CN112731798B - PI control method and controller based on DC-DC converter - Google Patents
PI control method and controller based on DC-DC converter Download PDFInfo
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Abstract
The embodiment of the disclosure provides a PI control method and a controller based on a DC-DC converter, wherein the method comprises the following steps: modeling a DC-DC converter to obtain a signal model of the converter; obtaining a first transfer function model of the converter based on the signal model, and controlling the output voltage and current of the converter; adding a first time convergence coefficient into the first transfer function model to obtain a second transfer function model; and combining the first transfer function model with the second transfer function model to obtain a third transfer function model, and controlling the output voltage and the output current of the converter through the third transfer function model. The limited time convergence control method for PI control disclosed by the invention can improve the robust performance of the double-active full-bridge DC-DC converter, improve the anti-interference performance of a system, reduce the response overshoot, accelerate the convergence speed, reduce the steady-state error, and is simple and easy to realize.
Description
Technical Field
The invention belongs to the technical field of new energy distributed generation and power electronics, and particularly relates to a PI control method and a controller based on a DC-DC converter.
Background
In recent years, in order to alleviate energy crisis and environmental pollution, development and utilization of renewable energy have been rapidly progressed. Although renewable energy sources have many advantages and become one of the important development trends of future power systems for power generation, most renewable energy sources are greatly influenced by environment and weather, have characteristics of randomness and intermittency, such as seasonal strong and weak changes of wind energy and intermittent rules of day and night, so that various renewable energy source power generation devices are generally required to be used in combination with an energy storage controller to provide stable and continuous electric energy for users, and a commonly applied renewable energy source combined power generation system based on a direct current bus consists of a power generation unit, an energy storage unit and a load unit, wherein the energy exchange between the energy storage unit and the direct current bus is controlled by a bidirectional DC-DC converter, and therefore, the research on the control of the bidirectional DC-DC converter is indispensable.
At present, a great deal of research is carried out on a control method of the converter, the design method of the proposed control method is complex, and the implementation steps are relatively complex. The literature 'Boost converter accurate feedback linearization sliding mode variable structure control [ J ]. Le Jiangyuan, xie Yunxiang, hong Qingzu, zhang Zhi, chen Lin' Chinese motor engineering report, 2011,31 (30): 16-23 discloses a differential geometry theory utilizing a nonlinear system, a corresponding nonlinear coordinate transformation matrix and a state feedback expression are deduced on the basis of an affine nonlinear model of the Boost converter, and a linearization model is obtained so as to design a sliding mode variable structure controller. The method has good dynamic response adjustment and steady state error adjustment characteristics, overcomes the inherent defect of dependence on an accurate mathematical model of the existing accurate feedback linearization control strategy, and shows stronger robustness.
In the prior art, a nonlinear control method based on a controller with a simpler design and capable of improving the dynamic response and steady-state error effect of the converter has not been proposed yet. The finite time control method based on the PI control of the DC-DC converter can improve the dynamic response adjustment and steady-state error adjustment characteristics of the converter, improve the robustness characteristics of the system, and is simple and easy to realize. The limited time convergence control method for PI control disclosed by the invention can improve the robust performance of the double-active full-bridge DC-DC converter, improve the anti-interference performance of a system, reduce the response overshoot, accelerate the convergence speed, reduce the steady-state error, and is simple and easy to realize.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a PI control method and a controller based on a DC-DC converter so as to improve the control effect of the converter.
In a first aspect, an embodiment of the present invention provides a PI control method based on a DC-DC converter, including:
modeling a DC-DC converter to obtain a signal model of the converter;
obtaining a first transfer function model of the converter based on the signal model, and controlling the output voltage and current of the converter;
adding a first time convergence coefficient into the first transfer function model to obtain a second transfer function model;
and combining the first transfer function model with the second transfer function model to obtain a third transfer function model, and controlling the output voltage and the output current of the converter through the third transfer function model.
Optionally, the modeling the DC-DC converter to obtain a signal model of the converter includes:
and adding a signal disturbance factor in the average switching period to obtain a signal model of the converter.
Optionally, the adding a signal disturbance factor in the average switching period to obtain a signal model of the converter includes:
using the average switching model, the expression for the average switching period is obtained as follows:
wherein f s Is the switching frequency, L is the inductance value, R is the load resistance value, C 2 The load side is connected with the direct current voltage-stabilizing capacitance value in parallel, V 1 ,V 2 Is the voltage value of the primary side and the secondary side, V 1T ,V 2T Is V (V) 1 ,V 2 D is the switching cycle average value of the bridge arm phase shift angle duty cycle of the primary side and the secondary side
A small signal disturbance value is introduced;
introducing signal disturbance factors
And->
Ignoring the higher order term, the resulting signal model is as follows:
optionally, obtaining a first transfer function model of the converter based on the signal model, and controlling the converter output
An output voltage and current, comprising:
carrying out Laplace transformation on the signal model to obtain a first transfer function model G of the converter p (s)：
Optionally, the adding a first time convergence coefficient to the first transfer function model to obtain a second transfer function model includes:
the expression of the proportional-integral controller G(s) time domain of the first transfer function model is as follows:
u(t)＝V ref -v o (t)
in the formula, v o To output voltage V ref U (t) is a direct-current side voltage error for the reference voltage value;
adding a custom finite time convergence module to the proportional-integral controller G(s) of the first transfer function model to obtain an expression of the proportional-integral controller G(s) time domain of the second transfer function model, wherein the expression is as follows:
where n is defined as the convergence factor.
Optionally, the combining the first transfer function model with the second transfer function model to obtain a third transfer function model, and controlling the output voltage and the current of the converter through the third transfer function model includes:
the third transfer function is:
f(u)＝m*u(t)+u(t) 1/n
wherein m is an additional coefficient of the PI controller, and the complete voltage control expression is as follows:
in a second aspect, an embodiment of the present invention further provides a PI controller based on a DC-DC converter, including:
the modeling module is used for modeling the DC-DC converter to obtain a signal model of the converter;
the first transfer function model building module is used for obtaining a first transfer function model of the converter based on the signal model and controlling the output voltage and current of the converter;
the second transfer function model building module is used for adding a first time convergence coefficient into the first transfer function model to obtain a second transfer function model;
and the third transfer function model building module is used for combining the first transfer function model and the second transfer function model to obtain a third transfer function model, and controlling the output voltage and the output current of the converter through the third transfer function model.
Optionally, the first transfer function model building module is configured to
Carrying out Laplace transformation on the signal model to obtain a first transfer function model G of the converter p (s)：
Optionally, the second transfer function model building module is configured to:
the expression of the proportional-integral controller G(s) time domain of the first transfer function model is as follows:
u(t)＝V ref -v o (t)
in the formula, v o To output voltage V ref U (t) is a direct-current side voltage error for the reference voltage value;
adding a custom finite time convergence module to the proportional-integral controller G(s) of the first transfer function model to obtain an expression of the proportional-integral controller G(s) time domain of the second transfer function model, wherein the expression is as follows:
where n is defined as the convergence factor.
Optionally, the third transfer function model building module is configured to:
the third transfer function is:
f(u)＝m*u(t)+u(t) 1/n
wherein m is an additional coefficient of the PI controller, and the complete voltage control expression is as follows:
according to the PI control method and the controller based on the DC-DC converter, the second transfer function model is obtained by adding the first time convergence coefficient into the first transfer function model; and combining the first transfer function model with the second transfer function model to obtain a third transfer function model, and controlling the output voltage and the output current of the converter through the third transfer function model to realize a PI control method with limited time convergence, so that the dynamic response performance and the steady-state performance of the system are improved, the response overshoot is reduced, the convergence speed is increased, and the steady-state error is reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.
Fig. 1 is a schematic flow chart of a PI control method based on a DC-DC converter according to an embodiment of the invention;
FIG. 2 is a topology of a dual active full bridge converter according to an embodiment of the present invention;
FIG. 3 is a block diagram of closed-loop control of output voltage according to an embodiment of the present invention;
FIG. 4 is a block diagram illustrating a conventional PI controller according to one embodiment of the present invention;
FIG. 5 is a block diagram of a custom finite-time module according to an embodiment of the present invention;
FIG. 6 is a control block diagram of a combination of a finite time module and a PI controller according to one embodiment of the present invention;
fig. 7 is a schematic structural diagram of a PI control controller based on a DC-DC converter according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the description of the specific embodiments is for purposes of illustration only and is not intended to limit the scope of the present disclosure.
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the aspects of the disclosure may be practiced without one or more of the specific details, or with other methods, controllers, steps, etc. In other instances, well-known structures, methods, controllers, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present disclosure, the meaning of "a plurality" is at least two, such as two, three, etc., unless explicitly specified otherwise. The symbol "/" generally indicates that the context-dependent object is an "or" relationship.
In the present disclosure, unless explicitly specified and limited otherwise, terms such as "connected" and the like are to be construed broadly and, for example, may be electrically connected or may communicate with each other; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be.
Fig. 1 is a flow chart of a PI control method based on a DC-DC converter according to an embodiment of the invention, as shown in fig. 1, the method includes:
101. modeling a DC-DC converter to obtain a signal model of the converter;
in this embodiment, a signal disturbance factor is added in an average switching period to obtain a signal model of the converter.
Using the average switching model, the expression for the average switching period is obtained as follows:
wherein f s Is the switching frequency, L is the inductance value, R is the load resistance value, C 2 The load side is connected with the direct current voltage-stabilizing capacitance value in parallel, V 1 ,V 2 Is the voltage value of the primary side and the secondary side, V 1T ,V 2T Is V (V) 1 ,V 2 D is the switching cycle average value of the bridge arm phase shift angle duty cycle of the primary side and the secondary side
A small signal disturbance value is introduced;
introducing signal disturbance factors
And->
Ignoring the higher order term, the resulting signal model is as follows:
102. obtaining a first transfer function model of the converter based on the signal model, and controlling the output voltage and current of the converter;
carrying out Laplace transformation on the signal model to obtain a first transfer function model G of the converter p (s)：
103. Adding a first time convergence coefficient into the first transfer function model to obtain a second transfer function model;
the expression of the proportional-integral controller G(s) time domain of the first transfer function model is as follows:
u(t)＝V ref -v o (t)
in the formula, v o To output voltage V ref U (t) is a direct-current side voltage error for the reference voltage value;
adding a custom finite time convergence module to the proportional-integral controller G(s) of the first transfer function model to obtain an expression of the proportional-integral controller G(s) time domain of the second transfer function model, wherein the expression is as follows:
where n is defined as the convergence factor.
104. And combining the first transfer function model with the second transfer function model to obtain a third transfer function model, and controlling the output voltage and the output current of the converter through the third transfer function model.
The third transfer function is:
f(u)＝m*u(t)+u(t) 1/n
wherein m is an additional coefficient of the PI controller, and the complete voltage control expression is as follows:
the method comprises the steps of adding a first time convergence coefficient into the first transfer function model to obtain a second transfer function model; and combining the first transfer function model with the second transfer function model to obtain a third transfer function model, and controlling the output voltage and the output current of the converter through the third transfer function model to realize a PI control method with limited time convergence, so that the dynamic response performance and the steady-state performance of the system are improved, the response overshoot is reduced, the convergence speed is increased, and the steady-state error is reduced.
The above method will be described in detail by way of specific examples.
The double-active full-bridge DC-DC converter has the advantages of bidirectional power flow, quick dynamic response, small volume, capability of realizing electric isolation of two sides and the like, and is widely applied to a plurality of power electronic systems, new energy storage systems such as uninterruptible power supplies and solid-state transformers in recent years. At present, three control strategies of the double-active full-bridge converter are available; phase shift control, PWM plus phase shift control and double PWM plus phase shift control.
Step 1: FIG. 2 is a topology diagram of a dual-active full-bridge converter according to an embodiment of the present invention, wherein the dual-active full-bridge DC-DC converter in FIG. 2 is modeled to obtain a small signal model and a transfer function G of the converter under a phase-shift control strategy p (s)；
Step 2: FIG. 3 is a block diagram of closed-loop control of output voltage according to an embodiment of the present invention, u (t) is the output voltage error amount, which is based on the obtained small signal model of the converter, to design a suitable conventional PI controller, as shown in FIG. 4, for controlling the DC side voltage v output by the converter o (t) and current i o (t)；
Step 3: aiming at the defects of the traditional PI controller, a proper controller of a custom finite time convergence module is designed, and as shown in figure 5, the dynamic response and steady-state error of the output voltage and current are improved;
step 4: further improving the obtained controller with the limited time convergence module, combining the limited time module with the traditional PI controller, as shown in FIG. 6, obtaining the PI controller based on limited time control, which can improve the control effect of the converter, and improving the robust characteristic of the system;
in step 1, the switch-off process of the converter is ignored, and the average switch period is obtained by using the average switch model as follows:
wherein f s Is the switching frequency, L is the inductance value, R is the load resistance value, C 2 The load side is connected with the direct current voltage-stabilizing capacitance value in parallel, V 1 ,V 2 Is the voltage value of the primary side and the secondary side, V 1T ,V 2T Is V (V) 1 ,V 2 D is the switching cycle average value of the bridge arm phase shift angle duty cycle of the primary side and the secondary side
Small signal disturbance values introduced.
Introducing signal disturbance factors
And->
The low signal model obtained by ignoring the higher order term is as follows:
obtaining a transfer function model G of the converter under a phase shift control strategy by utilizing Laplace transformation p (s)：
In step 2, the expression of the conventional proportional-integral controller G(s) time domain is as follows:
u(t)＝V ref -v o (t)
in the formula, v o To output voltage V ref For reference voltage value, u (t) is DC side voltage error, and proper K is set I And the value enables the controller to have good control effect.
In step 3, a custom finite time convergence module is added to the proportional-integral controller G(s) of claim 2, and the expression is:
where n is defined as a convergence coefficient, and the value of n is set to improve the dynamic response effect of the original proportional-integral controller.
In step 4, the proportional-integral controller with the custom finite-time convergence module of claim 3 is combined with an independent conventional PI controller, and the redefined custom function module is as follows:
f(u)＝m*u(t)+u(t) 1/n
wherein m is an additional coefficient of the PI controller, and the complete voltage control expression is as follows:
the improved PI controller is combined with a self-defined finite time convergence module through judgment, so that dynamic response adjustment and steady-state error adjustment are improved remarkably, the robust characteristic of the system is improved, and the anti-interference capability is stronger. Therefore, the PI control method with limited time convergence is mainly summarized into three steps, and a traditional PI controller is designed; adding a custom finite time convergence module: and combining the custom finite time convergence module with a traditional PI controller to realize a PI control method of finite time convergence.
The beneficial effects of the invention are as follows:
the invention provides a method for PI control with universality and limited time convergence, which aims to solve the problem of PI control with limited time convergence of a converter and realize improvement of the control effect of the converter under the condition of adding a limited time control module. The invention provides a new method for PI control of a DC-DC converter of a power electronic system. Compared with the prior art, the method has the advantages that:
1. the method can improve the dynamic response performance and the steady state performance of the system, reduce the response overshoot, accelerate the convergence speed and reduce the steady state error.
2. The control method can improve the anti-interference performance of the system and the robustness of the converter.
3. Compared with other methods such as a sliding mode control method, lyapunov control method and the like, the control method is simpler and more convenient to realize.
Fig. 7 shows a schematic diagram of a controller structure of a PI controller based on a DC-DC converter according to an embodiment of the present invention, where the controller includes:
a modeling module 71, configured to model a DC-DC converter, so as to obtain a signal model of the converter;
a first transfer function model building module 72 for obtaining a first transfer function model of the converter based on the signal model, controlling the converter output voltage and current;
a second transfer function model building module 73, configured to add a first time convergence coefficient to the first transfer function model to obtain a second transfer function model;
a third transfer function model building module 74 is configured to combine the first transfer function model with the second transfer function model to obtain a third transfer function model, and control the output voltage and current of the converter through the third transfer function model.
Optionally, the first transfer function model building module is configured to
Carrying out Laplace transformation on the signal model to obtain a first transfer function model G of the converter p (s)：
Optionally, the second transfer function model building module is configured to:
the expression of the proportional-integral controller G(s) time domain of the first transfer function model is as follows:
u(t)＝V ref -v o (t)
in the formula, v o To output voltage V ref U (t) is a direct-current side voltage error for the reference voltage value;
adding a custom finite time convergence module to the proportional-integral controller G(s) of the first transfer function model to obtain an expression of the proportional-integral controller G(s) time domain of the second transfer function model, wherein the expression is as follows:
where n is defined as the convergence factor.
Optionally, the third transfer function model building module is configured to:
the third transfer function is:
f(u)＝m*u(t)+u(t) 1/n
wherein m is an additional coefficient of the PI controller, and the complete voltage control expression is as follows:
the specific implementation of each module, unit and subunit in the PI controller based on the DC-DC converter provided in the embodiments of the present disclosure may refer to the content in the method of the PI controller based on the DC-DC converter, which is not described herein again.
It should be noted that although in the above detailed description several modules, units and sub-units of the apparatus for action execution are mentioned, this division is not mandatory. Indeed, the features and functions of two or more modules, units, and sub-units described above may be embodied in one module, unit, and sub-unit, in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module, unit, and sub-unit described above may be further divided into ones that are embodied by a plurality of modules, units, and sub-units.
The basic principles of the present invention have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present invention are merely examples and not intended to be limiting, and these advantages, benefits, effects, etc. are not to be considered as essential to the various embodiments of the present invention. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the invention is not necessarily limited to practice with the above described specific details.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, so that the same or similar parts between the embodiments are mutually referred to. For system embodiments, the description is relatively simple as it essentially corresponds to method embodiments, and reference should be made to the description of method embodiments for relevant points.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with program instructions.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, so that the same or similar parts between the embodiments are mutually referred to. For system embodiments, the description is relatively simple as it essentially corresponds to method embodiments, and reference should be made to the description of method embodiments for relevant points.
The method and controller of the present invention may be implemented in a number of ways. For example, the methods and controllers of the present invention may be implemented by software, hardware, firmware, or any combination of software, hardware, firmware. The above-described sequence of steps for the method is for illustration only, and the steps of the method of the present invention are not limited to the sequence specifically described above unless specifically stated otherwise. Furthermore, in some embodiments, the present invention may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present invention. Thus, the present invention also covers a recording medium storing a program for executing the method according to the present invention.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (2)
1. A PI control method based on a DC-DC converter, comprising:
modeling a DC-DC converter to obtain a signal model of the converter;
obtaining a first transfer function model of the converter based on the signal model, and controlling the output voltage and current of the converter;
adding a first time convergence coefficient into the first transfer function model to obtain a second transfer function model;
combining the first transfer function model with the second transfer function model to obtain a third transfer function model, and controlling the output voltage and current of the converter through the third transfer function model;
modeling the DC-DC converter to obtain a signal model of the converter, wherein the modeling comprises the following steps:
adding a signal disturbance factor in an average switching period to obtain a signal model of the converter;
and adding a signal disturbance factor in an average switching period to obtain a signal model of the converter, wherein the signal model comprises the following components:
using the average switching model, the expression for the average switching period is obtained as follows:
wherein f s Is the switching frequency, L is the inductance value, R is the load resistance value, C 2 The load side is connected with the direct current voltage-stabilizing capacitance value in parallel, V 1 ,V 2 Is the voltage value of the primary side and the secondary side, V 1T ,V 2T Is V (V) 1 ,V 2 D is the switching cycle average value of the bridge arm phase shift angle duty cycle of the primary side and the secondary side
A small signal disturbance value is introduced;
introducing signal disturbance factors
And->
Ignoring the higher order term, D represents the duty cycle, the resulting signal model is as follows:
obtaining a first transfer function model of the converter based on the signal model, controlling the converter output voltage and current, comprising:
carrying out Laplace transformation on the signal model to obtain a first transfer function model G of the converter p (s)：
The adding the first time convergence coefficient to the first transfer function model to obtain a second transfer function model includes:
the expression of the proportional-integral controller G(s) time domain of the first transfer function model is as follows:
u(t)＝V ref -v o (t)
in the formula, v o To output voltage V ref U (t) is a direct-current side voltage error for the reference voltage value;
adding a custom finite time convergence module to the proportional-integral controller G(s) of the first transfer function model to obtain an expression of the proportional-integral controller G(s) time domain of the second transfer function model, wherein the expression is as follows:
wherein n is defined as a convergence coefficient;
combining the first transfer function model with the second transfer function model to obtain a third transfer function model, and controlling the output voltage and current of the converter through the third transfer function model, wherein the method comprises the following steps:
the third transfer function is:
f(u)＝m*u(t)+u(t) 1/n
wherein m is an additional coefficient of the PI controller, and the complete voltage control expression is as follows:
2. a PI controller based on a DC-DC converter, comprising:
the modeling module is used for modeling the DC-DC converter to obtain a signal model of the converter;
the first transfer function model building module is used for obtaining a first transfer function model of the converter based on the signal model and controlling the output voltage and current of the converter;
the second transfer function model building module is used for adding a first time convergence coefficient into the first transfer function model to obtain a second transfer function model;
the third transfer function model building module is used for combining the first transfer function model and the second transfer function model to obtain a third transfer function model, and controlling the output voltage and the output current of the converter through the third transfer function model;
the modeling module is used for adding a signal disturbance factor in an average switching period to obtain a signal model of the converter;
using the average switching model, the expression for the average switching period is obtained as follows:
wherein f s Is the switching frequency, L is the inductance value, R is the load resistance value, C 2 The load side is connected with the direct current voltage-stabilizing capacitance value in parallel, V 1 ,V 2 Is the voltage value of the primary side and the secondary side, V 1T ,V 2T Is V (V) 1 ,V 2 D is the switching cycle average value of the bridge arm phase shift angle duty cycle of the primary side and the secondary side
A small signal disturbance value is introduced;
introducing signal disturbance factors
And->
Ignoring the higher order term, D represents the duty cycle, the resulting signal model is as follows:
the first transfer function model building module is used for
Carrying out Laplace transformation on the signal model to obtain a first transfer function model G of the converter p (s)：
The second transfer function model building module is used for:
the expression of the proportional-integral controller G(s) time domain of the first transfer function model is as follows:
u(t)＝V ref -v o (t)
in the formula, v o To output voltage V ref U (t) is a direct-current side voltage error for the reference voltage value;
adding a custom finite time convergence module to the proportional-integral controller G(s) of the first transfer function model to obtain an expression of the proportional-integral controller G(s) time domain of the second transfer function model, wherein the expression is as follows:
wherein n is defined as a convergence coefficient;
the third transfer function model building module is used for:
the third transfer function is:
f(u)＝m*u(t)+u(t) 1/n
wherein m is an additional coefficient of the PI controller, and the complete voltage control expression is as follows:
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| CN108521219A (en) * | 2018-04-24 | 2018-09-11 | 北京交通大学 | Cascade DC-DC converter method for analyzing stability based on describing function method |
| CN111049455A (en) * | 2018-10-15 | 2020-04-21 | 北京大豪科技股份有限公司 | Stepping motor control method, device, equipment and storage medium |
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