CN112968623A - High-disturbance-rejection backstepping control method and system for front-end rectifier of bidirectional charger - Google Patents

High-disturbance-rejection backstepping control method and system for front-end rectifier of bidirectional charger Download PDF

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CN112968623A
CN112968623A CN202110156094.1A CN202110156094A CN112968623A CN 112968623 A CN112968623 A CN 112968623A CN 202110156094 A CN202110156094 A CN 202110156094A CN 112968623 A CN112968623 A CN 112968623A
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disturbance
rectifier
bidirectional charger
backstepping control
value
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CN112968623B (en
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张承慧
付程
张关关
段彬
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Shandong University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • H02J7/04—Regulation of charging current or voltage
    • H02J7/06—Regulation of charging current or voltage using discharge tubes or semiconductor devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
    • 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
    • H02M1/44—Circuits or arrangements for compensating for electromagnetic interference in converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/66—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal
    • H02M7/68—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters
    • H02M7/72—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J2207/20—Charging or discharging characterised by the power electronics converter
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Rectifiers (AREA)
  • Control Of Electrical Variables (AREA)

Abstract

The invention belongs to the field of rectifier control, and provides a high-disturbance-rejection backstepping control method and system for a front-end rectifier of a bidirectional charger. The high-disturbance-rejection backstepping control method of the bidirectional charger front-end rectifier comprises the steps of constructing a dynamic mathematical model of the bidirectional charger front-end rectifier under disturbance; acquiring three-phase power grid voltage, power grid current and rectifier direct current voltage, calculating active power and reactive power, and designing a backstepping control law with a disturbance estimation value by combining a direct current voltage reference value and a reactive power reference value; constructing a disturbance observer to obtain an estimated value of equivalent disturbance in a rectifier dynamic model, and inputting the estimated value as a disturbance estimated value of the backstepping control law; based on the stability of a closed-loop system of the rectifier, the parameters of a backstepping control law and a disturbance observer are solved so as to realize the backstepping control of the front-end rectifier of the bidirectional charger.

Description

High-disturbance-rejection backstepping control method and system for front-end rectifier of bidirectional charger
Technical Field
The invention belongs to the field of rectifier control, and particularly relates to a high-disturbance-rejection backstepping control method and system for a front-end rectifier of a bidirectional charger.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The three-phase PWM rectifier has the advantages of bidirectional energy flow, adjustable input power factor and the like, and is the first choice of a front-end rectifier of a bidirectional charger of an electric vehicle. The conventional rectifier scheme mainly adopts proportional-integral control of a linearization model, although the structure is simple, parameter setting is difficult, and the system stability of the rectifier in a large range cannot be ensured. The backstepping control is a nonlinear control method with simple control law structure and good dynamic and static control performance, and can overcome the control problem.
However, the inventor finds that the traditional backstepping control method depends heavily on a system mathematical model, and the system control performance is reduced when rectifier parameters are uncertain or are subjected to external disturbance. Particularly, the load of the bidirectional charger is a power battery, the load characteristics are inconsistent, the power change range is large, namely, the system load disturbance is large, the direct-current voltage of the charger is easy to drop or suddenly increase, the charging performance is deteriorated, and even the bidirectional charging system cannot normally operate.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a high-disturbance-rejection backstepping control method and system for a front-end rectifier of a bidirectional charger, which can optimize the tracking performance of direct-current voltage and reactive power, improve the disturbance rejection capability of the rectifier and ensure the efficient and safe operation of a charging system.
In order to achieve the purpose, the invention adopts the following technical scheme:
the first aspect of the invention provides a high-disturbance-rejection backstepping control method for a front-end rectifier of a bidirectional charger, which comprises the following steps:
constructing a dynamic mathematical model of a front-end rectifier of the bidirectional charger under disturbance;
acquiring three-phase power grid voltage, power grid current and rectifier direct current voltage, calculating active power and reactive power, and designing a backstepping control law with a disturbance estimation value by combining a direct current voltage reference value and a reactive power reference value;
constructing a disturbance observer to obtain an estimated value of equivalent disturbance in a rectifier dynamic model, and inputting the estimated value as a disturbance estimated value of the backstepping control law;
based on the stability of a closed-loop system of the rectifier, the parameters of a backstepping control law and a disturbance observer are solved, so that the high-disturbance-rejection backstepping control of the front-end rectifier of the bidirectional charger is realized.
Further, parameters of the backstepping control law and the disturbance observer are solved by constructing a Lyapunov function.
Further, the Lyapunov function is:
Figure BDA0002934749660000021
wherein
Figure BDA0002934749660000022
An estimation error representing an equivalent perturbation;
Figure BDA0002934749660000023
as an estimate of the equivalent disturbance, d1、d2And d3Is an equivalent perturbation; e.g. of the type1For rectifier DC voltage error, e2As active power error, e3Is the reactive power error.
Further, the dynamic mathematical model of the front-end rectifier of the bidirectional charger is as follows:
and (3) superposing the differential value of the direct-current voltage of the rectifier, the differential value of the active power and the differential value of the reactive power in the mathematical model of the front-end rectifier of the bidirectional charger and corresponding equivalent disturbance.
Further, a back-stepping control law P with disturbance estimationref、uPAnd uQIs composed of
Figure BDA0002934749660000031
Wherein
Figure BDA0002934749660000032
e2＝Pref-P,e3＝Qref-Q，
Figure BDA0002934749660000033
Is a DC voltage reference value, PrefIs the active power reference value, QrefIs a reactive power reference value, λ1>0,λ2>0,λ3>0 is a control law parameter, and 0 is a control law parameter,
Figure BDA0002934749660000034
as an estimate of the equivalent disturbance, VdcIs the rectifier DC voltage, P is the active power, Q is the reactive power, C is the DC side capacitance, L is the filter inductance, R is the DC side capacitanceL0Is the nominal value of the load resistance.
Further, the disturbance observer is of the form:
Figure BDA0002934749660000035
wherein k is>0 is the disturbance observer gain; d01,d02,d03Is a constant; z is a radical of1，z2，z3Is the state variable of the disturbance observer;
Figure BDA0002934749660000036
are each z1，z2，z3The corresponding derivative.
The second aspect of the present invention provides a high disturbance rejection backstepping control system for a front-end rectifier of a bidirectional charger, which includes:
the disturbance observer is used for acquiring an estimated value of equivalent disturbance in the rectifier dynamic model and inputting the estimated value as a disturbance estimated value of the backstepping control law;
the backstepping controller is used for acquiring three-phase power grid voltage, power grid current and rectifier direct-current voltage based on a dynamic mathematical model of the bidirectional charger front-end rectifier under disturbance, calculating active power and reactive power, designing a backstepping control law with a disturbance estimation value by combining a direct-current voltage reference value and a reactive power reference value, and solving parameters of the backstepping control law and a disturbance observer based on the stability of a rectifier closed-loop system so as to realize backstepping control of the bidirectional charger front-end rectifier.
Further, a back-stepping control law P with disturbance estimationref、uPAnd uQIs composed of
Figure BDA0002934749660000041
Wherein
Figure BDA0002934749660000042
e2＝Pref-P,e3＝Qref-Q，
Figure BDA0002934749660000043
Is a dc voltage reference; prefIs an active power reference value and also represents a backstepping control law; qrefIs a reactive power reference value, λ1>0,λ2>0,λ3>0 is a control law parameter, and 0 is a control law parameter,
Figure BDA0002934749660000044
as an estimate of the equivalent disturbance, VdcIs the rectifier DC voltage, P is the active power, Q is the reactive power, C is the DC side capacitance, L is the filter inductance, R is the DC side capacitanceL0Is the nominal value of the load resistance.
Further, the disturbance observer is of the form:
Figure BDA0002934749660000045
wherein k is>0 is the disturbance observer gain, d01,d02,d03Is a constant.
Further, the dynamic mathematical model of the front-end rectifier of the bidirectional charger is as follows:
and (3) superposing the differential value of the direct-current voltage of the rectifier, the differential value of the active power and the differential value of the reactive power in the mathematical model of the front-end rectifier of the bidirectional charger and corresponding equivalent disturbance.
Compared with the prior art, the invention has the beneficial effects that:
in order to ensure the safe and stable operation of the rectifier under various working conditions, the invention provides a disturbance observer-based high-disturbance-rejection backstepping control method for a front-end rectifier of a bidirectional charger.
The control method of the invention ensures that the tracking error of the rectifier system is finally and consistently bounded, namely, the rapid tracking control of the direct current voltage and the power is realized; the backstepping control law has a simple structure, small parameter setting difficulty and easy realization; a control law is designed under a two-phase static coordinate system, a phase-locked loop is not needed, and the method is good in real-time performance and easy to popularize and apply.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a block diagram of an implementation of a high-disturbance-rejection backstepping control method for a front-end rectifier of a bidirectional charger according to an embodiment of the invention;
FIG. 2 is a DC voltage response waveform with load changes according to an embodiment of the present invention;
FIG. 3(a) is a reactive power response waveform at load change using a proportional-integral control method;
FIG. 3(b) is a reactive power response waveform at load change using a back-stepping control method;
fig. 3(c) is a reactive power response waveform during load change by using the high-disturbance-rejection backstepping control method for the front-end rectifier of the bidirectional charger provided by the invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example one
In order to improve the robustness of a rectifier control system and solve the problem of voltage drop or surge at a direct current side in rectifier backstepping control when load power changes, as shown in fig. 1, the embodiment provides a high-disturbance-rejection backstepping control method for a front-end rectifier of a bidirectional charger, which specifically includes the following steps:
step 1: and constructing a dynamic mathematical model of the front-end rectifier of the bidirectional charger under disturbance.
According to the working principle of the three-phase PWM rectifier, a dynamic mathematical model of the rectifier under disturbance is established as
Figure BDA0002934749660000061
Wherein
Figure BDA0002934749660000062
VdcIs a measured value of DC voltage uα,uβIs a two-phase stationary coordinateThe grid voltage under the system, omega is the angular frequency of the three-phase voltage, C is the direct-current side capacitor, L is the filter inductor, R is the line equivalent resistanceL0Is the nominal value of the load resistance, PlossIs the system power loss. d1、d2And d3Is equivalent disturbance generated by load change, unmodeled dynamics and other factors, and the superscript "-" represents unmodeled dynamics and other interferences.
P and Q are calculated rectifier active and reactive power, respectively, i.e.
Figure BDA0002934749660000071
Wherein iα,iβIs the grid current in a two-phase stationary coordinate system.
uP,uQIs a control signal of the rectifier, defined as
Figure BDA0002934749660000072
Wherein v isα,vβIs the modulated voltage of the rectifier in a two-phase stationary frame.
Step 2: obtaining three-phase network voltage, network current and rectifier direct-current voltage VdcCalculating active power P and reactive power Q, and combining with DC voltage reference value
Figure BDA0002934749660000073
And a reactive power reference value QrefDesigning a backstepping control law P with disturbance estimation valueref,uPAnd uQ。
Reference value of DC voltage
Figure BDA0002934749660000074
And a reactive power reference value QrefTypically a constant. According to the recursion design concept of backstepping control, introducing an active power reference value PrefAnd constructing a tracking error of the converter as
Figure BDA0002934749660000075
Defining a Lyapunov function
Figure BDA0002934749660000076
Using formula (1) and for VcDerived by derivation
Figure BDA0002934749660000077
According to the principle of Lyapunov stability, in order to make
Figure BDA0002934749660000078
Constructing a back-stepping control law with disturbance estimates as
Figure BDA0002934749660000081
Wherein λ1>0,λ2>0,λ3>And 0 is a control law parameter.
Figure BDA0002934749660000082
The specific form will be given in step 3 for an estimate of the equivalent perturbation.
Substituting equation (6) into equation (5), and defining equivalent disturbance estimation error
Figure BDA0002934749660000083
Can obtain the product
Figure BDA0002934749660000084
According to equation (7), when the equivalent disturbance estimates the error
Figure BDA0002934749660000085
When the temperature of the water is higher than the set temperature,
Figure BDA0002934749660000086
the tracking error of the converter system tends to zero, and the control target of tracking the direct-current voltage and the reactive power can be realized.
And step 3: constructing a disturbance observer to obtain equivalent disturbance d in a rectifier dynamic modeli(i-1, 2,3) estimated value
Figure BDA0002934749660000087
And the disturbance estimation value is input as the disturbance estimation value of the backstepping control law.
The disturbance observer was constructed as follows:
Figure BDA0002934749660000088
wherein k is>0 is the disturbance observer gain, d01,d02,d03Is a constant. Defining an equivalent disturbance estimation error
Figure BDA0002934749660000089
Can obtain the product
Figure BDA0002934749660000091
By analysis of the similar formula (9), it is possible to obtain
Figure BDA0002934749660000092
According to the Lyapunov stability principle, by combining the formula (9) and the formula (10), the equivalent disturbance estimation error can be obtained by selecting a proper gain k
Figure BDA0002934749660000095
The neighborhood that tends to zero at exponential velocity, i.e. the equivalent disturbance d is realizedi(i ═ 1,2, 3).
And 4, step 4: based on the stability of a closed-loop system of the rectifier, the parameters of a backstepping control law and a disturbance observer are solved, so that the high-disturbance-rejection backstepping control of the front-end rectifier of the bidirectional charger is realized.
When the backstepping control law with disturbance estimation value designed in equation (6) is used and the disturbance estimation value is provided by the disturbance observer constructed in equation (8), the stability of the rectifier closed-loop system is analyzed as follows. First, a closed-loop rectifier system Lyapunov is defined as
Figure BDA0002934749660000093
Then, by using the formula (7), the formula (9) and the formula (10), V is derived
Figure BDA0002934749660000094
Wherein
Figure BDA0002934749660000101
i is 1,2, 3. According to the Lyapunov stability principle, when 2 lambda is selectedi-1>0,2k-2>Tracking error at 0 eiAnd disturbance estimation error
Figure BDA0002934749660000102
A near field that goes to zero. And the larger the control law gain, the smaller the neighborhood. Furthermore, under the disturbance such as load change, the rectifier can realize direct current voltage and reactive power tracking.
Fig. 1 is a block diagram of an implementation of the control method provided in this embodiment, and as shown in fig. 1, the control implementation mainly includes two parts, namely a backstepping control law with a disturbance observation value and a disturbance observer. In order to further illustrate the effectiveness of the control method, a system simulation model is built in Matlab for simulation research. Setting main circuit parameters: the amplitude of the three-phase network voltage is 100V, the filter inductance L is 1mH, the line equivalent resistance R is 0.1 omega, the three-phase angular frequency omega is 100 pi rad/s, the direct-current side capacitance C is 470 mu F, and the switching frequency F iss10kHz, DC voltage reference
Figure BDA0002934749660000103
Reference value of reactive power Qref＝0。
In the case of a load change, the proposed control method, the back-stepping control method, and the proportional-integral control method are compared, and the results are shown in fig. 2 and fig. 3(a) -3 (c). Specifically, when 0.3s, the load resistance changes from 60 Ω to 27.2 Ω. Fig. 2 is a dc voltage response waveform of the rectifier at this time, and fig. 3(a) is a reactive power response waveform at a load change using a proportional-integral control method; FIG. 3(b) is a reactive power response waveform at load change using a back-stepping control method; fig. 3(c) is a reactive power response waveform during load change by adopting the high disturbance rejection backstepping control method of the front-end rectifier of the bidirectional charger.
From simulation results, when the rectifier has larger load disturbance, compared with the other two control methods, the speed of recovering the output direct-current voltage to a stable value is higher, overshoot is smaller, robustness is stronger, and an expected control effect is achieved.
Example two
The embodiment provides a high anti-interference backstepping control system of bidirectional charger front end rectifier, it includes:
the disturbance observer is used for acquiring an estimated value of equivalent disturbance in the rectifier dynamic model and inputting the estimated value as a disturbance estimated value of the backstepping control law;
the backstepping controller is used for acquiring three-phase power grid voltage, power grid current and rectifier direct-current voltage based on a dynamic mathematical model of the bidirectional charger front-end rectifier under disturbance, calculating active power and reactive power, designing a backstepping control law with a disturbance estimation value by combining a direct-current voltage reference value and a reactive power reference value, and solving parameters of the backstepping control law and a disturbance observer based on the stability of a rectifier closed-loop system so as to realize backstepping control of the bidirectional charger front-end rectifier.
In specific implementation, the dynamic mathematical model of the front-end rectifier of the bidirectional charger is as follows:
and (3) superposing the differential value of the direct-current voltage of the rectifier, the differential value of the active power and the differential value of the reactive power in the mathematical model of the front-end rectifier of the bidirectional charger and corresponding equivalent disturbance.
Backstepping control law with disturbance estimation value Pref、uPAnd uQIs composed of
Figure BDA0002934749660000111
Wherein
Figure BDA0002934749660000112
e2＝Pref-P,e3＝Qref-Q，
Figure BDA0002934749660000113
Is a DC voltage reference value, PrefIs the active power reference value, QrefIs a reactive power reference value, λ1>0,λ2>0,λ3>0 is a control law parameter, and 0 is a control law parameter,
Figure BDA0002934749660000114
as an estimate of the equivalent disturbance, VdcIs the rectifier DC voltage, P is the active power, Q is the reactive power, C is the DC side capacitance, L is the filter inductance, R is the DC side capacitanceL0Is the nominal value of the load resistance.
The form of the disturbance observer is:
Figure BDA0002934749660000121
wherein k is>0 is the disturbance observer gain, d01,d02,d03Is a constant.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A high-disturbance-rejection backstepping control method for a front-end rectifier of a bidirectional charger is characterized by comprising the following steps:
constructing a dynamic mathematical model of a front-end rectifier of the bidirectional charger under disturbance;
acquiring three-phase power grid voltage, power grid current and rectifier direct current voltage, calculating active power and reactive power, and designing a backstepping control law with a disturbance estimation value by combining a direct current voltage reference value and a reactive power reference value;
constructing a disturbance observer to obtain an estimated value of equivalent disturbance in a rectifier dynamic model, and inputting the estimated value as a disturbance estimated value of the backstepping control law;
based on the stability of a closed-loop system of the rectifier, the parameters of a backstepping control law and a disturbance observer are solved, so that the high-disturbance-rejection backstepping control of the front-end rectifier of the bidirectional charger is realized.
2. The high-disturbance-rejection backstepping control method for the front-end rectifier of the bidirectional charger according to claim 1, wherein parameters of a backstepping control law and a disturbance observer are solved by constructing a Lyapunov function.
3. The high-disturbance-rejection backstepping control method for the front-end rectifier of the bidirectional charger according to claim 2, wherein the Lyapunov function is as follows:
Figure FDA0002934749650000011
wherein
Figure FDA0002934749650000012
i is 1,2,3, which represents the estimation error of the equivalent disturbance;
Figure FDA0002934749650000013
as an estimate of the equivalent disturbance, d1、d2And d3Is an equivalent perturbation; e.g. of the type1For rectifier DC voltage error, e2As active power error, e3Is the reactive power error.
4. The high-disturbance-rejection backstepping control method for the front-end rectifier of the bidirectional charger according to claim 1, wherein a dynamic mathematical model of the front-end rectifier of the bidirectional charger is as follows:
and (3) superposing the differential value of the direct-current voltage of the rectifier, the differential value of the active power and the differential value of the reactive power in the mathematical model of the front-end rectifier of the bidirectional charger and corresponding equivalent disturbance.
5. The method for controlling the back-stepping of the front-end rectifier of the bidirectional charger according to claim 1, wherein the back-stepping control law P with the disturbance estimation valueref、uPAnd uQIs composed of
Figure FDA0002934749650000021
Wherein
Figure FDA0002934749650000022
e2＝Pref-P,e3＝Qref-Q，
Figure FDA0002934749650000023
Is a DC voltage reference value, PrefIs the active power reference value, QrefIs a reactive power reference value, λ1>0,λ2>0,λ3>0 is a control law parameter, and 0 is a control law parameter,
Figure FDA0002934749650000024
as an estimate of the equivalent disturbance, VdcIs the rectifier DC voltage, P is the active power, Q is the reactive power, C is the DC side capacitance, L is the filter inductance, R is the DC side capacitanceL0Is the nominal value of the load resistance.
6. The high-disturbance-rejection backstepping control method for the front-end rectifier of the bidirectional charger according to claim 5, wherein the form of the disturbance observer is as follows:
Figure FDA0002934749650000025
wherein k is>0 is the disturbance observer gain, d01,d02,d03Is a constant.
7. The utility model provides a bidirectional charger front end rectifier high immunity backstepping control system which characterized in that includes:
the disturbance observer is used for acquiring an estimated value of equivalent disturbance in the rectifier dynamic model and inputting the estimated value as a disturbance estimated value of the backstepping control law;
the backstepping controller is used for acquiring three-phase power grid voltage, power grid current and rectifier direct-current voltage based on a dynamic mathematical model of the bidirectional charger front-end rectifier under disturbance, calculating active power and reactive power, designing a backstepping control law with a disturbance estimation value by combining a direct-current voltage reference value and a reactive power reference value, and solving parameters of the backstepping control law and a disturbance observer based on the stability of a rectifier closed-loop system so as to realize backstepping control of the bidirectional charger front-end rectifier.
8. The high-disturbance-rejection backstepping control system for the front-end rectifier of the bidirectional charger according to claim 7, wherein the backstepping control law P with disturbance estimation valueref、uPAnd uQIs composed of
Figure FDA0002934749650000031
Wherein
Figure FDA0002934749650000032
e2＝Pref-P,e3＝Qref-Q，
Figure FDA0002934749650000033
Is a DC voltage reference value, PrefIs the active power reference value, QrefIs a reactive power reference value, λ1>0,λ2>0,λ3>0 is a control law parameter, and 0 is a control law parameter,
Figure FDA0002934749650000034
as an estimate of the equivalent disturbance, VdcIs the rectifier DC voltage, P is the active power, Q is the reactive power, C is the DC side capacitance, L is the filter inductance, R is the DC side capacitanceL0Is the nominal value of the load resistance.
9. The high-disturbance-rejection backstepping control system for the front-end rectifier of the bidirectional charger according to claim 8, wherein the disturbance observer is in the form of:
Figure FDA0002934749650000035
wherein k is>0 is the disturbance observer gain, d01,d02,d03Is a constant.
10. The high-disturbance-rejection backstepping control system of the front-end rectifier of the bidirectional charger according to claim 7, wherein the dynamic mathematical model of the front-end rectifier of the bidirectional charger is as follows:
and (3) superposing the differential value of the direct-current voltage of the rectifier, the differential value of the active power and the differential value of the reactive power in the mathematical model of the front-end rectifier of the bidirectional charger and corresponding equivalent disturbance.
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