CN112332654B - Continuous sliding mode control method and control system of DC-DC buck converter - Google Patents

Continuous sliding mode control method and control system of DC-DC buck converter Download PDF

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CN112332654B
CN112332654B CN202011174609.2A CN202011174609A CN112332654B CN 112332654 B CN112332654 B CN 112332654B CN 202011174609 A CN202011174609 A CN 202011174609A CN 112332654 B CN112332654 B CN 112332654B
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buck converter
estimation
sliding mode
disturbance
voltage
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CN112332654A (en
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王会明
谭鑫
彭炜炜
唐贤伦
刘行谋
陈晓雷
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Chongqing University of Post and Telecommunications
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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
    • 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
    • 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
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac 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
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac 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
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac 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 with automatic control of output voltage or current, e.g. switching regulators
    • 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
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
    • Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes

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  • Power Engineering (AREA)
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Abstract

The invention disclosesA continuous sliding mode control method of a DC-DC buck converter comprises the following steps: voltage v output to DC-DC buck convertersCurrent iLAnd a reference voltage vrInputting the generalized proportional-integral observer to perform disturbance observation to obtain unmatched disturbance estimation
Figure DDA0002748352400000011
Estimation of mismatch perturbation
Figure DDA0002748352400000012
Obtaining a matching disturbance estimation after gain
Figure DDA0002748352400000013
Voltage v output to DC-DC buck convertersWith a given reference voltage vrDifference of (d), current i output by the DC-DC buck converterLEstimation of mismatch perturbation
Figure DDA0002748352400000014
And matching disturbance estimates
Figure DDA0002748352400000015
Carrying out continuous sliding mode control to obtain a duty ratio mu; performing pulse width modulation on the duty ratio mu, and using the modulated pulse width modulation voltage to drive the DC-DC buck converter; the control method has the advantages that the system has good dynamic performance and steady-state performance, and meanwhile, the control method can effectively inhibit unmatched time-varying interference.

Description

Continuous sliding mode control method and control system of DC-DC buck converter
Technical Field
The invention relates to the technical field of control methods of DC-DC buck converters, in particular to a continuous sliding mode control method and a continuous sliding mode control system of a DC-DC buck converter.
Background
With the development of modern power electronic technology and the demand of high efficiency and stable power supply in the industrial field, DC-DC power converters have been widely used in the industrial fields of DC motors, computer systems, communication devices, automobile systems, and the like.
Conventional DC-DC power converter control methods, such as PID control, are widely used due to their simple structure. However, the actual DC-DC power converter is a non-linear time varying system. First, system model parameters are uncertain and system modeling errors are inevitable, for example, the output voltage performance of a DC-DC power converter is susceptible to loading, while the inductance of the magnetic characteristic is virtually uncertain and non-linear in the presence of large magnetic flux densities. With the development of power electronics technology, more and more advanced control methods are proposed, which improve the performance of the DC-DC power converter from different aspects. Most control algorithms do not effectively deal with the time-varying disturbances of the system.
In the literature (J.Wang, S.Li, J.Yang, B.Wu and Q.Li, "Extended state object-based sliding mode Control for PWM-based DC-DC power converter systems with mismatch requirements," in IET Control & Applications, vol.9, No.4, pp.579-586,2622015, doi:10.1049/IET-cta.2014.0220.), the authors select a sliding mode Control method based on ESO to Control the DC-DC power converter system. However, since the control rate is discontinuous, this will cause fluctuation in the output. The literature (J.Yang, B.Wu, S.Li and X.Yu, "Design and quality Robusting Analysis of an DOBC apparatus for DC-DC Buck Converters With unamount Circuits Parameter requirements," in IEEE Transactions on Circuits and Systems I: Regular boards, vol.63, No.4, pp.551-560, April 2016, doi: 10.1109/TCSI.2016.25238.) uses DOB to cope With mismatch interference in DC-DC power converter Systems, although this control algorithm can give better dynamic and steady state performance to the system, but cannot handle time-varying interference. .
Disclosure of Invention
The invention aims to provide a continuous sliding mode control method and a control system of a DC-DC buck converter, which can effectively process time-varying interference when mismatch occurs by performing continuous sliding mode control after generalized proportional integration is performed on output voltage and current of the DC-DC converter.
The invention is realized by the following technical scheme:
the invention discloses a continuous sliding mode control method of a DC-DC buck converter, which comprises the following steps:
a: voltage v output by DC-DC buck convertersCurrent iLAnd a given reference voltage vrInputting the generalized proportional-integral observer to carry out disturbance observation to obtain unmatched disturbance estimation
Figure BDA0002748352380000021
B: estimation of mismatch perturbation
Figure BDA0002748352380000022
Obtaining a matching disturbance estimation after gain
Figure BDA0002748352380000023
C: voltage v output to DC-DC buck convertersWith a given reference voltage vrDifference of (d), current i output by the DC-DC buck converterLEstimation of mismatch perturbation
Figure BDA0002748352380000024
And matching disturbance estimates
Figure BDA0002748352380000025
Carrying out continuous sliding mode control to obtain a duty ratio mu;
d: and outputting pulse width modulation voltage after performing pulse width modulation on the duty ratio mu, wherein the pulse width modulation voltage is used for driving the DC-DC buck converter.
The control method of the DC-DC power converter in the traditional technology is an ESO sliding mode control method, but the adoption of the method can cause output fluctuation due to discontinuous control rate, if the DOB method is adopted to carry out unmatched interference on the DC-DC power converter, even if the method can be used for a system with good dynamic and steady performance, time-varying interference cannot be processed; the invention provides a continuous sliding mode control method and a control system of a DC-DC buck converter, which not only can enable the system to have good dynamic performance and steady-state performance, but also can effectively inhibit the control method of unmatched time-varying interference.
Preferably, in the step a, a generalized proportional-integral observer is used for disturbance observation to obtain a mismatch disturbance estimate
Figure BDA0002748352380000026
The specific calculation expression of (2) includes:
Figure BDA0002748352380000027
wherein x is1＝vs-vr，z0＝d1,
Figure BDA0002748352380000028
Figure BDA0002748352380000029
Are each z0,z1,…zm-1Is estimated by the estimation of (a) a,
Figure BDA00027483523800000210
is x1(ii) an estimate of (d); d1In order to not match the time-varying interference,
Figure BDA00027483523800000211
m is a positive integer; (l)m,lm-1,lm-2,...,l0) Is observer coefficient and satisfies characteristic polynomial p(s) ═ s(m+1)+lmsm+…l1s+l0Is located in the left half plane of the complex plane.
Preferably, the step B matches the disturbance estimation
Figure BDA00027483523800000212
The calculation expression of (a) is:
Figure BDA00027483523800000213
wherein R is0Is the nominal value of the resistance of the DC-DC buck converter, and C is the capacitance of the DC-DC buck converter.
Preferably, the calculation expression of the duty ratio μ in the step C is:
Figure BDA0002748352380000031
wherein the content of the first and second substances,
Figure BDA0002748352380000032
c1＞0，c2> 0 and k > 0 are coefficients of the controller, u is a control quantity, E is a power supply voltage of the DC-DC buck converter,
Figure BDA0002748352380000033
is composed of
Figure BDA0002748352380000034
(ii) an estimate of (d); s is a sliding mode surface of the continuous sliding mode controller; r0Is the nominal value of the resistance of the DC-DC buck converter, L is the inductance of the DC-DC buck converter, and C is the capacitance of the DC-DC buck converter.
Preferably, the calculation expression of the sliding mode surface s is:
Figure BDA0002748352380000035
wherein the content of the first and second substances,
Figure BDA0002748352380000036
d1in order to not match the time-varying interference,
Figure BDA0002748352380000037
Figure BDA0002748352380000038
is d1Is estimated by the estimation of (a) a,
Figure BDA0002748352380000039
is composed of
Figure BDA00027483523800000310
(ii) an estimate of (d); r0Is the nominal value of the resistance of the DC-DC buck converter, and R is the resistance of the DC-DC buck converter.
Preferably, the continuous sliding mode control method of the DC-DC buck converter is used for matching time-varying disturbance and unmatched time-varying disturbance.
The invention also discloses a continuous sliding mode control system of the DC-DC buck converter, which comprises the following components:
a generalized proportional-integral observer module for realizing the voltage v output by the DC-DC buck convertersCurrent iLAnd a reference voltage vrInputting the generalized proportional-integral observer to carry out disturbance observation to obtain unmatched disturbance estimation
Figure BDA00027483523800000311
A gain module for implementing estimation of mismatch perturbation
Figure BDA00027483523800000312
Obtaining a matching disturbance estimation after gain
Figure BDA00027483523800000313
A continuous sliding mode controller module for implementing estimation of a difference between a voltage output by the DC-DC buck converter and a given voltage, a current output by the DC-DC buck converter, and a mismatch disturbance
Figure BDA00027483523800000314
And matching disturbance estimates
Figure BDA00027483523800000315
Go on to connectContinuing sliding mode control to obtain a duty ratio mu;
and the pulse width modulation module is used for outputting pulse width modulation voltage after pulse width modulation is carried out on the duty ratio mu, and the pulse width modulation voltage is used for driving the DC-DC buck converter.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. compared with the traditional DC-DC buck converter system control method, the control method has the advantages that the algorithm is simple, the structure is easy to realize, and the system can achieve good dynamic performance and steady-state performance;
2. compared with a general sliding mode control system, the control system comprises continuous sliding mode control based on time-varying interference estimation obtained by an observer, and the anti-interference capability of the system can be effectively improved;
3. by adopting the continuous sliding mode control method and the control system of the DC-DC buck converter, provided by the invention, for the characteristic that the DC-DC buck converter system is susceptible to various unknown time-varying interferences, the control method can effectively inhibit the time-varying interferences in various forms such as constant values, slopes and parabolas.
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 application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic diagram of a continuous sliding mode control method according to the present invention
FIG. 2 is a schematic view of a continuous sliding mode control system according to the present invention
FIG. 3 is a control system schematic of a DC-DC buck converter;
FIG. 4a is a DC-DC buck converter circuit
FIG. 4b is a circuit diagram of the switch when open
FIG. 4c is a circuit diagram of the closed-loop switch
FIG. 5 shows two controlsSystem voltage v in the following equationsA simulation result graph;
FIG. 6 shows the system current i under two control modesLA simulation result graph;
FIG. 7 is a diagram of simulation results of the duty ratio μ of the system under two control modes;
FIG. 8 shows the observer output under the control of the present invention
Figure BDA0002748352380000041
A result graph;
FIG. 9 shows the observer output under the control of the present invention
Figure BDA0002748352380000042
Graph of results
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Implementation scheme one
The present embodiment discloses a continuous sliding mode control method for a DC-DC buck converter, which explains the derivation of a mathematical model of the DC-DC buck converter before introducing the control method, as shown in fig. 4a to 4c, the derivation of the mathematical model is represented as follows:
when the switch is opened, the circuit schematic diagram is shown as b in fig. 2, and the mathematical model is as follows:
Figure BDA0002748352380000051
when the switch is turned off, the circuit schematic diagram is as shown in c in fig. 2, and the mathematical model is as follows:
Figure BDA0002748352380000052
the system model obtained by combining formula 1 and formula 2 is:
Figure BDA0002748352380000053
wherein v issTo output the capacitor voltage, iLIs the inductor current; c is system capacitance, L is system inductance, R is system load resistance, E is power supply voltage of the DC-DC buck converter, and mu is control input duty ratio of PWM pulse width modulation.
In general, to facilitate control of the DC-DC buck converter system, let x1＝e＝vs-vr，
Figure BDA0002748352380000054
The model can be converted into:
Figure BDA0002748352380000055
is provided withStator
Figure BDA0002748352380000056
The model can be simplified to:
Figure BDA0002748352380000057
wherein R is0Is a nominal value of the system resistance, u is a control quantity, d1For mismatched interference, d2To match interference.
As shown in fig. 1, the continuous sliding mode control method of the DC-DC buck controller includes the following steps:
a: voltage v output to DC-DC buck convertersCurrent iLAnd a reference voltage vrInputting the generalized proportional-integral observer to carry out disturbance observation to obtain unmatched disturbance estimation
Figure BDA0002748352380000058
In the step A, disturbance observation is carried out through a generalized proportional-integral observer to obtain unmatched disturbance estimation
Figure BDA0002748352380000059
The specific calculation expression of (2) includes:
Figure BDA0002748352380000061
wherein z is0＝d1,
Figure BDA0002748352380000062
Figure BDA0002748352380000063
Are each z0,z1,…zm-1Is estimated by the estimation of (a) a,
Figure BDA0002748352380000064
is x1(ii) an estimate of (d); m is a positive integer; (l)m,lm-1,lm-2,...,l0) Is observer coefficient and satisfies characteristic polynomial p(s) ═ s(m+1)+lmsm+…l1s+l0Is located in the left half plane of the complex plane.
B: estimation of mismatch perturbation
Figure BDA0002748352380000065
Obtaining a matching disturbance estimation after gain
Figure BDA0002748352380000066
Expression of its calculation
Figure BDA0002748352380000067
Wherein R is0Is the nominal value of the resistance of the DC-DC buck converter, and C is the capacitance of the DC-DC buck converter.
C: voltage v output to DC-DC buck convertersWith a given reference voltage vrDifference of (d), current i output by the DC-DC buck converterLEstimation of mismatch perturbation
Figure BDA0002748352380000068
And matching disturbance estimates
Figure BDA0002748352380000069
Carrying out continuous sliding mode control to obtain a duty ratio mu;
wherein, the calculation expression of the duty ratio mu is as follows:
Figure BDA00027483523800000610
wherein the content of the first and second substances,
Figure BDA00027483523800000611
c1＞0，c2> 0 and k > 0 are coefficients of the controller, u is a control quantity, E is a supply voltage of the DC-DC buck converter,
Figure BDA00027483523800000612
is composed of
Figure BDA00027483523800000613
(ii) an estimate of (d); s is a sliding mode surface of the continuous sliding mode controller; r0The resistance nominal value of the DC-DC buck converter is obtained, L is the inductance of the DC-DC buck converter, and C is the capacitance of the DC-DC buck converter;
the calculation expression of the sliding mode surface s is as follows:
Figure BDA00027483523800000614
wherein the content of the first and second substances,
Figure BDA00027483523800000615
d1in order to not match the time-varying interference,
Figure BDA00027483523800000616
Figure BDA00027483523800000617
is d1Is estimated by the estimation of (a) a,
Figure BDA00027483523800000618
is composed of
Figure BDA00027483523800000619
(ii) an estimate of (d); r0Is the nominal resistance value of the DC-DC buck converter, R is the resistance D of the DC-DC buck converter: and outputting pulse width modulation voltage after performing pulse width modulation on the duty ratio mu, wherein the pulse width modulation voltage is used for driving the DC-DC buck converter.
And the DC-DC buck converter continuous sliding mode control method is used for matching the time-varying disturbance and the unmatched time-varying disturbance.
Example II
Based on the first embodiment, the present embodiment discloses a continuous sliding mode control system for a DC-DC buck converter, as shown in fig. 2 to 3, the continuous sliding mode control system includes:
a generalized proportional-integral observer module for reducing the voltage v output by the DC-DC buck convertersCurrent iLAnd a reference voltage vrInputting the generalized proportional-integral observer to carry out disturbance observation to obtain unmatched disturbance estimation
Figure BDA0002748352380000071
A gain module for implementing estimation of mismatch perturbation
Figure BDA0002748352380000072
Obtaining a matching disturbance estimation after gain
Figure BDA0002748352380000073
A continuous sliding mode controller module for realizing the difference between the output voltage of the DC-DC buck converter and the given voltage, and DC-DC buckCurrent, mismatch disturbance estimation of converter output
Figure BDA0002748352380000074
And matching disturbance estimates
Figure BDA0002748352380000075
Carrying out continuous sliding mode control to obtain a duty ratio mu;
and the pulse width modulation module is used for outputting pulse width modulation voltage after pulse width modulation is carried out on the duty ratio mu, and the pulse width modulation voltage is used for driving the DC-DC buck converter.
Comparing the present invention (a continuous sliding mode control method for DC-DC buck converter based on unmatched time varying disturbance) with the conventional sliding mode control method, as shown in fig. 5, it can be seen that the control method of the present invention makes the actual voltage v of the DC-DC buck converter system after startingsThe stable value is quickly reached, and the adjusting time is short; after (t ═ 7s) load sudden change, the system is recovered quickly, the adjusting time is extremely short, and the system is hardly interfered by external loads, while the traditional sliding mode control method cannot effectively adjust after the load sudden change, and the actual voltage of the system can not meet the expected requirement any more.
As shown in fig. 6, the actual system current in the conventional sliding mode control mode is compared with the actual system current in the recommended control mode of the present invention, so that the current cannot be adjusted after sudden load change in the conventional sliding mode control mode; the actual current of the system under the recommended control mode can be quickly adjusted.
As shown in fig. 7, the duty ratio μ of the system under the recommended control mode of the present invention can still be quickly adjusted after the load suddenly changes, while the output voltage of the system cannot meet the expected requirement due to the traditional sliding mode control method which cannot be effectively adjusted after the load suddenly changes;
FIG. 8 and FIG. 9 are diagrams of the output result of GPIO under the recommended control mode of the present invention, and FIG. 6 is x output by the observer1Is shown by the diagram, x1Can go to zero and keep in a short timeThe observer under the recommended control mode can effectively track the system error; FIG. 7 shows the disturbance d output by the observer1When the load resistance suddenly decreases at (t ═ 7s), the disturbance d is estimated to be1The estimation of the invention is mutated, so that the control mode recommended by the invention can obviously inhibit mismatched time-varying interference.
In summary, by using the continuous sliding mode control method and the control system for the DC-DC buck converter provided by the invention, the voltage and the current output by the DC-DC buck converter pass through the continuous control sliding mode after the generalized proportional-integral observer, and the control method has a simple algorithm, so that the system achieves good dynamic performance and steady-state performance; and the observer obtains continuous sliding mode control based on time-varying interference estimation, thereby effectively improving the anti-interference capability of the system.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (5)

1. A continuous sliding mode control method for a DC-DC buck converter is characterized by comprising the following steps:
a: voltage v output by DC-DC buck convertersCurrent iLAnd a given reference voltage vrInputting the generalized proportional-integral observer to carry out disturbance observation to obtain unmatched disturbance estimation
Figure FDA0003434904900000011
B: estimation of mismatch perturbation
Figure FDA0003434904900000012
Obtaining the matching disturbance estimation after gainMeter
Figure FDA0003434904900000013
C: voltage v output to DC-DC buck convertersWith a given reference voltage vrDifference of (d), current i output by the DC-DC buck converterLEstimation of mismatch perturbation
Figure FDA0003434904900000014
And matching disturbance estimates
Figure FDA0003434904900000015
Carrying out continuous sliding mode control to obtain a duty ratio mu;
d: pulse width modulating the duty ratio mu and then outputting pulse width modulation voltage, wherein the pulse width modulation voltage is used for driving a DC-DC buck converter;
matching disturbance estimation in the step B
Figure FDA0003434904900000016
The calculation expression of (a) is:
Figure FDA0003434904900000017
R0is the nominal resistance value of the DC-DC buck converter, and C is the capacitance of the DC-DC buck converter;
in the step A, disturbance observation is carried out through a generalized proportional-integral observer to obtain unmatched disturbance estimation
Figure FDA0003434904900000018
The specific calculation expression of (2) includes:
Figure FDA0003434904900000019
wherein x is1＝vs-vr，z0＝d1，
Figure FDA00034349049000000110
Figure FDA00034349049000000111
Are each z0,z1,…zm-1Is estimated by the estimation of (a) a,
Figure FDA00034349049000000112
is x1(ii) an estimate of (d); d1In order to not match the time-varying interference,
Figure FDA00034349049000000113
m is a positive integer; (l)m,lm-1,lm-2,...,l0) Is observer coefficient and satisfies characteristic polynomial p(s) ═ s(m+1)+lmsm+…l1s+l0The root of (B) is located on the left half plane of the complex plane; r is the resistance of the DC-DC buck converter, C is the capacitance of the DC-DC buck converter, R0And s is the sliding mode surface of the continuous sliding mode controller.
2. The continuous sliding-mode control method for the DC-DC buck converter according to claim 1, wherein the calculation expression of the duty ratio μ in the step C is as follows:
Figure FDA0003434904900000021
wherein the content of the first and second substances,
Figure FDA0003434904900000022
c1＞0，c2> 0 and k > 0 are coefficients of the controller, u is a control quantity, E is a supply voltage of the DC-DC buck converter,
Figure FDA0003434904900000023
is composed of
Figure FDA0003434904900000024
Is estimated by the estimation of (a) a,
Figure FDA0003434904900000025
is d1Differentiation of (1); s is a sliding mode surface of the continuous sliding mode controller; r0The resistance nominal value of the DC-DC buck converter is obtained, L is the inductance of the DC-DC buck converter, and C is the capacitance of the DC-DC buck converter; x is the number of1＝vs-vr,
Figure FDA0003434904900000026
3. A DC-DC buck converter continuous sliding-mode control method according to claim 2, wherein the computational expression of the sliding-mode surface s is:
Figure FDA0003434904900000027
wherein x is1＝vs-vr,
Figure FDA0003434904900000028
d1In order to not match the time-varying interference,
Figure FDA0003434904900000029
Figure FDA00034349049000000210
is d1Is estimated by the estimation of (a) a,
Figure FDA00034349049000000211
is composed of
Figure FDA00034349049000000212
(ii) an estimate of (d); r0Is the nominal value of the resistance of the DC-DC buck converter, R is the resistance of the DC-DC buck converter, and C is the capacitance of the DC-DC buck converter.
4. A DC-DC buck converter continuous sliding-mode control method according to claim 2, characterized by: the continuous sliding mode control method of the DC-DC buck converter is used for matching time-varying disturbance and unmatching time-varying disturbance.
5. A continuous sliding mode control system of a DC-DC buck converter is characterized in that: the continuous sliding mode control system comprises:
a generalized proportional-integral observer module for reducing the voltage v output by the DC-DC buck convertersCurrent iLAnd a reference voltage vrInputting the generalized proportional-integral observer to carry out disturbance observation to obtain unmatched disturbance estimation
Figure FDA00034349049000000213
A gain module for implementing estimation of mismatch perturbation
Figure FDA00034349049000000214
Obtaining a matching disturbance estimation after gain
Figure FDA00034349049000000215
A continuous sliding mode controller module for implementing estimation of a difference between a voltage output by the DC-DC buck converter and a given voltage, a current output by the DC-DC buck converter, and a mismatch disturbance
Figure FDA00034349049000000216
And matching the disturbance estimate
Figure FDA00034349049000000217
Continuous sliding mode control is carried out to obtain duty ratio mu；
The pulse width modulation module is used for realizing pulse width modulation on the duty ratio mu and then outputting pulse width modulation voltage, and the pulse width modulation voltage is used for driving the DC-DC buck converter;
the matching perturbation estimate
Figure FDA0003434904900000031
The calculation expression of (a) is:
Figure FDA0003434904900000032
wherein R is0Is the nominal resistance value of the DC-DC buck converter, and C is the capacitance of the DC-DC buck converter;
carrying out disturbance observation through a generalized proportional-integral observer to obtain unmatched disturbance estimation
Figure FDA0003434904900000033
The specific calculation expression of (2) includes:
Figure FDA0003434904900000034
wherein x is1＝vs-vr，z0＝d1，
Figure FDA0003434904900000035
Figure FDA0003434904900000036
Figure FDA0003434904900000037
Are each z0,z1,…zm-1Is estimated by the estimation of (a) a,
Figure FDA0003434904900000038
is x1(ii) an estimate of (d); d1In order to not match the time-varying interference,
Figure FDA0003434904900000039
m is a positive integer; (l)m,lm-1,lm-2,...,l0) Is observer coefficient and satisfies characteristic polynomial p(s) ═ s(m+1)+lmsm+…l1s+l0The root of (B) is located on the left half plane of the complex plane; r is a DC-DC buck converter, C is a capacitor of the DC-DC buck converter, R0And s is the sliding mode surface of the continuous sliding mode controller.
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