CN112615538A - Sliding mode control method of Boost type converter based on extended state observer - Google Patents

Sliding mode control method of Boost type converter based on extended state observer Download PDF

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CN112615538A
CN112615538A CN202110007489.5A CN202110007489A CN112615538A CN 112615538 A CN112615538 A CN 112615538A CN 202110007489 A CN202110007489 A CN 202110007489A CN 112615538 A CN112615538 A CN 112615538A
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sliding mode
extended state
state observer
mode control
control method
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郑诗程
齐梦梦
舒莹
郎佳红
张为民
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Anhui University of Technology AHUT
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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
    • H02M3/02—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
    • H02M3/157—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 with digital control

Abstract

The invention discloses a sliding mode control method and a sliding mode control system of a Boost type converter based on an extended state observer, belonging to the technical field of power electronics and control thereof; the method comprises the following steps: firstly, establishing a mathematical model of a Boost converter to obtain a current i related to an inductanceLAnd an output voltage V0A differential equation of (2); designing an extended state observer, and respectively estimating load resistance change and input voltage fluctuation to obtain
Figure DDA0002883657350000011
And obtain
Figure DDA0002883657350000012
And designing a sliding mode controller based on an extended state observer based on the non-minimum phase characteristic of the Boost converter. The invention uses the inductive current and the capacitor voltage of the system as state variables and converts a time-varying nonlinear switching circuit into an equivalent one by means of a time averaging technologyAnd a time-invariant and linear continuous circuit is used for building a universal system state space average model, so that the practicability of the control method is improved.

Description

Sliding mode control method of Boost type converter based on extended state observer
Technical Field
The invention relates to the technical field of power electronics and control thereof, in particular to a sliding mode control method of a Boost type converter based on an extended state observer.
Background
With the rapid development of modern science and technology, especially the great progress of power electronic technology, microelectronic technology, digital control technology and modern control theory, favorable conditions are created for the development of power electronic direct current switch power supply systems, and especially in the fields of robots, precise radars, military weapons, new energy photovoltaic systems and the like with higher and higher requirements on the control performance of direct current switch power supplies, direct current converter systems are receiving more and more attention.
At present, a direct current Boost converter system mostly adopts a double-closed-loop control structure, namely an inner loop is a current control loop, an outer loop is a voltage control loop, and a controller mostly adopts a PI regulator. The current loop has the functions of improving the rapidity of the system and inhibiting the interference in the current in time; the voltage ring has the functions of improving the load disturbance resistance of the system and inhibiting the voltage stable fluctuation.
In practical dc power supply equipment, the dc converter system mostly requires high output voltage precision in working occasions, and is required to be capable of rapidly adapting to various different working conditions. However, since the PI controller is currently used, when the system operates under different conditions (for example, in the case of disturbance), it mainly uses integration to eliminate the influence of disturbance on the output voltage, which is a passive and slow control method, and especially when the system encounters fast time-varying or periodic disturbance, it is difficult to track a given voltage quickly. These disturbances mainly include load variations and voltage input fluctuations, etc. If the controller does not deal with these disturbances quickly and actively, it is difficult for the closed loop system to achieve fast and high accuracy voltage output performance. Therefore, under the condition that the Boost converter system has disturbance, if the system can process the disturbance in time, the tracking speed and precision of the power electronic converter system can be further improved, and the application of the power electronic system in the high-precision voltage output working field can be met.
In order to process system disturbance in time and improve the tracking precision of a power electronic direct current converter system, a large amount of research is carried out by domestic and foreign scholars. An improved precision feedback linearization sliding mode variable structure control system of a Boost converter is provided in journal of Chinese Motor engineering journal, at 31 st, 30 th and 16 th-22 th pages, a control method of a sliding mode variable structure of the Boost converter based on precision feedback linearization is researched, a sliding mode variable structure controller based on the Boost converter is designed by applying the method, and experimental analysis is carried out on the control system. The result shows that the improved Boost converter accurate feedback linearization sliding mode variable structure control algorithm is suitable for a Boost converter system and has strong practicability. But the disadvantages of this system are: although the control system has strong practicability, the control system is mainly improved by researching accurate feedback linearization nonlinear control, and uncertainty of parameters is not considered.
In journal, volume 49, phase 5, page 55-58 of "electric drive", a sliding mode control method of a DC-DC boost converter based on a state observer is proposed, according to a typical PWM-based average circuit model of the DC-DC boost converter, and according to a system control target, values of an input voltage and a load resistance are estimated in real time by using the state observer, and the estimated values are fed back to a controller; the adaptive sliding mode surface is designed by utilizing the estimated value, and a control law is obtained by combining an exponential approximation law, so that the output voltage of the converter can track the reference voltage, and the control method is verified to be reasonable and effective through simulation. However, the method has the following disadvantages: although the problems of slow dynamic response, poor steady-state performance and poor anti-interference performance to disturbance such as load change, input voltage change and the like of the traditional PI control strategy can be solved, the defects of the traditional linear sliding mode function are not further researched.
Through retrieval, the Chinese patent application number: ZL202010173962.2, application date is: 3, 13 days in 2020, the invention name is: a Boost type converter control method and system based on finite time convergence observer includes finite time convergence observer module, nonsingular terminal sliding mode controller module and PWM module, its design steps are: selecting the inductor current iL and the output voltage Vo as state variables of a system, and establishing a differential equation of the Boost converter about the inductor current iL and the output voltage Vo; designing a finite time convergence observer according to a differential equation, combining the finite time convergence observer with a traditional nonsingular terminal sliding mode control method, and designing a new nonsingular terminal controller; and simultaneously inputting the output control quantity of the new controller and the sawtooth wave into a PWM module, and generating a PWM signal to drive and control a power device in the Boost converter. When the load resistance and the input voltage are suddenly changed, the output voltage can still be converged to the reference voltage within a limited time, and the dynamic and steady state performance and the anti-interference performance of the system are improved. However, the finite time algorithm adopted by the application is a special non-smooth control algorithm, the design difficulty of a non-smooth control system is high, the non-smooth control system depends on a model of the system, the number of parameters to be set is large, and the implementation is complex.
Disclosure of Invention
1. Technical problem to be solved by the invention
Aiming at the defects of large disturbance and low tracking speed and precision caused by load change and input voltage fluctuation of the conventional Boost converter system, the invention firstly estimates the disturbance on the basis of voltage and current state information acquired in an experiment by utilizing an extended state observer technology to obtain load disturbance and input voltage disturbance estimation information existing in the system, and then designs a sliding mode controller by utilizing a sliding mode control technology to realize the rapidity and the accuracy of given voltage tracking of the direct current Boost converter system.
2. Technical scheme
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the invention discloses a sliding mode control method of a Boost type converter based on an extended state observer, which is characterized by comprising the following steps:
step one, establishing a mathematical model of a Boost converter to obtain a current i related to an inductanceLAnd an output voltage V0A differential equation of (2);
designing an extended state observer, and respectively estimating load resistance change and input voltage fluctuation to obtain
Figure BDA0002883657330000021
Further obtain
Figure BDA0002883657330000022
And thirdly, designing a sliding mode controller based on the extended state observer on the basis of estimating the disturbance by the extended state observer and based on the non-minimum phase characteristic of the Boost converter.
3. Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following remarkable effects:
(1) according to the sliding mode control method of the Boost type converter based on the extended state observer, the model of the Boost converter is used, the inductive current and the capacitance voltage of the system are used as state variables, the time-varying and nonlinear switching circuit is converted into an equivalent time-invariant and linear continuous circuit by means of a time averaging technology, and a universal system state space average model is built, so that the practicability of the control method is improved.
(2) The sliding mode control method of the Boost type converter based on the extended state observer combines the extended state observer module and the sliding mode variable structure control technology, the designed control system has strong robustness, the strong dependence of the traditional linearization control method on a system mathematical model is eliminated, a theoretical approach is provided for the engineering application of an advanced control method, the control law is simple, and the sliding mode control method has engineering practical value.
(3) The control method based on the extended state observer and the sliding mode control technology is applied to a Boost converter system, the anti-interference performance and the tracking performance of a direct current Boost change system can be obviously improved under the condition of ensuring the dynamic performance, the application of the direct current Boost converter in the high-precision field is met, and engineering personnel only need to adjust the parameters of a controller less.
Drawings
FIG. 1 is a Boost converter circuit;
FIG. 2 is a control diagram of the Boost converter of the present invention;
FIG. 3 is a schematic structural diagram of the extended state observer according to the present invention;
FIG. 4 is a waveform diagram comparing output voltages when input voltages are varied according to the present invention and the conventional method;
FIG. 5 is a waveform diagram comparing output voltages when the load resistance is varied according to the present invention and the conventional method;
FIG. 6 is a waveform diagram comparing output voltages when the reference voltage is varied according to the present invention and the conventional method.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
The invention adopts the core part of the active disturbance rejection control, namely the extended state observer, and has the most prominent characteristics that all uncertain factors acting on a controlled object are classified as unknown disturbance, and then input and output data are estimated and compensated through the extended state observer, so that the method is independent of a system model, is suitable for the uncertain system object with high nonlinearity and nonparametric property, has simple design process and easy realization, can realize the rapid and accurate tracking of a reference signal only by limited model and parameter information, and has higher control precision and stronger robustness.
Example 1
According to the sliding mode control method of the Boost converter based on the extended state observer, a novel control system is designed on the basis of a Boost circuit, the novel control system comprises an extended state observer module, a sliding mode controller module and a PWM (pulse width modulation) module, the three modules are used in series, comprehensive design is carried out, and coordinated operation among the modules is guaranteed. The method comprises the following specific steps:
step one, establishing a mathematical model of a Boost converter, and selecting an inductive current iLAnd an output voltage V0As a state variable of the system, deriving a differential equation of the Boost converter when the power device is switched on and off and an average state equation of the Boost converter in a continuous conduction mode based on kirchhoff voltage and current law to obtain a state variable related to an inductive current iLAnd an output voltage V0Differential equation of (a):
with reference to FIG. 1, wherein VinFor input of DC voltage, VT is a controllable power device, V0For the output voltage, D is a freewheeling diode, L is a filter inductor, C is a filter capacitor, R is a load resistor, iLIs the inductor current. The method comprises the steps of selecting an inductive current i by analyzing the on-off conditions of a power device in a Boost converterLAnd an output voltage V0As state variables of the system, differential equations of a Boost converter when a power device is switched on and switched off are deduced based on kirchhoff voltage and current laws and respectively:
Figure BDA0002883657330000041
Figure BDA0002883657330000042
meanwhile, the average state equation of the Boost converter in the continuous conduction mode can be derived as follows:
Figure BDA0002883657330000043
where μ is the control input, i.e. the duty cycle of the power device, and μ e [0,1] is satisfied.
The present embodiment uses the inductive current i of the systemLCapacitor electricityVoltage (i.e. output voltage V)0) For the state variable, a time-varying nonlinear switching circuit is converted into an equivalent time-invariant linear continuous circuit by means of a time averaging technology, and a general system state space average model is built, so that the practicability of the control method is improved.
Step two, designing an extended state observer: in combination with fig. 2 and fig. 3, in an actual system, negative influences of load resistance and input voltage change in the Boost circuit on the constant voltage output performance of the system are considered, and real-time estimation of unknown parameters is achieved. According to the obtained inductive current iLAnd an output voltage V0The differential equation design extended state observer respectively estimates the load resistance change and the input voltage fluctuation, and expresses the disturbance caused by the load resistance change as d1(t), the disturbance due to the input voltage fluctuation is denoted as d2(t) estimating the disturbance according to the technical theory of the extended observer and obtaining
Figure BDA0002883657330000044
Further obtain
Figure BDA0002883657330000045
First, consider the input voltage VinAnd the load R can be interfered by the outside in the practical engineering, and is VinAnd a load R0As the nominal values of the output voltage and the load. The disturbance due to the change in load resistance is denoted as d1(t), the disturbance due to the input voltage fluctuation is denoted as d2(t), wherein:
Figure BDA0002883657330000051
according to the extended state observer theory, its observer can be designed as:
Figure BDA0002883657330000052
in the formula (I), the compound is shown in the specification,
Figure BDA0002883657330000053
is an estimate of the output voltage under load resistance variations,
Figure BDA0002883657330000054
is an estimate of the load disturbance under load resistance variation, parameter beta11,β12>0。
Figure BDA0002883657330000055
In the formula
Figure BDA0002883657330000056
Is an estimate of the inductor current under input voltage fluctuations,
Figure BDA0002883657330000057
for the estimation of load disturbances under input voltage fluctuations, the parameter beta21,β22>0。
The following equations (3) and (4) show that:
Figure BDA0002883657330000058
in the formula (I), the compound is shown in the specification,
Figure BDA0002883657330000059
are each VinAnd an estimate of R.
Step three, designing a sliding mode controller based on the extended state observer: on the basis of estimating disturbance by using an extended state observer, a new sliding mode controller is designed under the condition of considering load change and input voltage fluctuation based on the non-minimum phase characteristics of a Boost converter, and the obtained controller is utilized to realize that when the system has disturbance, the output voltage V is output0The reference voltage can still be tracked quickly.
Will expandObtained by a state observer
Figure BDA00028836573300000510
And (3) combining with the traditional sliding mode control method, and designing a new sliding mode surface function and a new sliding mode control law. Considering the non-minimum phase characteristic of the Boost converter and two energy storage elements of an inductor and a capacitor, designing a sliding mode surface function by adopting a method for constructing an energy storage function and selecting an exponential approach law to design a corresponding sliding mode control law:
constructing a stored energy function
Figure BDA00028836573300000511
Figure BDA00028836573300000512
The system dynamic equation for that state can be derived:
Figure BDA0002883657330000061
by solving the balance point of the state equation, the reference value of the inductive current in the steady state satisfies the following relation:
Figure BDA0002883657330000062
wherein iLrefIs an inductor current reference value, VrefIs the output voltage reference.
Further obtaining the reference value of the energy storage function of the Boost converter
Figure BDA0002883657330000063
Comprises the following steps:
Figure BDA0002883657330000064
when the system is in steady state, then there are:
Figure BDA0002883657330000065
in addition, the reason is that:
Figure BDA0002883657330000066
so that i can be deducedLWill track iLref，V0Will track Vref。
Considering that influence is caused on output voltage when uncertain factors of a system such as load resistance, input voltage and the like are ignored to change in the design process of the traditional sliding mode controller, the design method is combined with the method obtained in the previous step
Figure BDA0002883657330000067
And designing a new sliding mode surface function and a new sliding mode control law so as to realize the rapidity and the accuracy of tracking the given voltage of the system.
Respectively order e1,e2For the tank function error value and the tank function error derivative value,
Figure BDA0002883657330000068
is e1,e2The specific expression of the estimated value of (c) is as follows:
Figure BDA0002883657330000069
Figure BDA00028836573300000610
considering an energy storage error system of the Boost converter, a corresponding sliding mode surface function S is designed as follows:
Figure BDA00028836573300000611
wherein the content of the first and second substances,
Figure BDA00028836573300000612
and the design parameters p and q are both positive odd numbers, beta>0 is a parameter to be designed;
in addition, in order to ensure that the system can trend to a sliding mode surface from any state within a limited time, an exponential approximation law can be selected to design a sliding mode control law, wherein the exponential approximation law is selected as follows:
Figure BDA00028836573300000613
wherein, the parameter epsilon, eta to be designed is more than 0;
the joint vertical type (15), (16) and (17) can obtain a sliding mode control law expression:
Figure BDA0002883657330000071
the design process of the sliding mode controller of the Boost converter based on the extended state observer of the embodiment is subjected to simulation verification through a Matlab/Simulink simulation platform. The simulation experiment compares the traditional proportional-integral control method (PI) with the sliding mode control method (ESO + SMC) based on the extended state observer.
Through simulation, the output voltage waveform under the conventional PI method and the output voltage waveform under the control method adopted in the present embodiment are obtained in the presence of disturbance in the input voltage, see fig. 4. Compared with the traditional PI method, the control method adopted by the embodiment has the advantages that the change amplitude of the output voltage is small, the output voltage can be converged to a desired value quickly, and the system has better dynamic performance.
As can be seen from fig. 5, in the case of disturbance of the load resistance, compared with the conventional PI control method, when the steady state is reached again, the ESO + SMC control method adopted in this embodiment has a significantly faster convergence rate and a smaller overshoot, so that the system has a faster convergence and a stronger load change resistance. As can be seen from fig. 6, in the case that the reference voltage has disturbance, compared with the conventional PI control, when the reference voltage reaches the steady state again, the control method adopted in this embodiment enables the system to obtain a faster dynamic response speed, and has a better anti-interference capability.
Compared with the traditional PI control method, the embodiment adopts the extended state observer module capable of estimating the load and the input voltage within the limited time on the basis of the traditional sliding mode control method, and when the load resistance and the input voltage are suddenly changed, the output voltage can still converge to the reference voltage within the limited time, so that the problems of slow dynamic response, poor steady-state performance and poor anti-interference performance when the disturbance such as load change, input voltage change and the like occurs in the traditional PI control method are solved, and the dynamic and steady-state performance of the system is improved.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.

Claims (10)

1. A sliding mode control method of a Boost type converter based on an extended state observer is characterized by comprising the following steps:
step one, establishing a mathematical model of a Boost converter to obtain a current i related to an inductanceLAnd an output voltage V0A differential equation of (2);
designing an extended state observer, and respectively estimating load resistance change and input voltage fluctuation to obtain
Figure FDA0002883657320000011
Further obtain
Figure FDA0002883657320000012
And thirdly, designing a sliding mode controller based on the extended state observer on the basis of estimating the disturbance by the extended state observer and based on the non-minimum phase characteristic of the Boost converter.
2. The sliding mode control method of the Boost type converter based on the extended state observer as claimed in claim 1, wherein: in the first step, the inductive current i is selectedLAnd an output voltage V0As state variables of the system, differential equations of a Boost converter when a power device is switched on and off are deduced based on kirchhoff voltage and current laws respectively as follows,
Figure FDA0002883657320000013
Figure FDA0002883657320000014
wherein, VinInputting direct-current voltage, wherein L is a filter inductor, C is a filter capacitor, and R is a load resistor;
meanwhile, the average state equation of the Boost converter in the continuous conduction mode can be deduced as the formula (3),
Figure FDA0002883657320000015
where μ is the control input, i.e. the duty cycle of the power device, and μ e [0,1] is satisfied.
3. The sliding mode control method of the Boost type converter based on the extended state observer as claimed in claim 1 or 2, wherein: in the second step, the obtained inductive current i is usedLAnd an output voltageV0The differential equation design extended state observer respectively estimates the load resistance change and the input voltage fluctuation, and expresses the disturbance caused by the load resistance change as d1(t), the disturbance due to the input voltage fluctuation is denoted as d2(t) estimating the disturbance according to the technical theory of the extended observer and obtaining
Figure FDA0002883657320000016
Further obtain
Figure FDA0002883657320000017
4. The sliding mode control method of the Boost type converter based on the extended state observer as claimed in claim 3, wherein: in the second step, V is usedin0And a load R0The disturbance due to the load resistance change is denoted as d as the nominal values of the output voltage and the load1(t), the disturbance due to the input voltage fluctuation is denoted as d2(t), wherein:
Figure FDA0002883657320000018
5. the sliding mode control method of the Boost type converter based on the extended state observer as claimed in claim 4, wherein: in the second step, according to the extended state observer theory, the observer can be designed as,
Figure FDA0002883657320000021
in the formula (I), the compound is shown in the specification,
Figure FDA0002883657320000022
is an estimate of the output voltage under load resistance variations,
Figure FDA0002883657320000023
is an estimate of the load disturbance under load resistance variation, parameter beta11,β12>0；
Figure FDA0002883657320000024
In the formula
Figure FDA0002883657320000025
Is an estimate of the inductor current under input voltage fluctuations,
Figure FDA0002883657320000026
for the estimation of load disturbances under input voltage fluctuations, the parameter beta21,β22>0。
6. The sliding mode control method of the Boost type converter based on the extended state observer as claimed in claim 5, wherein: derived from the formula (3) and the formula (4) to obtain
Figure FDA0002883657320000027
Figure FDA0002883657320000028
In the formula (I), the compound is shown in the specification,
Figure FDA0002883657320000029
are each VinAnd an estimate of R.
7. The sliding mode control method of the Boost type converter based on the extended state observer as claimed in claim 6, wherein: in the third step, the extended state observer is usedObtained
Figure FDA00028836573200000210
The method is combined with a traditional sliding mode control method, a new sliding mode surface function and a new sliding mode control law are designed, the non-minimum phase characteristic of a Boost converter and two energy storage elements of an inductor and a capacitor are considered, the sliding mode surface function is designed by adopting a method for constructing an energy storage function, and a corresponding sliding mode control law is designed by selecting an exponential approach law.
8. The sliding mode control method of the Boost type converter based on the extended state observer as claimed in claim 7, wherein: in the third step, the energy storage function is constructed first
Figure FDA00028836573200000211
Figure FDA00028836573200000212
The system dynamic equation for this state can be derived,
Figure FDA00028836573200000213
by solving the balance point of the state equation, the reference value of the inductive current in a steady state can satisfy the following relational expression,
Figure FDA00028836573200000214
wherein iLrefIs an inductor current reference value, VrefIs the output voltage reference value; further obtaining the reference value of the energy storage function of the Boost converter
Figure FDA00028836573200000215
Figure FDA0002883657320000031
When the system is in steady state, then there are:
Figure FDA0002883657320000032
because of the fact that
Figure FDA0002883657320000033
Deducing to obtain iLTracing iLref，V0Tracking Vref。
9. The sliding mode control method of the Boost type converter based on the extended state observer as claimed in claim 8, wherein: in the third step, let e1,e2For the tank function error value and the tank function error derivative value,
Figure FDA0002883657320000034
is e1,e2An estimated value of (2), then
Figure FDA0002883657320000035
Figure FDA0002883657320000036
Considering an energy storage error system of the Boost converter, a corresponding sliding mode surface function S is designed as follows:
Figure FDA0002883657320000037
wherein the content of the first and second substances,
Figure FDA0002883657320000038
and the design parameters p and q are both positive odd numbers, beta>0 is the parameter to be designed.
10. The sliding mode control method of the Boost type converter based on the extended state observer as claimed in claim 9, wherein: in order to ensure that the system can trend to a sliding mode surface from any state within a limited time, an exponential approximation law can be selected to design a sliding mode control law, wherein the exponential approximation law is selected as follows:
Figure FDA0002883657320000039
wherein, the parameter epsilon, eta to be designed is more than 0;
the joint vertical type (15), (16) and (17) can obtain a sliding mode control law expression:
Figure FDA00028836573200000310
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114865916A (en) * 2022-07-06 2022-08-05 佛山仙湖实验室 Sliding mode control method of DC-DC converter applied to hydrogen fuel automobile
CN114865916B (en) * 2022-07-06 2022-10-14 佛山仙湖实验室 Sliding mode control method of DC-DC converter applied to hydrogen fuel automobile
CN115102396A (en) * 2022-08-24 2022-09-23 南京信息工程大学 Current-free sensing control method of boost converter with constant-power load
CN115102396B (en) * 2022-08-24 2022-11-25 南京信息工程大学 Current-free sensing control method of boost converter with constant-power load

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Application publication date: 20210406