CN113241811B - Novel spacecraft charging regulator control method - Google Patents

Novel spacecraft charging regulator control method Download PDF

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CN113241811B
CN113241811B CN202110436256.7A CN202110436256A CN113241811B CN 113241811 B CN113241811 B CN 113241811B CN 202110436256 A CN202110436256 A CN 202110436256A CN 113241811 B CN113241811 B CN 113241811B
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charging
voltage
current
mea
regulator
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CN113241811A (en
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庞玉婷
杨华
许强仁
韦云
王国军
徐刚
杨湛林
张宸
薛鸿翔
寇韵
宗正骁
吴玉哲
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Shanghai Institute of Space Power Sources
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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
    • H02J7/007—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
    • 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
    • H02J7/007182—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery voltage
    • 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
    • H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
    • H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy
    • Y02E10/56—Power conversion systems, e.g. maximum power point trackers

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention provides a novel spacecraft charging regulator control method, when the energy of a spacecraft is sufficient in an illumination period, a charging regulator charges a storage battery according to a set charging current reference, and when the output power of a solar array is smaller than the sum of a load power and the set charging power of the storage battery, the charging regulator automatically regulates the charging current reference according to the signal size of a Main Error Amplifier (MEA), so that the automatic regulation function of the charging current of the storage battery is realized, and the purpose of power balance is achieved. Compared with the traditional control method of the charging regulator, the charging regulator disclosed by the invention can regulate the charging power by automatically regulating the charging current reference signal under the working condition of insufficient energy, and a loop for stabilizing the bus voltage is not required to be independently arranged in the charging regulator, so that the design of a control circuit of the charging regulator is greatly simplified.

Description

Novel spacecraft charging regulator control method
Technical Field
The invention relates to the field of space power supplies, in particular to a control method of a spacecraft charging regulator suitable for a condition of sufficient illumination.
Background
With the development of a new generation of large Geostationary Orbit (GEO) satellite, the power required by the satellite is continuously increased, higher requirements are put forward on the design of a satellite power supply system, and the power supply system develops towards the directions of high power, high heat dissipation, long service life, strong expansibility and the like. Therefore, it is of practical value to optimize a charging regulator, which is one of the important components of a satellite power supply system.
Most spacecraft power systems still use a solar cell array-storage battery power system. During the illumination period, the load requirements are met preferentially, and on the premise of meeting the load power and the battery pack charging requirements, the extra energy is shunted and dissipated through the sequential shunt; when the load/bus demand is increased, the shunt is reduced, and the number of solar block power supplies is increased; after the solar battery works completely, reducing the charging power of a charging regulator, and preferentially ensuring the load power; when all the photovoltaic arrays still cannot meet the load power, the solar arrays and the battery pack jointly supply power to the load/bus; during the shadow period, the power required by the load/bus is provided entirely by the battery pack.
Most of spacecraft Power Controllers (PCUs) adopt a unified MEA control strategy, and the PCUs operate in different modes according to the range of MEA voltages. If a Sequential Switching Shunt Regulator (S) is used 3 R) architecture, the whole control process can be generally divided into a shunt domain, a charging domain and a discharging domain. In order to stably work in different domains, a dead zone is arranged among a shunt domain, a charge domain and a discharge domain, when the voltage of an MEA is in a dead zone, a shunt regulator, a charge regulator and a discharge regulator do not regulate the bus voltage, and only when the dead zone is crossed to reach the corresponding domain, a corresponding control circuit starts to act, and the bus voltage is regulated to be within a normal range by a constant voltage loop.
At present, a charge regulator at home and abroad usually adopts a staggered parallel Buck, Sepic and Superbuck topology, when a battery is not fully charged, a double-loop control strategy of a current inner loop voltage outer loop is adopted, namely, in a shunt domain, a storage battery is charged with constant current according to a given reference, and the charge regulator is equivalent to a constant current type load; in a charging area, a charging regulator needs to be provided with a constant voltage ring and a constant current ring, the bus voltage is adjusted to be within a normal range by the constant voltage ring, the constant current ring is arranged to ensure that the charging current is constant, essentially, the charging regulator generates a charging current reference through the constant voltage ring and performs constant current charging on a storage battery by taking the reference as the storage battery, but the constant current ring is different from a control object of the constant voltage ring, and the control object of the constant voltage ring also has a capacitor array besides the charging regulator, so that the factors needing to be considered when the capacitor array is arranged are increased. When the battery is fully charged, a double-voltage-ring control strategy is adopted, namely in a shunting domain, a charging regulator uses a given reference as a storage battery to carry out constant-voltage charging, in a charging domain, the charging regulator regulates the bus voltage to be within a normal range by arranging a constant-voltage outer ring, and the constant-voltage inner ring is arranged to ensure that the charging voltage is constant. The following disadvantages still exist with respect to current control strategies:
1) the charging regulator control circuit is complex in design and has certain requirements on the characteristics of the topology. Besides the constant current and constant voltage rings meeting the charging requirements of the storage battery, the charging regulator is also provided with a constant voltage ring for controlling the bus voltage in the charging domain, so that the design of a control circuit is complex.
2) The capacitor array design needs to take into account the requirements of the charge regulator. In the charging area, the constant current loop is different from the control target of the constant voltage loop, and the control target of the constant voltage loop includes a capacitor array in addition to the charging regulator, so that factors to be considered when designing the capacitor array increase.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects in the prior art are overcome, and the control method of the charging regulator is provided, so that the charging regulator is further optimized, loops for controlling the bus voltage are reduced, and a control circuit is simplified. According to the invention, the charging current reference signal is automatically adjusted under the working condition of insufficient energy, and a loop for stabilizing the bus voltage is not required to be independently arranged in the charging regulator, so that the design of a control circuit of the charging regulator is greatly simplified, the charging regulator is slowly withdrawn, the charging domain and the discharging domain are smoothly transited, and the fluctuation value of the bus voltage at the transition moment is reduced.
The technical scheme of the invention is as follows: a novel spacecraft charging regulator, said charging regulator comprising: the system comprises a spacecraft power bus, a DC/DC main circuit, a voltage and current sampling circuit, a charging current controller, a PWM generator, a driving circuit and a storage battery pack;
when the storage battery does not reach a set constant voltage value, when the output power of the solar array is greater than the sum of the load power and the charging power set by the storage battery, the charging regulator performs constant current charging on the storage battery by taking a set maximum charging current reference; when the output power of the solar array is smaller than the sum of the load power and the charging power set by the storage battery, the charging regulator automatically regulates the charging current reference according to the signal size of the bus MEA, so that the storage battery performs constant-current charging according to the reference value. When the storage battery reaches a set constant voltage value, the storage battery is charged at a constant voltage.
A novel spacecraft charging regulator control method comprises the following steps:
the method comprises the following steps: collecting bus voltage V by voltage and current sampling circuit Bus Charging current I ch And the voltage V of the accumulator Bat Setting a bus voltage reference
Figure BDA0003033208770000031
MEA referencing at battery start-of-charge
Figure BDA0003033208770000032
Maximum charging current reference
Figure BDA0003033208770000033
And a constant voltage charging voltage reference of the storage battery
Figure BDA0003033208770000034
Wherein the charging power set by the storage battery is defined as
Figure BDA0003033208770000035
The expression is satisfied:
Figure BDA0003033208770000036
step two: will bus voltage V Bus And bus voltage reference
Figure BDA0003033208770000037
Comparing to obtain the bus voltage error delta V Bus Input to the first controller to obtain the MEA signal V MEA (ii) a The MEA signal V MEA And a reference
Figure BDA0003033208770000038
Comparing to obtain the error delta V of the MEA MEA Error Δ V of the MEA MEA Inputting the reference current to a second PI controller to obtain a charging current reference
Figure BDA0003033208770000039
Referencing the charging current
Figure BDA00030332087700000310
And a maximum charging current reference
Figure BDA00030332087700000311
The input signal of the charge current reference circuit is a small value
Figure BDA00030332087700000312
Will charge current I ch And a charging current reference signal
Figure BDA00030332087700000313
Comparing to obtain the charging current error delta I ch The charging current error Δ I ch Inputting the current to a third PI controller to obtain a current modulation wave u c_i (ii) a Voltage V of accumulator Bat And a constant voltage charging voltage reference
Figure BDA00030332087700000314
Comparing to obtain the voltage error delta V of the storage battery Bat Calculating the voltage error Δ V of the battery Bat Inputting the voltage modulated wave u to a fourth PI controller c_v (ii) a The obtained current modulated wave u is processed c_i And a voltage modulation wave u c_v The input small circuit obtains a smaller value as a modulation wave u c ；
Step three: modulated wave u c Input to PWM generator and carrier u t And comparing to obtain a duty ratio d, and performing power amplification on the duty ratio d through a driving circuit to obtain a driving pulse of the selected topology, so that the power circuit is driven, and the purpose of the voltage change and charging regulator control method is achieved.
Compared with the prior art, the invention has the advantages that: the control method of the charging regulator optimizes the traditional control method, automatically regulates the charging current reference under the working condition of insufficient energy, and does not independently set a loop for stabilizing the bus voltage in the charging regulator, thereby greatly simplifying the design of a control circuit of the charging regulator; the charging regulator does not share a capacitor array with the discharging regulator and the shunt regulator any more, and factors considered when designing the capacitor array are reduced; when the charging regulator is modeled, the control objects are the same and are the charging regulator, so that the modeling process is simplified, and the calculated amount is reduced.
Drawings
FIG. 1 is S 3 R framework power supply controller structure chart.
Fig. 2 is a schematic diagram of a charge regulator.
Fig. 3 is a charge regulator control block diagram invented herein.
Fig. 4 is a schematic diagram of a charging regulator using the Superbuck topology as an example.
Fig. 5 is a block diagram of a charge regulator control, using the Superbuck topology as an example.
Detailed Description
The control strategy of the novel spacecraft charging regulator of the present invention is further described in detail with reference to fig. 1-5. It is to be noted that the drawings are designed in simplified form and not as precise scale, solely for the purpose of clearly and clearly illustrating the method and objects of the practice of the invention.
The core idea of the invention is to cancel a constant voltage loop of a charging regulator for stabilizing the bus voltage and to balance the power by adopting a constant current loop automatically regulated by a reference. When the storage battery does not reach a set constant voltage value and the energy of the spacecraft is sufficient in the illumination period, the charging regulator charges the storage battery at a constant current according to a set charging current reference; when the output power of the solar array is smaller than the sum of the load power and the charging power set by the storage battery, the charging regulator automatically regulates the charging current reference according to the value of the bus MEA (electrode array electrode) value so as to control the charging power of the storage battery and achieve the purpose of regulating the power. Meanwhile, the discharging regulator stabilizes the bus voltage and ensures that the bus voltage is in a reasonable range. When the storage battery reaches a set constant voltage value, the storage battery is charged at a constant voltage.
FIG. 1 is S 3 As can be seen from fig. 1, the power controller is composed of a solar array, a storage battery pack, a shunt regulator, a charge regulator, a discharge regulator, a capacitor array, and a load. The error obtained by comparing the bus voltage with the reference is used for obtaining an MEA signal through a PI controller, the signal is used for uniformly controlling the PCU, and the PCU works under different modes according to the range of the MEA.
Fig. 2 is a schematic diagram of a charge regulator. As can be seen from the figure, the charging regulator only consists of a power supply bus, a DC/DC main circuit, a storage battery pack and a control circuit; the working mode is controlled by a bus MEA signal; the working mode is as follows: sampling circuit collects bus voltage V Bus Current of storage battery I ch And voltage V Bat Sending into a charging current controller to obtain a modulated wave u c Wave u of modulation c Feeding into PWM and carrier u t And comparing to obtain the duty ratio, and performing power amplification on the duty ratio through a driving circuit to obtain the driving pulse of the main circuit power switching tube, so that the main circuit is driven, and the control on the main circuit is realized. Fig. 3 is a charge regulator control block diagram invented herein.
The conventional control method is described in detail with reference to fig. 1 and 2. The traditional control mode is as follows: in a shunt domain, a shunt regulator controls the bus voltage within a reasonable range, a charging regulator adopts a single current loop control mode, and a storage battery pack performs constant current charging according to a given reference; in a charging area, a charging regulator adopts a control mode of a voltage outer ring and a current inner ring, namely, a constant voltage outer ring is arranged to regulate the bus voltage to be in a normal range, and the current inner ring is arranged to ensure that the charging current of the storage battery pack is constant; in the discharge region, the shunt regulator and the charge regulator do not work, and the bus voltage is stabilized by the discharge regulator. When the storage battery pack is fully charged, the storage battery is charged at a constant voltage.
The control method proposed herein is explained in detail with reference to fig. 2 and 3. The control strategy adopted by the invention is as follows: when the energy of the spacecraft is sufficient in the illumination period, namely the output power of the solar array is greater than the sum of the load power and the charging power set by the storage battery pack, the charging regulator carries out constant current charging on the storage battery pack according to the set charging current reference, and at the moment, the charging regulator is equivalent to a constant current type load; when the output power of the solar array is smaller than the sum of the load power and the charging power set by the storage battery pack, the control method does not set a voltage outer ring stabilizing bus, and meanwhile, the charging current reference is not generated by a voltage outer ring, but the charging regulator automatically regulates a charging current reference signal according to the MEA signal generated by the bus voltage, so that the storage battery carries out constant-current charging according to the reference, and at the moment, the charging regulator can still be regarded as a constant-current type load, thereby realizing the automatic regulation of the charging current of the storage battery and achieving the purpose of balancing the power. At the moment, the voltage of the bus is adjusted to be within a reasonable range through an external voltage ring of the discharging regulator. The control method simplifies a control loop and reduces factors to be considered in the design of the capacitor array. In addition, the invention can make the transition process of the charge and discharge area smoothly carried out, and the fluctuation of the bus voltage is reduced.
The control method is described in detail in conjunction with the control concept described above. The specific control steps are as follows:
the method comprises the following steps: collecting bus voltage V by voltage and current sampling circuit Bus Charging current I ch And battery voltage V Bat Setting a bus voltage reference
Figure BDA0003033208770000061
MEA referencing at battery start-of-charge
Figure BDA0003033208770000062
Maximum charging current reference
Figure BDA0003033208770000063
And a constant voltage charging voltage reference of the storage battery
Figure BDA0003033208770000064
Wherein the charging power set by the storage battery is defined as
Figure BDA0003033208770000065
The expression is satisfied:
Figure BDA0003033208770000066
step two: will bus voltage V Bus And bus voltage reference
Figure BDA0003033208770000067
Comparing to obtain the bus voltage error delta V Bus Is inputted to the first controller G c1 Obtain the MEA Signal V MEA (ii) a The MEA signal V MEA And a reference
Figure BDA0003033208770000068
Comparing to obtain the error delta V of the MEA MEA Error Δ V of the MEA MEA Input to the second controller G c2 Obtaining a charging current reference
Figure BDA0003033208770000069
Wherein the second controller G c2 The above steps realize the goal that the charging regulator automatically regulates the charging current reference according to the MEA signal generated by the bus voltage; reference the charging current
Figure BDA00030332087700000610
And a maximum charging current reference
Figure BDA00030332087700000611
The input signal to the small circuit is used as the reference signal of the charging current
Figure BDA00030332087700000612
Will charge current I ch And a charging current reference signal
Figure BDA00030332087700000613
Comparing to obtain the charging current error delta I ch The charging current error Δ I ch Input to a third PI controller G c3 Obtaining a current modulated wave u c_i (ii) a Voltage V of accumulator Bat And a constant voltage charging voltage reference
Figure BDA00030332087700000614
Comparing to obtain the voltage error delta V of the storage battery Bat Calculating the voltage error Δ V of the battery Bat Input to a fourth PI controller G c4 Obtaining a voltage modulated wave u c_v (ii) a The obtained current modulated wave u is processed c_i And a voltage modulation wave u c_v The input small circuit obtains a smaller value as a modulation wave u c The comparison process can realize the conversion from the constant-current charging mode to the constant-voltage charging mode of the charging regulator.
Step three: modulated wave u c Input to PWM generator and carrier u t The comparison is carried out to obtain a duty ratio d, and the duty ratio d is subjected to power amplification through a driving circuit to obtain a driving pulse of the selected topology, so that the power circuit is driven, and the purposes of voltage change and realization of the control method of the charging regulator are achieved.
The control method provided by the invention is suitable for isolated, non-isolated, continuous or discontinuous input topologies. The charging regulator only needs one closed-loop control loop to achieve the required control purpose, so that redundant loops can be arranged to enable the charging regulator to achieve better performance. For example, with dampingFor example, a coupling inductor Superbuck topology of the loop is provided with a double current loop, an outer loop controls charging current or charging voltage to realize the charging function described in the whole text, and an inner loop controls input current, so that the response speed of the charging regulator is increased, and the influence of input disturbance on output is inhibited. The control strategy proposed by the present invention and the advantages of such control will be described in detail. A schematic diagram of a charging regulator using the Superbuck topology as an example is shown in fig. 4, and a control block diagram thereof is shown in fig. 5. As can be seen from FIG. 4, the Superbuck topology is composed of an inductor L 1 Inductor L 2 Capacitor C 1 Capacitor C d Resistance R d A switch tube Q and a diode D, wherein, an inductor L 1 And an inductance L 2 For coupling inductance, the coupling coefficient is M, and the voltage of the DC bus, i.e. the capacitor array, is v Bus Voltage of the battery pack is v Bat . As can be seen from fig. 3 and 5, the charging regulator control loop using Superbuck as an example adds an input current inner loop, so as to increase the response speed of the charging regulator during bus fluctuation, suppress the influence of input disturbance on output, and further improve the performance of the charging regulator.
As can be seen from fig. 4 and 5, the detailed control method of the charging regulator using Superbuck as an example includes: measuring voltage v of battery pack Bat Charging current I ch And voltage v of the bus Bus Inputting the above quantity into a charging current controller to obtain an input current reference signal
Figure BDA0003033208770000071
Wherein the charging current controller generates an input current reference signal
Figure BDA0003033208770000072
As shown in fig. 5; measuring input current I in Will input a current I in And an input current reference signal
Figure BDA0003033208770000073
Input current controller G c5 Obtaining a modulated wave signal u c In general, G c5 Is a PI controllerModulated wave signal u c Input PWM generator and carrier signal u t And comparing to obtain the duty ratio d, performing power amplification through a driving circuit to obtain the driving pulse of the selected topology, and driving the switching tube Q through the driving pulse, thereby realizing the control of the charging regulator.
The invention is not described in detail and is within the knowledge of a person skilled in the art.

Claims (1)

1. A novel spacecraft charging regulator control method is characterized by comprising the following steps:
the method comprises the following steps: collecting bus voltage V by voltage and current sampling circuit Bus Charging current I ch And the voltage V of the accumulator Bat Setting a bus voltage reference
Figure FDA0003708544620000011
MEA referencing at battery start-of-charge
Figure FDA0003708544620000012
Maximum charging current reference
Figure FDA0003708544620000013
And a constant voltage charging voltage reference of the storage battery
Figure FDA0003708544620000014
Wherein the charging power set by the storage battery is defined as
Figure FDA0003708544620000015
The expression is satisfied:
Figure FDA0003708544620000016
step two: will bus voltage V Bus And bus voltage reference
Figure FDA0003708544620000017
Comparing to obtain the bus voltage error delta V Bus Input to the first controller to obtain the MEA signal V MEA (ii) a The MEA signal V MEA And a reference
Figure FDA0003708544620000018
Comparing to obtain the error delta V of the MEA MEA Error Δ V of the MEA MEA Inputting the reference current to a second PI controller to obtain a charging current reference
Figure FDA0003708544620000019
Referencing the charging current
Figure FDA00037085446200000110
And a maximum charging current reference
Figure FDA00037085446200000111
The input signal to the small circuit is used as the reference signal of the charging current
Figure FDA00037085446200000112
Will charge current I ch And a charging current reference signal
Figure FDA00037085446200000113
Comparing to obtain the charging current error delta I ch The charging current error Δ I ch Inputting the current to a third PI controller to obtain a current modulation wave u c_i (ii) a Voltage V of storage battery Bat And constant voltage charging voltage reference
Figure FDA00037085446200000114
Comparing to obtain the voltage error delta V of the storage battery Bat Calculating the voltage error Δ V of the battery Bat Inputting the voltage modulated wave u to a fourth PI controller c_v (ii) a The obtained current modulated wave u is processed c_i And voltage modulation wave u c_v The input small circuit obtains a smaller value as a modulation wave u c ；
Step three: modulated wave u c Input to PWM generator and carrier u t And comparing to obtain a duty ratio d, and performing power amplification on the duty ratio d through a driving circuit to obtain a driving pulse of the selected topology, so that the power circuit is driven, and the purpose of the voltage change and charging regulator control method is achieved.
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