CN113193752A - DC transformer input voltage balance control method based on model prediction - Google Patents
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
- H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
- H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
- H02M3/285—Single converters with a plurality of output stages connected in parallel
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
- H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
- H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
- H02M3/325—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
- H02M3/335—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/33569—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements
- H02M3/33576—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements having at least one active switching element at the secondary side of an isolation transformer
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Abstract
The invention discloses a direct current transformer input voltage balance control method based on model prediction, which belongs to the field of direct current converter control and comprises the following steps: using input voltage v of respective DAB modules in the kth switching cycleinj(k) Calculating an input voltage reference value Vinref(ii) a Using input total current iin(k) Output voltage vo(k) Output load current io(k) Predicting the input voltage v in the (k +1) th switching cycleinj(k +1) and an output voltage vo(k + 1); using vinj(k +1) and VinrefAnd v ando(k +1) and VorefCalculating the objective function J and the intermediate parameter P of each DAB modulej(ii) a Based on P when the control objective function J is minimizedjDetermining per-unit output power p of every DAB moduleuj(k) (ii) a Using per unit output power puj(k) Selecting a phase shift angle D1，D2And D3So that the input voltage of the respective DAB module tracks the input voltage reference value. The invention does not need a PI controller, realizes the input voltage balance of all DAB modules at the serial input side from the parameters of the circuit, and ensures the reliable operation of the ISOP cascaded converter.
Description
Technical Field
The invention belongs to the field of control of direct current converters, and particularly relates to a direct current transformer input voltage balance control method based on model prediction.
Background
In the field of high-power direct-current conversion, the capacity of a single converter is limited, and the voltage stress and the current stress of a power switch device are limited, so that the power requirement of a system cannot be met. The modular series-parallel combination scheme can effectively improve the power level of the direct-current transformer, reduce the voltage and current stress of a power switch device and enhance the fault-tolerant capability of a system; meanwhile, in the modularized series-parallel combination scheme, the characteristics of the converter are reserved. In recent years, Input Series and Output Parallel (ISOP) type combination schemes are often used in the field of DC conversion.
The ISOP cascade system has the problem of unbalance of input voltages of a plurality of DAB sub-modules, the conventional ISOP input voltage-sharing method mainly depends on a PI controller, the parameter setting of the PI controller is mainly achieved through trial and error, and the control stability is difficult to guarantee.
Disclosure of Invention
Aiming at the defects or the improvement requirements in the prior art, the invention provides a direct current transformer input voltage balance control method, a direct current transformer input voltage balance control device and a direct current transformer input voltage balance control system based on model prediction, and aims to realize input voltage balance of all DAB modules at the serial input side without a PI controller from the parameters of a circuit, ensure the reliable operation of an ISOP (input-side-input-side) cascaded converter and further solve the technical problem of poor control stability of the conventional direct current converter.
To achieve the above object, according to an aspect of the present invention, there is provided a method for controlling input voltage equalization of a dc transformer based on model prediction, including:
s1: using input voltage v of respective DAB modules in the kth switching cycleinj(k) Calculating input voltage reference value V of each DAB moduleinref(ii) a Input total current i using the k-th switching cyclein(k) Output voltage vo(k) Output load current io(k) Predicting input voltage v of every DAB module in k +1 switching periodinj(k +1) and an output voltage vo(k+1)；
S2: using input voltage v corresponding to each DAB moduleinj(k +1) and an input voltage reference value VinrefDifference of (2) and output powerPressure vo(k +1) and an output voltage reference value VorefCalculating the objective function J and the intermediate parameter P of each DAB modulej；
S3: when the objective function J of each DAB module is controlled to be minimized, the intermediate parameter P corresponding to each DAB module is based onjDetermining per-unit output power p of every DAB moduleuj(k)；
S4: per unit output power p of each DAB module based on triple phase-shift current stress minimization optimization algorithmuj(k) Selecting a corresponding phase shift angle D1，D2 and D3So that the input voltage of each DAB module in the direct current transformer tracks the reference value of the input voltage, and the balance control of the input voltage is realized.
In one embodiment, the S1 includes:
using formula Vinref＝Σvinj(k) Calculating input voltage reference value V of every DAB module in kth switching period by using/Minref；
Using formulas
Calculating the input voltage v corresponding to each DAB moduleinj(k +1), output voltage vo(k+1)；
Wherein M is the number of DAB modules, Iin(k) Is the total current of the input side DC bus, CinjIs the input capacitance of DAB converter module, j is 1, 2 … M, pujFor per unit transmission power of DAB module, NjTransformer ratio for each DAB module, LjTransmission inductor, C, for DAB moduleoIs an output capacitor; f. ofsFor each DAB converter a corresponding switching frequency.
In one embodiment, the S2 includes:
using J ═ vinj(k+1)-vinref]2+[vo(k+1)-voref]2The objective function J of each DAB module is acquired,
using formulas
Calculating intermediate variables corresponding to all DAB modules; wherein,
in one embodiment, the S3 includes:
when the output voltage and the input voltage of each DAB module reach stable values, controlling an objective function J to be minimized;
using formulas
Determining the per-unit output power p of each DAB moduleuj(k)。
In one embodiment, the S3 includes:
when the output voltage and the input voltage of each DAB module reach stable values, controlling an objective function J to be minimized;
using formulas
Determining the per-unit output power p of each DAB moduleuj(k)。
According to another aspect of the present invention, there is provided a dc transformer input voltage equalization control apparatus based on model prediction, including:
prediction module for using the input voltage v of the respective DAB modules in the k-th switching cycleinj(k) Calculating input voltage reference value V of each DAB moduleinref(ii) a Input total current i using the k-th switching cyclein(k) Output voltage vo(k) Output load current io(k) Predicting input voltage v of every DAB module in k +1 switching periodinj(k +1) and output voltagevo(k+1)；
A calculation module for utilizing the corresponding input voltage v of each DAB moduleinj(k +1) and an input voltage reference value VinrefAnd the output voltage vo(k +1) and an output voltage reference value VorefCalculating the objective function J and the intermediate parameter P of each DAB modulej；
A determination module for minimizing the objective function J of each DAB module based on the corresponding intermediate parameter P of each DAB modulejDetermining per-unit output power p of every DAB moduleuj(k)；
A control module for utilizing per unit output power p of each DAB module based on triple phase-shift current stress minimization optimization algorithmuj(k) Selecting a corresponding phase shift angle D1，D2 and D3So that the input voltage of each DAB module in the direct current transformer tracks the reference value of the input voltage, and the balance control of the input voltage is realized.
According to another aspect of the present invention, there is provided a control system comprising a memory and a processor, the memory storing a computer program, the processor implementing the steps of the model prediction based dc transformer input voltage equalization control method when executing the computer program.
Generally, compared with the prior art, the above technical solution conceived by the present invention can obtain the following beneficial effects:
the invention utilizes the input voltage v of every DAB module in the kth switching periodinj(k) Calculating input voltage reference value V of each DAB moduleinref(ii) a Input total current i using the k-th switching cyclein(k) Output voltage vo(k) Output load current io(k) Predicting input voltage v of every DAB module in k +1 switching periodinj(k +1) and an output voltage vo(k + 1); further calculating to obtain the objective function J and the intermediate parameter P of each DAB modulej(ii) a When the objective function J of each DAB module is controlled to be minimized, the intermediate parameter P corresponding to each DAB module is basedjDetermining individual DA' sPer unit output power p of module Buj(k) (ii) a And selecting a corresponding phase shift angle D1，D2 and D3So that the input voltage of each DAB-module in the dc-transformer tracks the input voltage reference. In other words, the invention can realize the tracking of ISOP quick output voltage and each DAB module input voltage to the ideal value thereof based on the parameter characteristics and detection quantity of the circuit in the direct current transformer without starting from the parameters of the circuit by a PI controller, thereby realizing the input voltage balance of each DAB module at the serial input side and ensuring the reliable operation of the ISOP cascaded converter.
Drawings
FIG. 1 is a schematic diagram of the topology of an ISOP type DC transformer based on a DAB converter according to the present invention;
FIG. 2 is a flow chart of a DC transformer input voltage equalization control method based on model prediction according to an embodiment of the present invention;
fig. 3 is a control block diagram of an ISOP type dc transformer according to the present invention;
FIG. 4 is a diagram showing simulation results of the input voltage balancing control method according to the present invention under a load change condition, wherein the DAB module parameters are consistent;
fig. 5 is a simulation result diagram of the input voltage balance control method proposed by the present invention when the parameters of the DAB modules are not consistent and the load is changed in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The main structure of ISOP type DC transformer is M Double Active Bridge (DAB) DC converters with serial input and parallel output, and the structure is as shown in figure1 is shown. The total voltage of the input side direct current bus is VdcThe total current of the input side direct current bus is IinThe input capacitance of each DAB converter module is Cinj(j ═ 1, 2 … M), and the input capacitance voltage of each DAB module is vinjThe current of each DAB module after being input with the capacitor is idjThe transformer transformation ratio of each DAB module is Nj. The output side is in parallel connection, the output capacitance is CoOutput voltage of voThe load current is io. Reference value V of output voltageorefReference value V of input voltage of each DAB moduleinrefAnd V isinref＝Vdcand/M. The transmission inductance of each DAB module is Lj。
As shown in fig. 2, the present invention provides a method for controlling input voltage equalization of a dc transformer based on model prediction, which includes:
s1: using input voltage v of respective DAB modules in the kth switching cycleinj(k) Calculating input voltage reference value V of each DAB moduleinref(ii) a Input total current i using the k-th switching cyclein(k) Output voltage vo(k) Output load current io(k) Predicting input voltage v of every DAB module in k +1 switching periodinj(k +1) and an output voltage vo(k+1)。
Specifically, the per-unit transmission power of each DAB module is puiAll DAB modules have a switching frequency of fsAccording to the characteristics of the DAB circuit, for the jth DAB module, the following are provided:
then for the jth DAB module, the KCL equations for the input and output sides can be written:
discretizing the formula (2) by taking one switching period as a unit:
then there are:
wherein Iin(k)，vo(k)，io(k) Input total current, output voltage, output load current, v, detected for the kth switching cycleinj(k) The input voltage of the jth DAB module detected for the kth switching cycle. v. ofo(k +1) is a predicted value of the output voltage of the next switching cycle based on the detected amount of the kth switching cycle, vinjAnd (k +1) is the predicted value of the input voltage of the jth DAB module.
S2: using input voltage v corresponding to each DAB moduleinj(k +1) and an input voltage reference value VinrefAnd the output voltage vo(k +1) and an output voltage reference value VorefCalculating the objective function J and the intermediate parameter P of each DAB modulej。
Specifically, for the jth DAB module, the objective function J is defined as:
wherein
S3: when the objective function J of each DAB module is controlled to be minimized, the intermediate parameter P corresponding to each DAB module is basedjDetermining per-unit output power p of every DAB moduleuj(k)。
Specifically, the objective function J is with respect to pujUnary quadratic function of, rootAccording to the definition and the increase and decrease of the quadratic function, J is the minimum if the output voltage and the input voltage of each DAB module reach the stable value quickly, and 0<puj<1，pujIt should be:
when p isujWhen the switching period is too large or too small, the control is often unstable, so the per-unit output power of the kth switching period of the jth DAB module is taken as:
s4: per unit output power p of each DAB module based on triple phase-shift current stress minimization optimization algorithmuj(k) Selecting a corresponding phase shift angle D1，D2 and D3So that the input voltage of each DAB module in the direct current transformer tracks the reference value of the input voltage, and the balance control of the input voltage is realized.
Specifically, the unit power of the jth DAB module in the kth switching period is calculated according to equation (7), and then the proper phase shift angles D1, D2 and D3 are selected through the existing triple phase shift current stress minimization optimization scheme. The fast output voltage of ISOP and the tracking of the input voltage of each DAB module to the ideal value are realized.
In one embodiment, S1 includes:
using formula Vinref＝Σvinj(k) Calculating input voltage reference value V of every DAB module in kth switching period by using/Minref；
Using formulas
Calculating the corresponding input voltage v of each DAB moduleinj(k +1), output voltage vo(k+1)；
Wherein M is the number of DAB modules, Iin(k) To the input side straightTotal current of current bus, CinjIs the input capacitance of DAB converter module, j is 1, 2 … M, pujFor per unit transmission power of DAB module, NjTransformer ratio for each DAB module, LjTransmission inductor, C, for DAB moduleoIs an output capacitor; f. ofsFor each DAB converter a corresponding switching frequency.
In one embodiment, S2 includes:
using J ═ vinj(k+1)-vinref]2+[vo(k+1)-voref]2The objective function J of each DAB module is acquired,
using formulas
Calculating intermediate variables corresponding to all DAB modules; wherein,
in one embodiment, the objective function J is related to pujS3 includes:
when the output voltage and the input voltage of each DAB module reach stable values, the objective function J needs to be controlled to be minimized;
using formulas
Determining the per-unit output power p of each DAB moduleuj(k)。
In one embodiment, the objective function J is related to pujA unitary quadratic function of; s3 includes:
when the output voltage and the input voltage of each DAB module reach stable values, the objective function J needs to be controlled to be minimized;
using formulas
Determining the per-unit output power p of each DAB moduleuj(k)。
The technical effect of the invention is verified according to the following example, and the parameters of the double-active-bridge circuit are set as follows:
| parameter(s) | Numerical value |
| Input bus voltage Vdc | 600V |
| ISOP cascaded DAB |
3 |
| Input reference voltage V of every DAB moduleinref | 200V |
| Output reference voltage Voref | 85V |
| Switching frequency fs | 10kHz |
The experimental parameters of the dc transformer are as shown in the table above. Taking M to 3, fig. 3 is an ISOP control block diagram according to the present invention.
(1) All DAB module parameters are consistent, and the dynamic response simulation result of the system is obtained when the load changes.
The input capacitance, transmission inductance and transformer ratio parameters of DABs are kept the same, i.e. Cin1＝Cin2＝Cin3，L1＝L2＝L3，N1＝N2＝N32. In simulation, the load resistance jumps from 12 Ω to 9.6 Ω at 0.02s, the load jumps back to 12 Ω at 0.06s, and the simulation waveforms are as shown in fig. 4, so that when the load is not changed, the input voltages of the three DAB modules are all stabilized at 200V, the output voltages are stabilized at 85V, and good input voltage stabilization and input voltage equalization effects are achieved. When the load changes, the system has quick dynamic response, which shows the rapidity and the stability of the control method.
(2) And the parameters of the DAB modules are inconsistent, and the dynamic response simulation result of the system is obtained when the load changes.
The parameters of input capacitance and transmission inductance of every DAB are kept consistent, i.e. Cin1＝Cin2＝Cin3，L1＝L2＝L3. The transformer transformation ratio of each DAB module is different, N1＝2，N21.5 and N31.25. In simulation, the load resistance jumps from 12 Ω to 9.6 Ω at 0.02s, the load jumps back to 12 Ω at 0.06s, and the simulation waveforms are as shown in fig. 5, so that when the load is not changed, the input voltages of the three DAB modules are all stabilized at 200V, the output voltages are stabilized at 85V, and good input voltage stabilization and input voltage equalization effects are achieved. When the load changes, the system has quick dynamic response, which shows the rapidity and the stability of the control method.
According to the simulation results, the input voltage balance control method of the ISOP cascaded converter based on the model prediction control is provided. The method does not need a PI controller, starts from the parameters of the circuit, and comprises M +3 sensors and M controllers, so that the quick and stable output voltage control and the input voltage balance of all DAB modules at the serial input side can be realized, and the reliable operation of the ISOP cascade converter is ensured.
According to another aspect of the present invention, there is provided a dc transformer input voltage equalization control apparatus based on model prediction, including:
prediction module for using the input voltage v of the respective DAB modules in the k-th switching cycleinj(k) Calculating input voltage reference value V of each DAB moduleinref(ii) a Input total current i using the k-th switching cyclein(k) Output voltage vo(k) Output load current io(k) Predicting input voltage v of every DAB module in k +1 switching periodinj(k +1) and an output voltage vo(k+1)；
A calculation module for utilizing the corresponding input voltage v of each DAB moduleinj(k +1) and an input voltage reference value VinrefAnd the output voltage vo(k +1) and an output voltage reference value VorefCalculating the objective function J and the intermediate parameter P of each DAB modulej；
A determination module for minimizing the objective function J of each DAB module based on the corresponding intermediate parameter P of each DAB modulejDetermining per-unit output power p of every DAB moduleuj(k)；
A control module for utilizing per unit output power p of each DAB module based on triple phase-shift current stress minimization optimization algorithmuj(k) Selecting a corresponding phase shift angle D1，D2 and D3So that the input voltage of each DAB module in the direct current transformer tracks the reference value of the input voltage, and the balance control of the input voltage is realized.
According to another aspect of the present invention, a control system is provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the dc transformer input voltage equalization control method based on model prediction when executing the computer program.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A direct current transformer input voltage balance control method based on model prediction is characterized by comprising the following steps:
s1: using input voltage v of respective DAB modules in the kth switching cycleinj(k) Calculating input voltage reference value V of each DAB moduleinref(ii) a Input total current i using the k-th switching cyclein(k) Output voltage vo(k) Output load current io(k) Predicting input voltage v of every DAB module in k +1 switching periodinj(k +1) and an output voltage vo(k+1)；
S2: using input voltage v corresponding to each DAB moduleinj(k +1) and an input voltage reference value VinrefAnd the output voltage vo(k +1) and an output voltage reference value VorefCalculating the objective function J and the intermediate parameter P of each DAB modulej；
S3: when the objective function J of each DAB module is controlled to be minimized, the intermediate parameter P corresponding to each DAB module is based onjDetermining per-unit output power p of every DAB moduleuj(k)；
S4: per unit output power p of each DAB module based on triple phase-shift current stress minimization optimization algorithmuj(k) Selecting a corresponding phase shift angle D1，D2 and D3So that the input voltage of each DAB module in the direct current transformer tracks the reference value of the input voltage, and the balance control of the input voltage is realized.
2. The model prediction-based dc transformer input voltage equalization control method of claim 1, wherein said S1 comprises:
using formula Vinref＝Σvinj(k) Calculating input voltage reference value V of every DAB module in kth switching period by using/Minref；
Using formulas
Calculating the input voltage v corresponding to each DAB moduleinj(k +1), output voltage vo(k+1)；
Wherein M is the number of DAB modules, Iin(k) Is the total current of the input side DC bus, CinjIs the input capacitance of DAB converter module, j is 1, 2 … M, pujFor per unit transmission power of DAB module, NjTransformer ratio for each DAB module, LjTransmission inductor, C, for DAB moduleoIs an output capacitor; f. ofsFor each DAB converter a corresponding switching frequency.
3. The model prediction-based dc transformer input voltage equalization control method of claim 2, wherein the S2 comprises:
using J ═ vinj(k+1)-vinref]2+[vo(k+1)-voref]2The objective function J of each DAB module is acquired,
using formulas
Calculating intermediate variables corresponding to all DAB modules; wherein,
4. the model prediction-based dc transformer input voltage equalization control method of claim 3, wherein said S3 comprises:
when the output voltage and the input voltage of each DAB module reach stable values, controlling an objective function J to be minimized;
using formulas
Determining the per-unit output power p of each DAB moduleuj(k)。
5. The model prediction-based dc transformer input voltage equalization control method of claim 3, wherein said S3 comprises:
when the output voltage and the input voltage of each DAB module reach stable values, controlling an objective function J to be minimized;
using formulas
Determining the per-unit output power p of each DAB moduleuj(k)。
6. A DC transformer input voltage balance control device based on model prediction is characterized by comprising:
prediction module for using the input voltage v of the respective DAB modules in the k-th switching cycleinj(k) Calculating input voltage reference value V of each DAB moduleinref(ii) a Input total current i using the k-th switching cyclein(k) Output voltage vo(k) Output load current io(k) Predicting input voltage v of every DAB module in k +1 switching periodinj(k +1) and an output voltage vo(k+1)；
A calculation module for utilizing the corresponding input voltage v of each DAB moduleinj(k +1) and an input voltage reference value VinrefAnd the output voltage vo(k +1) and an output voltage reference value VorefCalculating the objective function J and the intermediate parameter P of each DAB modulej；
A determination module for minimizing the objective function J of each DAB module based on the corresponding intermediate parameter P of each DAB modulejDetermining per-unit output power p of every DAB moduleuj(k)；
A control module for utilizing per unit output power p of each DAB module based on triple phase-shift current stress minimization optimization algorithmuj(k) Select out pairsCorresponding phase shift angle D1，D2 and D3So that the input voltage of each DAB module in the direct current transformer tracks the reference value of the input voltage, and the balance control of the input voltage is realized.
7. A control system comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 5.
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