utilization and transmission of distributed energy. The power electronic conversion technology enables the energy router to provide required electric energy interface forms for various types of distributed power supplies, energy storage devices and novel loads, and the electric energy interface forms comprise direct current or alternating current forms with various voltages and current quantities. Meanwhile, due to the high controllability of the power electronic device, the direction and the size of the energy flow of each node in the power distribution network can be accurately controlled according to the needs of users, and a technical basis is provided for realizing the marketization of the power. The information technology enables the energy router to achieve intellectualization, the power distribution network performs autonomous operation under the control of the energy router, and the upper-layer power dispatching center only needs to send optimized operation parameters with a long time scale into the power distribution network so as to achieve optimized operation of the whole network. The energy router can be used as an interactive interface between the power local area network and the backbone network, is in charge of the operation and energy management of each device inside the local area network on one hand, and meanwhile receives instructions of the upper-layer power dispatching center and uploads the operation state of the local area network.
A DAB (Dual Active Bridge) converter based on a phase-shift control technology is a core technology of an energy router, and direct-current voltage isolation and conversion are achieved through a high-frequency transformer. Compared with the voltage reduction and isolation of a power frequency transformer, the transformer has the advantages of greatly reduced volume, greatly reduced cost, high power density, fast dynamic response, easy realization of soft switching, bidirectional power flow and the like.
In order to enable the energy router to adapt to a wider direct current port voltage range, the diode clamping hybrid three-level DAB converter can obtain an additional independent control variable by adding an intermediate level capable of controlling the duty ratio, so that the design limit of the traditional two-level DAB converter is broken through, and the working voltage range is widened. How to realize the stable work of the direct current port adopting the diode clamping mixed three-level DAB direct current voltage conversion is a problem to be solved urgently by the energy router.
Disclosure of Invention
An object of the embodiments of the present invention is to provide a robust and stable control method and apparatus for a diode-clamped hybrid three-level DAB converter, which are used to solve the above technical problems.
In order to achieve the above object, embodiments of the present invention provide a robust stability control method for a diode clamp hybrid three-level DAB converter, where the diode clamp hybrid three-level DAB converter includes a primary side diode clamp hybrid three-level full bridge H1Secondary single phase full bridge H2The high-frequency isolation transformer, the high-frequency inductor and the output filter capacitor, wherein the primary diode clamping mixed three-level full bridge comprises a full-control switch device S1～S6The secondary single-phase full bridge comprises a full-control switch Q1～Q4The method comprises the following steps: measuring the current i of the high frequency inductor of the diode clamped hybrid three-level DAB converterLInput voltage vinAnd an output voltage vout(ii) a According to said input voltage vinThe output voltage voutDetermining a voltage transmission ratio M according to the transformation ratio N of the high-frequency isolation transformer; according to the output voltage voutAnd an output voltage reference value vrefDetermining an output voltage error tracking sigma; according to the controller parameters,Said output voltage voutAn inductance L of the high-frequency inductorsCurrent i of the high-frequency inductorLThe capacitor C of the output filter capacitoroDetermining the output u of the controller by tracking the sigma through the voltage error; determining a shift control quantity according to the voltage transmission ratio M and the controller output u; and driving the fully-controlled switching device S according to the shift control amount1～S6And a fully-controlled switching device Q1～Q4。
Optionally, according to said output voltage voutAnd an output voltage reference value vrefDetermining an output voltage error tracking σ, comprising: calculating the output voltage error tracking σ according to:
Figure BDA0002688082260000021
wherein x ═ vout,x*＝vrefWherein k is0And k1Is the controller parameter, wherein k0For output voltage tracking error proportionality coefficient, k1Is the first order differential coefficient of the tracking error of the output voltage, wherein k is more than or equal to 0.10≤10，0.1≤k1≤10。
Optionally, the output voltage v is based on a controller parameteroutAn inductance L of the high-frequency inductorsThe capacitor C of the output filter capacitoroLoad equivalent resistance R0Load equivalent inductance L0Determining a controller output u comprising: calculating the controller output u according to:
u＝B-1[-q1σ-ATX-||Z||sign(σ)+q2||f||]
wherein the content of the first and second substances,
Figure BDA0002688082260000031
Z＝[vout iL]T，B＝B2B3，A＝[a1,a2,a3]Tf denotes the amount of disturbance, u ranges from 0,1 to 2M]，
Wherein the content of the first and second substances,
Figure BDA0002688082260000032
[a1,a2,a3]＝[-k0,-k1,-1]，
wherein the functional expression of sign (·) is as follows:
Figure BDA0002688082260000033
wherein q is1、q2Is the controller parameter, wherein q1For tracking error coefficients of the output voltage, q2Is the interference coefficient, wherein q is more than or equal to 0.0011≤1，0.001≤q2≤1。
Optionally, the shift control amount includes four shift control amounts, each being Dp0、Dp1、Ds0、DssAnd determining the move-to-control amount comprises: determining the move-to-control amount according to:
Figure BDA0002688082260000034
optionally, the fully-controlled switching device S is driven according to the shift control quantity1～S6And a fully-controlled switching device Q1～Q4The method comprises the following steps: controlling a fully-controlled switching device S1Has an ON time of 0 and an OFF time of (D)p0+Dp1) T and controls a fully controlled switching device S3And a fully-controlled switching device S1Performing complementary work; controlling a fully-controlled switching device S4Has an on time of T and an off time of (1+ D)p0+Dp1) T and controls a fully controlled switching device S2And a fully-controlled switching device S4Performing complementary work; controlling a fully-controlled switching device S6Has a turn-on time of Dp0T, turn-off time is (1+ D)p0) T and controls a fully controlled switching device S5And a fully-controlled switching device S6Performing complementary work; controlling a fully-controlled switching device Q1Has a turn-on time of DssT, turn-off time is (1+ D)ss) T and controls the fully-controlled switching device Q2And a fully-controlled switching device Q1Performing complementary work; and controlling the fully-controlled switching device Q3Has an on time of (D)s0+Dss) T, turn-off time is (D)s0+Dss+1) T and controls the fully controlled switching device Q4And a fully-controlled switching device Q3And complementary operation, wherein T is a preset switching period.
Optionally, the method further includes: clamping the primary diode to mix with a three-level full bridge H1Control signal + -v of each fully-controlled switching deviceinDuty ratio of level is set to Dp1(ii) a Clamping the primary diode to mix with a three-level full bridge H1The duty ratio of the control signal 0 level of each full-control switching device is set to be Dp0(ii) a The secondary side is connected with a single-phase full bridge H2The duty ratio of the control signal 0 level of each full-control switching device is set to be Ds0(ii) a And clamping the primary diode to mix with a three-level full bridge H1And the secondary single-phase full bridge H2Relative phase shift ratio therebetween is set to Dss。
Correspondingly, the embodiment of the invention also provides a robust stability control device for the diode clamping mixed three-level DAB converter, and the diode clamping mixed three-level DAB converter comprises a primary side diode clamping mixed three-level full bridge H1Secondary single phase full bridge H2The high-frequency isolation transformer, the high-frequency inductor and the output filter capacitor, wherein the primary diode clamping mixed three-level full bridge comprises a full-control switch device S1～S6The secondary single-phase full bridge comprises a full-control switch Q1～Q4The device comprises: a sampling unit for measuring the current i of the high-frequency inductor of the diode-clamped hybrid three-level DAB converterLInput voltage vinAnd an output voltage vout(ii) a A controller to: according to said input voltage vinThe output voltage voutDetermining a voltage transmission ratio M according to the transformation ratio N of the high-frequency isolation transformer; according to the output voltagevoutAnd an output voltage reference value vrefDetermining an output voltage error tracking sigma; according to controller parameters, the output voltage voutAn inductance L of the high-frequency inductorsCurrent i of the high-frequency inductorLThe capacitor C of the output filter capacitoroDetermining the output u of the controller by tracking the sigma through the voltage error; determining a shift control quantity according to the voltage transmission ratio M and the controller output u; a modulation unit for driving the fully-controlled switching device S according to the shift control amount1～S6And a fully-controlled switching device Q1～Q4。
Optionally, the controller calculates the output voltage error tracking σ according to:
Figure BDA0002688082260000041
wherein x ═ vout,x*＝vrefWherein k is0And k1Is the controller parameter, wherein k0For output voltage tracking error proportionality coefficient, k1Is the first order differential coefficient of the tracking error of the output voltage, wherein k is more than or equal to 0.10≤10，0.1≤k1≤10。
Optionally, the controller calculates the controller output u according to:
u＝B-1[-q1σ-ATX-||Z||sign(σ)+q2||f||]
wherein the content of the first and second substances,
Figure BDA0002688082260000051
Z＝[vout iL]T，B＝B2B3，A＝[a1,a2,a3]Tf is used as unknown interference item, | | f | is bounded, and u is in the range of [0,1-2M |)]，
Wherein the content of the first and second substances,
Figure BDA0002688082260000052
[a1,a2,a3]＝[-k0,-k1,-1]，
wherein the functional expression of sign (·) is as follows:
Figure BDA0002688082260000053
wherein q is1、q2Is the controller parameter, wherein q1For tracking error coefficients of the output voltage, q2Is the interference coefficient, wherein q is more than or equal to 0.0011≤1，0.001≤q2≤1。
Optionally, the shift control variable includes four shift control variables, each being Dp0、Dp1、Ds0、DssThe controller determines the shift control amount according to:
Figure BDA0002688082260000054
optionally, the modulation unit is configured to drive the fully-controlled switching device S according to the following steps1～S6And a fully-controlled switching device Q1～Q4: controlling a fully-controlled switching device S1Has an ON time of 0 and an OFF time of (D)p0+Dp1) T and controls a fully controlled switching device S3And a fully-controlled switching device S1Performing complementary work; controlling a fully-controlled switching device S4Has an on time of T and an off time of (1+ D)p0+Dp1) T and controls a fully controlled switching device S2And a fully-controlled switching device S4Performing complementary work; controlling a fully-controlled switching device S6Has a turn-on time of Dp0T, turn-off time is (1+ D)p0) T and controls a fully controlled switching device S5And a fully-controlled switching device S6Performing complementary work; controlling a fully-controlled switching device Q1Has a turn-on time of DssT, turn-off time is (1+ D)ss) T and controls the fully-controlled switching device Q2And a fully-controlled switching device Q1Performing complementary work; and controlling the fully-controlled switching device Q3OfThe on time is (D)s0+Dss) T, turn-off time is (D)s0+Dss+1) T and controls the fully controlled switching device Q4And a fully-controlled switching device Q3And complementary operation, wherein T is a preset switching period.
Optionally, the modulation unit is further configured to: clamping the primary diode to mix with a three-level full bridge H1Control signal + -v of each fully-controlled switching deviceinDuty ratio of level is set to Dp1(ii) a Clamping the primary diode to mix with a three-level full bridge H1The duty ratio of the control signal 0 level of each full-control switching device is set to be Dp0(ii) a The secondary side is connected with a single-phase full bridge H2The duty ratio of the control signal 0 level of each full-control switching device is set to be Ds0(ii) a And clamping the primary diode to mix with a three-level full bridge H1And the secondary single-phase full bridge H2Relative phase shift ratio therebetween is set to Dss。
Correspondingly, the embodiment of the invention also provides an energy router, and the direct-current port of the energy router adopts the diode clamping hybrid three-level DAB converter controlled by the method.
The robust stability control method and device for the diode clamping hybrid three-level DAB converter, provided by the embodiment of the invention, are equivalent to providing a robust stability control technology of the diode clamping hybrid three-level DAB converter, the robust stability control technology inhibits the current oscillation of the DAB converter caused by the nonlinear characteristics of power electronic devices in the DAB converter, and the problem of instability of the DAB converter caused by load sudden change, power disturbance of a direct-current port of a router, influence of device parameter change and the like is solved, so that the safety and stability of the direct-current port of the energy router are improved, and the stable operation level of the energy router is obviously improved.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
figure 1 shows a schematic diagram of a diode clamped hybrid three level DAB converter;
figure 2 shows a timing diagram of a diode clamped hybrid three-level DAB converter;
FIG. 3 illustrates a flow diagram of a robust stability control method for a diode clamped hybrid three level DAB converter provided by an embodiment of the present invention;
FIG. 4 is a diagram illustrating an energy router;
FIG. 5 illustrates the operating voltage and current waveforms of a diode clamped hybrid three-level DAB converter employed by the energy router DC port;
fig. 6(a) and 6(b) show the robust stability control method provided without the present invention and the output voltage v using the robust stability control method provided by the present invention, respectivelyoutAnd current i of high-frequency inductorLWorking waveform schematic diagram of (1); and
fig. 7 shows a block diagram of a robust stability control apparatus for a diode-clamped hybrid three-level DAB converter according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
The robust stability control method and device for the diode clamping hybrid three-level DAB converter provided by the embodiment of the invention are implemented based on the diode clamping hybrid three-level DAB converter. The structure of the pole tube clamped hybrid three-level DAB converter will be described first.
Figure 1 shows a schematic of the structure of a diode clamped hybrid three level DAB converter. As shown in fig. 1, the diode clamp hybrid three-level DAB converter can include: input filter capacitor CinpAnd CinnAn output filter capacitor CoDC voltage source, primary diode clamping mixed three-level full bridge H1(original side full bridge) and secondary side single-phase full bridge H2The secondary side full bridge, the high frequency isolation transformer and the high frequency inductor. The primary diode clamping mixed three-level full bridge H1Mainly comprises 6 fully-controlled switching devices S1～S6And two diodes D1、D2Composition in which the switching device S is fully controlled1～S4And a diode D1、D2Form a diode clamping three-level bridge arm and a full-control switch device S5、S6To form a two-level bridge arm. Secondary single-phase full bridge H2The four fully-controlled switching devices are Q1～Q4. The primary diode clamping mixed three-level full bridge H1The positive electrode of the direct current bus, the positive electrode of the corresponding direct current voltage source and the input filter capacitor CinpThe positive electrodes of (a) and (b) are connected. Primary diode clamping mixed three-level full bridge H1The negative pole of the DC bus, the negative pole of the corresponding DC voltage source and the input filter capacitor CinnAre connected with each other. Primary diode clamping mixed three-level full bridge H1The neutral point of the diode and the input filter capacitor CinpAnd CinnAre connected in series. Primary diode clamping mixed three-level full bridge H1Is passed through a high-frequency inductor LsIs connected with the primary side of the high-frequency isolation transformer. The secondary single-phase full bridge H2The positive pole of the direct current bus is connected with the positive pole of the corresponding direct current load and the positive pole of the output filter capacitor. Secondary single-phase full bridge H2The negative pole of the DC bus, the negative pole of the corresponding DC load and the output filter capacitor CoAre connected with each other. Secondary single-phase full bridge H2The alternating current side of the transformer is connected with the secondary side of the high-frequency isolation transformer, the transformation ratio of the high-frequency isolation transformer is N:1, and N is a preset value. The input DC voltage of the diode clamping mixed three-level DAB converter is vin. Output voltage of diode clamping mixed three-level DAB converter is vout。
The fully-controlled switching device is S1～S6And a fully-controlled switching device S1～S4May have a 0 level and ± vinOne or more of the levels. Under the action of such control signals, the primary diode clamp mixes the three-level full bridge H1Ac port voltage vpFive levels can be generated: v + vin、
Figure BDA0002688082260000081
And 0, the secondary single-phase full bridge H2Ac port voltage vsThree levels can be generated: v + voutAnd 0. The timing diagram of a diode clamp hybrid three-level DAB converter is shown in figure 2. The fully-controlled switching device is S1～S6And a fully-controlled switching device S1～S4When the control signal is high (e.g. v)inLevel) and off when low (e.g., 0 level). Under the condition that the full-control switching devices S1, S2 and S6 are switched on, the output voltage of the primary side diode clamping mixed three-level full bridge H1 is + vin. Under the condition that the fully-controlled switching devices S1, S2 and S5 are simultaneously turned on or under the condition that the fully-controlled switching devices S3, S4 and S6 are simultaneously turned on, the output voltage of the primary side diode clamping mixed three-level full bridge H1 is 0.
Figure 3 shows a flow diagram of a robust stability control method for a diode clamp hybrid three level DAB converter provided by an embodiment of the present invention. As shown in fig. 3, an embodiment of the present invention provides a robust stability control method for a diode clamp hybrid three-level DAB converter. The method may be performed by a control apparatus, which may include a sampling unit, an adaptive controller, and a modulation unit. The method may include steps S310 to S360.
In step S310, the current i of the high frequency inductor of the diode clamped hybrid three-level DAB converter is measuredLInput voltage vinAnd an output voltage vout。
Step S310 may be performed by a sampling unit. The sampling unit may comprise 3 signal inputs, the 3 signal inputs respectively measuring the high frequency inductive current iLInput voltage vinAnd an output voltage vout. Optionally, measuring the high frequency inductor current iLInput voltage vinAnd an output voltage voutAfter that, normalization processing may be performed on the three parameters, respectively. The subsequent calculation may use the normalized value.
In step S320, according to the input voltage vinThe output voltage voutAnd calculating a voltage transmission ratio M according to the transformation ratio N of the high-frequency isolation transformer.
The voltage transfer ratio M may be specifically calculated according to the following formula:
Figure BDA0002688082260000091
the transformation ratio N of the high-frequency isolation transformer is preset as an initial value, and the value range of M is more than or equal to 0 and less than 1.
In step S330, according to the output voltage voutAnd an output voltage reference value vrefThe output voltage error tracking sigma is determined.
Optionally, let x ═ vout，x*＝vref，vrefFor the output voltage reference value, the output voltage error e is x-x*The output voltage error tracking σ is defined according to:
Figure BDA0002688082260000092
wherein the content of the first and second substances,
Figure BDA0002688082260000101
representing said output voltage voutFirst order differential over time, which may be dvout/dt，
Figure BDA0002688082260000102
Representing said output voltage voutSecond order differential over time. Wherein k is0And k1Is the controller parameter, wherein k0To be transportedProportional coefficient of tracking error of output voltage, k1Is the first order differential coefficient of the tracking error of the output voltage, wherein k is more than or equal to 0.10≤10，0.1≤k1Less than or equal to 10. In order to achieve rapidity of tracking a given value by an output voltage, a proportional link, a first-order differential link and a second-order differential link are introduced.
It will be appreciated that the calculation of the output voltage error tracking σ is not limited to equation (2), for example, one or more of a proportional element, a first order differential element, and a second order differential element may be introduced in the calculation.
In step S340, the output voltage v is adjusted according to the controller parameteroutAn inductance L of the high-frequency inductorsCurrent i of the high-frequency inductorLThe capacitor C of the output filter capacitoroAnd tracking the voltage error sigma and determining the output u of the controller.
Specifically, the controller output u may be calculated according to the following formula:
u＝B-1[-q1σ-ATX-||Z||sign(σ)+q2||f||] (3)
wherein the content of the first and second substances,
Figure BDA0002688082260000103
B＝B2B3，A＝[a1,a2,a3]T. f represents disturbance quantity, which can be used as unknown disturbance term, | f | | represents amplitude. I/| is bounded, i.e., there is an upper bound, typically a value greater than 0 and less than 1. Z ═ vout iL]TAnd | Z | represents the amplitude, wherein the voltage and the current both take per unit values.
Wherein the content of the first and second substances,
Figure BDA0002688082260000104
[a1,a2,a3]＝[-k0,-k1,-1]，
wherein the functional expression of sign (·) is as follows:
Figure BDA0002688082260000105
wherein q is1、q2Also for the controller parameters, the values of the parameters may be preset, wherein q1For tracking error coefficients of the output voltage, q2Is the interference coefficient, wherein q is more than or equal to 0.0011≤1，0.001≤q2≤1。
In step S350, a shift control amount is determined based on the voltage transfer ratio M and the controller output u.
The shift control amount comprises four shift control amounts respectively Dp0、Dp1、Ds0、Dss. The shift control amounts can be calculated one by one according to the following formula:
Figure BDA0002688082260000111
in step S360, the fully-controlled switching device S is driven according to the shift control quantity1～S6And a fully-controlled switching device Q1～Q4。
Step S360 may be performed by the modulation unit of the control device. Primary diode clamping mixed three-level full bridge H1Is controlled by the switching device S1～S6Input end of control signal and secondary single-phase full bridge H2Is controlled by the full-scale switching device Q1～Q4The input end of the control signal is connected with the output end corresponding to the modulation unit so as to receive the control signal.
The four-degree-of-freedom modulation method for realizing voltage zero-crossing switching-on and current zero-crossing switching-off can be realized through the four-phase-shift control quantity.
In particular, the fully-controlled switching device S can be controlled1Has an ON time of 0 and an OFF time of (D)p0+Dp1) T and controls a fully controlled switching device S3And a fully-controlled switching device S1And (4) complementary operation. Can control the full-control switch device S4Has an on time of T and an off time of (1+ D)p0+Dp1) T and controls a fully controlled switching device S2And full-control switchDevice S4And (4) complementary operation. Can control the full-control switch device S6Has a turn-on time of Dp0T, turn-off time is (1+ D)p0) T and controls a fully controlled switching device S5And a fully-controlled switching device S6And (4) complementary operation. Can control the full-controlled switching device Q1Has a turn-on time of DssT, turn-off time is (1+ D)ss) T and controls the fully-controlled switching device Q2And a fully-controlled switching device Q1And (4) complementary operation. Can control the full-controlled switching device Q3Has an on time of (D)s0+Dss) T, turn-off time is (D)s0+Dss+1) T and controls the fully controlled switching device Q4And a fully-controlled switching device Q3And (4) complementary operation. Wherein, T is a preset switching period. The two fully-controlled switching devices work complementarily, namely that when one fully-controlled switching device is switched on, the other fully-controlled switching device is switched off, and vice versa. As shown in fig. 2, the fully-controlled switching device may be set to be turned on when the input control signal of the fully-controlled switching device is at a high level, and may be set to be turned off when the input control signal of the fully-controlled switching device is at a low level. The high level of the control signal may be vinThe low level of the control signal may be a 0 level.
The above-described control of the fully-controlled switching device may occur within a 2T time.
The robust stability control method for the diode clamping hybrid three-level DAB converter, provided by the embodiment of the invention, is equivalent to providing a robust stability control technology for the diode clamping hybrid three-level DAB converter, the current oscillation of the DAB converter caused by the nonlinear characteristics of power electronic devices in the energy router is inhibited, the problem of instability of the DAB converter caused by load sudden change, power disturbance of a router port, influence of device parameter change and the like is solved, the safety and stability of a direct current port of the energy router are improved, and the stable operation level of the energy router is obviously improved.
In a further alternative embodiment, the duty cycle of the control signal for each fully-controlled switching device may be limited based on the calculated four phase-shift control amountsAnd (4) determining. For example, D can be usedp0Control primary side diode clamping mixed three-level full bridge H 10 level of (1); use of Dp1Control primary side diode clamping mixed three-level full bridge H1V ofinA level; use of Ds0Control secondary single-phase full bridge H 20 level of (1); use of DssControl primary side diode clamping mixed three-level full bridge H1And secondary single-phase full bridge H2Relative phase shift of.
Specifically, the primary diode clamp hybrid three-level full bridge H can be implemented1Control signal + -v of each fully-controlled switching deviceinDuty ratio of level is set to Dp1. Clamping the primary diode to mix with a three-level full bridge H1The duty ratio of the control signal 0 level of each full-control switching device is set to be Dp0. The secondary side is connected with a single-phase full bridge H2The duty ratio of the control signal 0 level of each full-control switching device is set to be Ds0. Clamping the primary diode to mix with a three-level full bridge H1And the secondary single-phase full bridge H2Relative phase shift ratio therebetween is set to Dss. The above definition of the duty cycle and the relative shift ratio of the control signal of each fully-controlled switching device may occur within one cycle.
As shown in fig. 2, the primary diode clamp hybrid three-level full bridge H1Each full-control switching device S1～S6The duty ratio of the level of the control signal(s) is set to be the same, but the timing charts of the respective control signals may be different. Similarly, a secondary single-phase full bridge H2Each full-control switching device Q1～Q4The duty ratio of the level of the control signal(s) is set to be the same, but the timing charts of the respective control signals may be different. The timing diagram may be specifically defined according to the above setting of the on-time and the off-time of each fully-controlled switching device.
Based on the above control process, D can be adjustedp0Defined as a primary diode clamped hybrid three-level full bridge H1Duty ratio of 0 level of; will Dp1Defined as a primary diode clamped hybrid three-level full bridge H1+/-) ofvinA duty cycle of the level; will Ds0Defined as secondary single-phase full bridge H2Duty ratio of 0 level of; will DssDefined as a primary diode clamped hybrid three-level full bridge H1And secondary single-phase full bridge H2Relative shift phase therebetween.
The embodiment of the invention further provides an energy router, and the direct current port of the energy router can adopt the diode clamping hybrid three-level DAB converter controlled by the robust stability control method for the diode clamping hybrid three-level DAB converter in any embodiment of the invention. FIG. 4 shows a schematic diagram of an energy router. As shown in fig. 4, the energy router includes: the input high-voltage alternating current port is connected with a power grid; the output 4 low-voltage direct current ports (direct current port 1, direct current port 2, direct current port 3, direct current port 4), 1 low-voltage alternating current port and the communication port, the power of the direct current port and the alternating current port flows bidirectionally, the direct current port adopts the diode clamping mixed three-level DAB converter controlled by the robust stability control method for the diode clamping mixed three-level DAB converter, which is disclosed by any embodiment of the invention, and the efficiency of power transmission of the direct current port of the energy router can be obviously improved.
Figure 5 shows the operating voltage and current waveforms of a diode clamped hybrid three-level DAB converter employed by the energy router dc port. Fig. 6(a) and 6(b) show the robust stability control method provided without the present invention and the output voltage v using the robust stability control method provided by the present invention, respectivelyoutAnd current i of high-frequency inductorLSchematic diagram of the working waveform of (1). Experiments are adopted to prove the effectiveness of the robust stability control method provided by the invention. RLIn the step change of (10 Ω → 20 Ω), fig. 6(a) shows the transient response of the energy router without using the robust stability control method provided by the present invention. In this case, the disturbance of the load may cause the DAB converter to be unstable. By way of comparison, FIG. 6(b) shows the transient response of an energy router using the robust stability control method provided by the present invention. As shown in fig. 6(b), the current oscillation of the DAB-converter has been suppressed, after a step load changeAnd keeping stable.
Fig. 7 shows a block diagram of a robust stability control apparatus for a diode-clamped hybrid three-level DAB converter according to an embodiment of the present invention. As shown in fig. 7, an embodiment of the present invention further provides a robust stabilization control apparatus for a diode clamp hybrid three-level DAB converter, which may include a sampling unit 710, a controller 720, and a modulation unit 730.
The sampling unit 710 may be used to measure the current i of the high frequency inductor of the diode clamped hybrid three-level DAB converterLInput voltage vinAnd an output voltage vout. The controller 720 may be configured to: according to said input voltage vinThe output voltage voutDetermining a voltage transmission ratio M according to the transformation ratio N of the high-frequency isolation transformer; according to the output voltage voutAnd an output voltage reference value vrefDetermining an output voltage error tracking sigma; according to controller parameters, the output voltage voutAn inductance L of the high-frequency inductorsCurrent i of the high-frequency inductorLThe capacitor C of the output filter capacitoroDetermining the output u of the controller by tracking the sigma through the voltage error; and determining a shift control amount according to the voltage transmission ratio M and the controller output u. The modulation unit 730 may be configured to drive the fully-controlled switching device S according to the shift control amount1～S6And a fully-controlled switching device Q1～Q4。
Specifically, the controller 720 may calculate the voltage transfer ratio M according to formula (1), calculate the voltage error tracking σ according to formula (2), calculate the controller output u according to formula (3), and calculate four phase-shift control variables D according to formula (5)p0、Dp1、Ds0And Dss. The modulation unit 730 drives the corresponding fully-controlled switching device S1～S6、Q1～Q4And the action of each full-control switch device is controlled, so that the optimized operation is realized.
The specific operating principle and benefits of the robust stability control apparatus for a diode-clamped hybrid three-level DAB converter according to the embodiment of the present invention are the same as those of the robust stability control method for a diode-clamped hybrid three-level DAB converter according to the embodiment of the present invention, and will not be described herein again.
The robust stability control method and device for the diode clamping hybrid three-level DAB converter provided by the embodiment of the invention have the following beneficial effects:
(1) the hybrid three-level DAB converter based on diode clamping performs control, which can reduce the number of semiconductor devices, reduce cost, and enhance reliability of the energy router compared to a full three-level based scheme.
(2) Compared with a two-level scheme, the hybrid three-level scheme greatly widens the input range of the direct-current voltage.
(3) Equivalently, the robust stability control technology of the diode clamping hybrid three-level DAB converter is provided, the current oscillation of the DAB converter caused by the nonlinear characteristics of power electronic devices in the DAB converter is inhibited, the problem of instability of the DAB converter caused by load mutation, power disturbance of a router port, influence of device parameter change and the like is solved, the safety and stability of a direct current port of an energy router are improved, and the stable operation level of the energy router is obviously improved.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (13)

1. A robust stability control method for a diode clamp hybrid three-level DAB converter is characterized in that the diode clamp hybrid three-level DAB converter comprises a primary side diode clamp hybrid three-level full bridge H1Secondary single phase full bridge H2The high-frequency isolation transformer, the high-frequency inductor and the output filter capacitor, wherein the primary diode clamping mixed three-level full bridge comprises a full-control switch device S1～S6The secondary single-phase full bridge comprises a full-control switch Q1～Q4The method comprises the following steps:
measuring the current i of the high frequency inductor of the diode clamped hybrid three-level DAB converterLInput voltage vinAnd an output voltage vout；
According to said input voltage vinThe output voltage voutDetermining a voltage transmission ratio M according to the transformation ratio N of the high-frequency isolation transformer;
according to the output voltage voutAnd an output voltage reference value vrefDetermining an output voltage error tracking sigma;
according to controller parameters, the output voltage voutAn inductance L of the high-frequency inductorsCurrent i of the high-frequency inductorLThe capacitor C of the output filter capacitoroDetermining the output u of the controller by tracking the sigma through the voltage error;
determining a shift control quantity according to the voltage transmission ratio M and the controller output u; and
driving a fully-controlled switching device S according to the shift control quantity1～S6And a fully-controlled switching device Q1～Q4。
2. Method according to claim 1, characterized in that, depending on the output voltage voutAnd an output voltage reference value vrefDetermining an output voltage error tracking σ, comprising: calculating the output voltage error tracking σ according to:
Figure FDA0003367584590000011
wherein x ═ vout,x*＝vref，
Wherein k is0And k1Is the controller parameter, wherein k0For output voltage tracking error proportionality coefficient, k1Is the first order differential coefficient of the tracking error of the output voltage, wherein k is more than or equal to 0.10≤10，0.1≤k1≤10。
3. Method according to claim 1, characterized in that the output voltage v is dependent on a controller parameter, the output voltage voutAn inductance L of the high-frequency inductorsCurrent i of the high-frequency inductorLThe capacitor C of the output filter capacitoroDetermining a controller output u, comprising: calculating the controller output u according to:
u＝B-1[-q1σ-ATX-||Z||sign(σ)+q2||f||]
wherein the content of the first and second substances,
Figure FDA0003367584590000021
Z＝[vout，iL]T，B＝B2B3，A＝[a1,a2,a3]Tf denotes the amount of disturbance, u ranges from 0,1 to 2M]，
Wherein the content of the first and second substances,
Figure FDA0003367584590000022
[a1,a2,a3]＝[-k0,-k1,-1]，
wherein, the function expression of sign (sigma) is as follows:
Figure FDA0003367584590000023
wherein q is1、q2Is the controller parameter, wherein q1For tracking error coefficients of the output voltage, q2Is the interference coefficient, wherein q is more than or equal to 0.0011≤1，0.001≤q21 or less, wherein k0And k1Is the controller parameter.
4. The method according to any one of claims 1 to 3, wherein the shift-toward-control-amount includes four shift-toward-control-amounts, each being Dp0、Dp1、Ds0、DssDetermining the movementThe control amount includes: determining the move-to-control amount according to:
Figure FDA0003367584590000024
wherein Dp0For controlling the primary diode clamp hybrid three-level full bridge H10 level of (1); dp1For controlling the primary diode clamp hybrid three-level full bridge H1V ofinA level; ds0For controlling the secondary single-phase full bridge H20 level of (1); dssFor controlling the primary diode clamp hybrid three-level full bridge H1And secondary single-phase full bridge H2Relative phase shift of (a).
5. Method according to claim 4, characterized in that the fully controlled switching device S is driven according to the shift control quantity1～S6And a fully-controlled switching device Q1～Q4The method comprises the following steps:
controlling a fully-controlled switching device S1Has an ON time of 0 and an OFF time of (D)p0+Dp1) T and controls a fully controlled switching device S3And a fully-controlled switching device S1Performing complementary work;
controlling a fully-controlled switching device S4Has an on time of T and an off time of (1+ D)p0+Dp1) T and controls a fully controlled switching device S2And a fully-controlled switching device S4Performing complementary work;
controlling a fully-controlled switching device S6Has a turn-on time of Dp0T, turn-off time is (1+ D)p0) T and controls a fully controlled switching device S5And a fully-controlled switching device S6Performing complementary work;
controlling a fully-controlled switching device Q1Has a turn-on time of DssT, turn-off time is (1+ D)ss) T and controls the fully-controlled switching device Q2And a fully-controlled switching device Q1Performing complementary work; and
controlling a fully-controlled switching device Q3OfThe on time is (D)s0+Dss) T, turn-off time is (D)s0+Dss+1) T and controls the fully controlled switching device Q4And a fully-controlled switching device Q3The complementary work is carried out by the following steps,
wherein, T is a preset switching period.
6. The method of claim 4, further comprising:
clamping the primary diode to mix with a three-level full bridge H1Output of + -vinDuty ratio of level is set to Dp1；
Clamping the primary diode to mix with a three-level full bridge H1Duty ratio of 0 level of output is set to Dp0；
The secondary side is connected with a single-phase full bridge H2Duty ratio of 0 level of output is set to Ds0(ii) a And
clamping the primary diode to mix with a three-level full bridge H1And the secondary single-phase full bridge H2Relative phase shift ratio therebetween is set to Dss。
7. A robust stability control device for diode clamp mixes three level DAB converter, its characterized in that, diode clamp mixes three level DAB converter and includes that former limit diode clamp mixes three level full-bridge H1Secondary single phase full bridge H2The high-frequency isolation transformer, the high-frequency inductor and the output filter capacitor, wherein the primary diode clamping mixed three-level full bridge comprises a full-control switch device S1～S6The secondary single-phase full bridge comprises a full-control switch Q1～Q4The device comprises:
a sampling unit for measuring the current i of the high-frequency inductor of the diode-clamped hybrid three-level DAB converterLInput voltage vinAnd an output voltage vout；
A controller to:
according to said input voltage vinThe output voltage voutDetermining a voltage transmission ratio M according to the transformation ratio N of the high-frequency isolation transformer;
according to the output voltage voutAnd an output voltage reference value vrefDetermining an output voltage error tracking sigma;
according to controller parameters, the output voltage voutAn inductance L of the high-frequency inductorsCurrent i of the high-frequency inductorLThe capacitor C of the output filter capacitoroDetermining the output u of the controller by tracking the sigma through the voltage error; and
determining a shift control quantity according to the voltage transmission ratio M and the controller output u;
a modulation unit for driving the fully-controlled switching device S according to the shift control amount1～S6And a fully-controlled switching device Q1～Q4。
8. The apparatus of claim 7, wherein the controller calculates the output voltage error tracking σ according to:
Figure FDA0003367584590000041
wherein x ═ vout,x*＝vref，
Wherein k is0And k1Is the controller parameter, wherein k0For output voltage tracking error proportionality coefficient, k1Is the first order differential coefficient of the tracking error of the output voltage, wherein k is more than or equal to 0.10≤10，0.1≤k1≤10。
9. The apparatus of claim 7, wherein the controller calculates the controller output u according to:
u＝B-1[-q1σ-ATX-||Z||sign(σ)+q2||f||]
wherein the content of the first and second substances,
Figure FDA0003367584590000051
Z＝[vout，iL]T，B＝B2B3，A＝[a1,a2,a3]Tf denotes the amount of disturbance, u ranges from 0,1 to 2M]，
Wherein the content of the first and second substances,
Figure FDA0003367584590000052
[a1,a2,a3]＝[-k0,-k1,-1]，
wherein, the function expression of sign (sigma) is as follows:
Figure FDA0003367584590000053
wherein q is1、q2Is the controller parameter, wherein q1For tracking error coefficients of the output voltage, q2Is the interference coefficient, wherein q is more than or equal to 0.0011≤1，0.001≤q21 or less, wherein k0And k1Is the controller parameter.
10. The apparatus according to any one of claims 7 to 9, wherein the shift control amount comprises four shift control amounts, each Dp0、Dp1、Ds0、DssThe controller determines the shift control amount according to:
Figure FDA0003367584590000054
wherein Dp0For controlling the primary diode clamp hybrid three-level full bridge H10 level of (1); dp1For controlling the primary diode clamp hybrid three-level full bridge H1V ofinA level; ds0For controlling the secondary single-phase full bridge H20 level of (1); dssFor controlling thePrimary diode clamping mixed three-level full bridge H1And secondary single-phase full bridge H2Relative phase shift of (a).
11. The apparatus according to claim 10, wherein the modulation unit is configured to drive the fully controlled switching device S according to the following steps1～S6And a fully-controlled switching device Q1～Q4：
Controlling a fully-controlled switching device S1Has an ON time of 0 and an OFF time of (D)p0+Dp1) T and controls a fully controlled switching device S3And a fully-controlled switching device S1Performing complementary work;
controlling a fully-controlled switching device S4Has an on time of T and an off time of (1+ D)p0+Dp1) T and controls a fully controlled switching device S2And a fully-controlled switching device S4Performing complementary work;
controlling a fully-controlled switching device S6Has a turn-on time of Dp0T, turn-off time is (1+ D)p0) T and controls a fully controlled switching device S5And a fully-controlled switching device S6Performing complementary work;
controlling a fully-controlled switching device Q1Has a turn-on time of DssT, turn-off time is (1+ D)ss) T and controls the fully-controlled switching device Q2And a fully-controlled switching device Q1Performing complementary work; and
controlling a fully-controlled switching device Q3Has an on time of (D)s0+Dss) T, turn-off time is (D)s0+Dss+1) T and controls the fully controlled switching device Q4And a fully-controlled switching device Q3The complementary work is carried out by the following steps,
wherein, T is a preset switching period.
12. The apparatus of claim 10, wherein the modulation unit is further configured to:
clamping the primary diode to mix with a three-level full bridge H1Output of + -vinDuty ratio of level is set to Dp1；
Clamping the primary diode to mix with a three-level full bridge H1Duty ratio of 0 level of output is set to Dp0；
The secondary side is connected with a single-phase full bridge H2Duty ratio of 0 level of output is set to Ds0(ii) a And
clamping the primary diode to mix with a three-level full bridge H1And the secondary single-phase full bridge H2Relative phase shift ratio therebetween is set to Dss。
13. An energy router, characterized in that the direct current port of the energy router employs a diode clamped hybrid three-level DAB converter controlled by the method of any of claims 1 to 6.
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