CN112968623B - 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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CN112968623B
CN112968623B CN202110156094.1A CN202110156094A CN112968623B CN 112968623 B CN112968623 B CN 112968623B CN 202110156094 A CN202110156094 A CN 202110156094A CN 112968623 B CN112968623 B CN 112968623B
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rectifier
disturbance
backstepping
reactive power
value
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CN112968623A (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)
  • Control Of Electrical Variables (AREA)
  • Rectifiers (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-immunity backstepping control method of the front-end rectifier of the bidirectional charger comprises the steps of constructing a dynamic mathematical model of the front-end rectifier of the bidirectional charger under disturbance; acquiring three-phase grid voltage, grid current and rectifier direct-current voltage, calculating active power and reactive power, and designing a backstepping control law with a disturbance estimated 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 dynamic model of the rectifier, and inputting the estimated value as a disturbance estimated value of the backstepping control law; based on the stability of the rectifier closed-loop system, the parameters of a back-step control law and a disturbance observer are solved, so that the back-step control of the rectifier at the front end of the bidirectional charger is realized.

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 the front-end rectifier of the bidirectional charger of the electric automobile. The conventional rectifier scheme mainly uses proportional integral control of a linearization model, and has simple structure, but 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 inventors have found that conventional back-step control methods rely heavily on mathematical models of the system, and that system control performance is degraded when rectifier parameters are uncertain or subject to external disturbances. Particularly, the bidirectional charger load is a power battery, the load characteristics are inconsistent, the power variation range is large, namely the system load disturbance is large, the direct-current voltage drop or the sudden increase of the charger is easy to cause, 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-immunity backstepping control method and a high-immunity backstepping control 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 anti-interference capability of the rectifier and ensure the efficient and safe operation of a charging system.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first aspect of the invention provides a high-immunity 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 grid voltage, grid current and rectifier direct-current voltage, calculating active power and reactive power, and designing a backstepping control law with a disturbance estimated 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 dynamic model of the rectifier, and inputting the estimated value as a disturbance estimated value of the backstepping control law;
based on the stability of the rectifier closed-loop system, the parameters of a backstepping control law and a disturbance observer are solved, so that the high disturbance-resistant backstepping control of the rectifier at the front end of the bidirectional charger is realized.
Further, the parameters of the backstepping control law and disturbance observer are solved by constructing a Lyapunov function.
Further, the Lyapunov function is:
wherein the method comprises the steps ofAn estimation error representing the equivalent disturbance; />Is the estimated value of equivalent disturbance, d 1 、d 2 And d 3 Is an equivalent perturbation; e, e 1 E is the error of the DC voltage of the rectifier 2 E is the active power error 3 Is reactive power error.
Further, the dynamic mathematical model of the front-end rectifier of the bidirectional charger is as follows:
and superposing the differential value of the rectifier direct-current voltage, the differential value of the active power and the differential value of the reactive power in the mathematical model of the rectifier at the front end of the bidirectional charger with corresponding equivalent disturbance.
Further, a backstepping control law P with disturbance estimation ref 、u P And u Q Is that
Wherein the method comprises the steps ofe 2 ＝P ref -P,e 3 ＝Q ref -Q，/>Is a direct current voltage reference value, P ref Is the active power reference value, Q ref Is a reactive power reference value lambda 1 >0,λ 2 >0,λ 3 >0 is control law parameter, < >>As an estimate of equivalent disturbance, V dc Is the direct current voltage of the rectifier, P isActive power, Q is reactive power, C is DC side capacitance, L is filter inductance, R L0 Is the nominal value of the load resistance.
Further, the disturbance observer is in the form of:
wherein k is>0 is the disturbance observer gain; d, d 01 ,d 02 ,d 03 Is a constant; z 1 ，z 2 ，z 3 Is a state variable of the disturbance observer;z is respectively 1 ，z 2 ，z 3 The corresponding derivative.
A second aspect of the present invention provides a high immunity backstepping control system for a bidirectional charger front-end rectifier, comprising:
the disturbance observer is used for acquiring an estimated value of equivalent disturbance in the dynamic model of the rectifier and inputting the estimated value as a disturbance estimated value of the backstepping control law;
the back-step controller is used for obtaining three-phase power grid voltage, power grid current and rectifier direct current voltage based on a dynamic mathematical model of the front-end rectifier of the bidirectional charger under disturbance, calculating active power and reactive power, combining a direct current voltage reference value and a reactive power reference value, designing a back-step control law with a disturbance estimated value, and solving parameters of the back-step control law and a disturbance observer based on the stability of a closed-loop system of the rectifier so as to realize back-step control of the front-end rectifier of the bidirectional charger.
Further, a backstepping control law P with disturbance estimation ref 、u P And u Q Is that
Wherein the method comprises the steps ofe 2 ＝P ref -P,e 3 ＝Q ref -Q，/>Is a direct current voltage reference value; p (P) ref Is an active power reference value and also represents a backstepping control law; q (Q) ref Is a reactive power reference value lambda 1 >0,λ 2 >0,λ 3 >0 is control law parameter, < >>As an estimate of equivalent disturbance, V dc The direct current voltage of the rectifier is P is active power, Q is reactive power, C is a direct current side capacitor, L is a filter inductance, R L0 Is the nominal value of the load resistance.
Further, the disturbance observer is in the form of:
wherein k is>0 is the disturbance observer gain, d 01 ,d 02 ,d 03 Is constant.
Further, the dynamic mathematical model of the front-end rectifier of the bidirectional charger is as follows:
and superposing the differential value of the rectifier direct-current voltage, the differential value of the active power and the differential value of the reactive power in the mathematical model of the rectifier at the front end of the bidirectional charger with corresponding equivalent disturbance.
Compared with the prior art, the invention has the beneficial effects that:
in order to ensure safe and stable operation of the rectifier under various working conditions, the invention provides a high-disturbance-rejection backstepping control method of a bidirectional charger front-end rectifier based on a disturbance observer, which rapidly and accurately estimates the disturbance quantity of a system and feeds a disturbance estimated value to a backstepping control law so as to eliminate the influence of a disturbance item on control performance, thus the control method has good disturbance rejection capability and robustness.
The control method of the invention ensures that the tracking error of the rectifier system is finally consistent and bounded, namely, the rapid direct-current voltage and power tracking control is realized; the backstepping control law has simple structure, small parameter setting difficulty and easy realization; the control law is designed under a two-phase static coordinate system, a phase-locked loop is not required, the real-time performance is good, and the method is easy to popularize and apply.
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.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a block diagram of an implementation of a high immunity backstepping control method for a front-end rectifier of a bidirectional charger according to an embodiment of the present invention;
FIG. 2 is a DC voltage response waveform when the load is changed according to an embodiment of the present invention;
fig. 3 (a) is a reactive power response waveform at the time of load change using a proportional-integral control method;
fig. 3 (b) is a reactive power response waveform at the time of load change using a back-step control method;
fig. 3 (c) is a reactive power response waveform when the load of the bidirectional charger front-end rectifier high-immunity backstepping control method provided by the invention is changed.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. 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 present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Example 1
In order to improve the robustness of the rectifier control system and solve the problem of voltage drop or sudden increase of the direct current side in the rectifier back-step control when the load power changes, as shown in fig. 1, the embodiment provides a high-immunity back-step control method for a front-end rectifier of a bidirectional charger, which specifically comprises 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 follows
Wherein the method comprises the steps of
V dc Is the actual measurement value of direct current voltage, u α ,u β Is the power grid voltage under a two-phase static coordinate system, omega is the angular frequency of three-phase voltage, C is a direct-current side capacitor, L is a filter inductance, R is a line equivalent resistance, R L0 Is the nominal value of the load resistance, P loss Is the system power loss. d, d 1 、d 2 And d 3 The superscript "-" indicates disturbances such as unmodeled dynamics due to equivalent disturbances caused by factors such as load variations and unmodeled dynamics.
P and Q are calculated rectifier active and reactive power, respectively, i.e
Wherein i is α ,i β Is the grid current in a two-phase stationary coordinate system.
u P ,u Q Is a control signal of the rectifier, defined as
Wherein v is α ,v β Is the modulated voltage of the rectifier in a two-phase stationary coordinate system.
Step 2: obtaining three-phase power grid voltage, power grid current and rectifier direct current voltage V dc Calculating active power P and reactive power Q, and combining direct-current voltage reference valuesAnd reactive power reference value Q ref Designing a backstepping control law P with disturbance estimation values ref ,u P And u Q 。
DC voltage reference valueAnd reactive power reference value Q ref Is generally constant. According to the recursive design concept of back-step control, introducing an active power reference value P ref And constructs the tracking error of the converter as
Definition of Lyapunov functionBy using the formula (1) and for V c Can obtain the derivation
According to Lyapunov stability principle, in order toConstructing a backstepping control law with disturbance estimation values as
Wherein lambda is 1 >0,λ 2 >0,λ 3 >And 0 is a control law parameter.As an estimate of the equivalent disturbance, a specific form will be given in step 3.
Substituting equation (6) into equation (5) and defining an equivalent disturbance estimation errorIs available in the form of
When the equivalent disturbance estimates the error according to equation (7)When (I)>The tracking error of the converter system tends to zero, and the control target of direct-current voltage and reactive power tracking can be realized.
Step 3: constructing a disturbance observer to obtain medium-level disturbance d in a dynamic model of a rectifier i Estimated value of (i=1, 2, 3)And is input as a disturbance estimation value of the backstepping control law.
The disturbance observer was constructed as follows:
wherein k is>0 is the disturbance observer gain, d 01 ,d 02 ,d 03 Is constant. Defining equivalent disturbance estimation errorsIs available in the form of
By analysis of the similar formula (9), it is possible to obtain
Based on Lyapunov stability principle, by combining the formula (9) and the formula (10), the equivalent disturbance estimation error is obtained by selecting a proper gain kNeighborhood of approaching zero at exponential speed, i.e. achieving equivalent interference d i (i=1, 2, 3).
Step 4: based on the stability of the rectifier closed-loop system, the parameters of a backstepping control law and a disturbance observer are solved, so that the high disturbance-resistant backstepping control of the rectifier at the front end of the bidirectional charger is realized.
When the backstepping control law with disturbance estimation designed in equation (6) is used and its disturbance estimation is provided by the disturbance observer constructed in equation (8), the rectifier closed loop system stability analysis is as follows. First, a rectifier closed loop system Lyapunov is defined asThen, using the formulas (7), (9) and (10), deriving V to obtain
Wherein the method comprises the steps ofi=1, 2,3. According to Lyapunov stability principle, when 2λ is selected i -1>0,2k-2>Tracking error e at 0 i And disturbance estimation error->A neighborhood that tends 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 the implementation of the control method according to the present embodiment, and as shown in fig. 1, the control implementation mainly includes two parts, namely a backstepping control law with disturbance observation values and a disturbance observer. In order to further illustrate the effectiveness of the provided control method, a system simulation model is built in Matlab to carry out simulation research. Main circuit parameter setting: the three-phase power grid voltage amplitude is 100V, the filter inductance L=1mh, the line equivalent resistance R=0.1Ω, the three-phase angular frequency ω=100deg.pi rad/s, the direct current side capacitance C=470 μF, the switching frequency F s =10khz, dc voltage reference valueReactive power reference value Q ref ＝0。
In the case of a load change, the proposed control method, the backstepping control method and the proportional-integral control method are compared, and the results are shown in fig. 2 and fig. 3 (a) -fig. 3 (c). Specifically, when 0.3s, the load resistance was changed 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 when a load using a proportional-integral control method is changed; fig. 3 (b) is a reactive power response waveform at the time of load change using a back-step control method; fig. 3 (c) is a reactive power response waveform when the load is changed using the bidirectional charger front-end rectifier high immunity backstepping control method.
As shown in simulation results, when the rectifier has larger load disturbance, compared with other two control methods, the control method has the advantages that the speed of restoring the output direct-current voltage to a stable value is faster, overshoot is smaller, the robustness is stronger, and the expected control effect is achieved.
Example two
The embodiment provides a high-immunity backstepping control system of a front-end rectifier of a bidirectional charger, which comprises:
the disturbance observer is used for acquiring an estimated value of equivalent disturbance in the dynamic model of the rectifier and inputting the estimated value as a disturbance estimated value of the backstepping control law;
the back-step controller is used for obtaining three-phase power grid voltage, power grid current and rectifier direct current voltage based on a dynamic mathematical model of the front-end rectifier of the bidirectional charger under disturbance, calculating active power and reactive power, combining a direct current voltage reference value and a reactive power reference value, designing a back-step control law with a disturbance estimated value, and solving parameters of the back-step control law and a disturbance observer based on the stability of a closed-loop system of the rectifier so as to realize back-step control of the front-end rectifier of the bidirectional charger.
In specific implementation, the dynamic mathematical model of the bidirectional charger front-end rectifier is:
and superposing the differential value of the rectifier direct-current voltage, the differential value of the active power and the differential value of the reactive power in the mathematical model of the rectifier at the front end of the bidirectional charger with corresponding equivalent disturbance.
Backstepping control law P with disturbance estimation ref 、u P And u Q Is that
Wherein the method comprises the steps ofe 2 ＝P ref -P,e 3 ＝Q ref -Q，/>Is a direct current voltage reference value, P ref Is the active power reference value, Q ref Is a reactive power reference value lambda 1 >0,λ 2 >0,λ 3 >0 is control law parameter, < >>As an estimate of equivalent disturbance, V dc The direct current voltage of the rectifier is P is active power, Q is reactive power, C is a direct current side capacitor, L is a filter inductance, R L0 Is the nominal value of the load resistance.
The disturbance observer is in the form of:
wherein k is>0 is the disturbance observer gain, d 01 ,d 02 ,d 03 Is constant.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. 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-immunity 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 grid voltage, grid current and rectifier direct-current voltage, calculating active power and reactive power, and designing a backstepping control law with a disturbance estimated 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 dynamic model of the rectifier, and inputting the estimated value as a disturbance estimated value of the backstepping control law;
based on the stability of a rectifier closed-loop system, solving parameters of a backstepping control law and a disturbance observer so as to realize high disturbance-resistant backstepping control of a rectifier at the front end of the bidirectional charger;
the dynamic mathematical model of the rectifier under disturbance is that
Wherein the method comprises the steps of
V dc Is the actual measurement value of direct current voltage, u α ,u β Is the power grid voltage under a two-phase static coordinate system, omega is the angular frequency of three-phase voltage, C is a direct-current side capacitor, L is a filter inductance, R is a line equivalent resistance, R L0 Is the nominal value of the load resistance, P loss Is the system power loss; d, d 1 、d 2 And d 3 Equivalent disturbance generated by factors such as load change and unmodeled dynamics, and the superscript "-" represents the disturbance such as unmodeled dynamics;
p and Q are calculated rectifier active and reactive power, respectively, i.e
Wherein i is α ,i β Is the grid current in a two-phase stationary coordinate system;
u P ,u Q is a control signal of the rectifier, defined as
Wherein v is α ,v β Is the modulated voltage of the rectifier in a two-phase stationary coordinate system.
2. The method for controlling high immunity back-off of a bi-directional charger front-end rectifier of claim 1, wherein parameters of a back-off control law and a disturbance observer are solved by constructing a Lyapunov function.
3. The method for controlling high immunity back-off of a bidirectional charger front-end rectifier of claim 2, wherein the Lyapunov function is:
wherein the method comprises the steps ofAn estimation error representing the equivalent disturbance; />Is the estimated value of equivalent disturbance, d 1 、d 2 And d 3 Is an equivalent perturbation; e, e 1 E is the error of the DC voltage of the rectifier 2 E is the active power error 3 Is reactive power error.
4. The method for controlling high immunity backstepping of a front-end rectifier of a bidirectional charger of claim 1, wherein the dynamic mathematical model of the front-end rectifier of the bidirectional charger is:
and superposing the differential value of the rectifier direct-current voltage, the differential value of the active power and the differential value of the reactive power in the mathematical model of the rectifier at the front end of the bidirectional charger with corresponding equivalent disturbance.
5. The method for controlling high noise immunity backstepping of a front-end rectifier of a bi-directional charger according to claim 1, wherein a backstepping control law P with a disturbance estimated value is provided ref 、u P And u Q Is that
Wherein the method comprises the steps ofe 2 ＝P ref -P,e 3 ＝Q ref -Q，/>Is a direct current voltage reference value, P ref Is the active power reference value, Q ref Is a reactive power reference value lambda 1 ＞0,λ 2 ＞0,λ 3 > 0 is the control law parameter, ">As an estimate of equivalent disturbance, V dc The direct current voltage of the rectifier is P is active power, Q is reactive power, C is a direct current side capacitor, L is a filter inductance, R L0 Is the nominal value of the load resistance.
6. The method for controlling high immunity back-step of a front-end rectifier of a bi-directional charger of claim 5, wherein the disturbance observer is in the form of:
where k > 0 is the disturbance observer gain, d 01 ,d 02 ,d 03 Is constant.
7. A bidirectional charger front-end rectifier high-immunity backstepping control system adopting the bidirectional charger front-end rectifier high-immunity backstepping control method as recited in claim 1, comprising:
the disturbance observer is used for acquiring an estimated value of equivalent disturbance in the dynamic model of the rectifier and inputting the estimated value as a disturbance estimated value of a backstepping control law;
the back-step controller is used for obtaining three-phase power grid voltage, power grid current and rectifier direct current voltage based on a dynamic mathematical model of the front-end rectifier of the bidirectional charger under disturbance, calculating active power and reactive power, combining a direct current voltage reference value and a reactive power reference value, designing a back-step control law with a disturbance estimated value, and solving parameters of the back-step control law and a disturbance observer based on the stability of a closed-loop system of the rectifier so as to realize back-step control of the front-end rectifier of the bidirectional charger.
8. The high immunity backstepping control system for a front end rectifier of a bi-directional charger of claim 7, wherein the backstepping control law P with disturbance estimation ref 、u P And u Q Is that
Wherein the method comprises the steps ofe 2 ＝P ref -P,e 3 ＝Q ref -Q，/>Is a direct current voltage reference value, P ref Is the active power reference value, Q ref Is a reactive power reference value lambda 1 ＞0,λ 2 ＞0,λ 3 > 0 is the control law parameter, ">As an estimate of equivalent disturbance, V dc The direct current voltage of the rectifier is P is active power, Q is reactive power, C is a direct current side capacitor, L is a filter inductance, R L0 Is the nominal value of the load resistance.
9. The bi-directional charger front-end rectifier high immunity back-off control system of claim 8, wherein the disturbance observer is in the form of:
where k > 0 is the disturbance observer gain, d 01 ,d 02 ,d 03 Is constant.
10. The high immunity backstepping control system of a bi-directional charger front-end rectifier of claim 7, wherein the dynamic mathematical model of the bi-directional charger front-end rectifier is:
and superposing the differential value of the rectifier direct-current voltage, the differential value of the active power and the differential value of the reactive power in the mathematical model of the rectifier at the front end of the bidirectional charger with corresponding equivalent disturbance.
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