CN113809928A - DAB converter power control method, medium and equipment based on power feedforward - Google Patents
DAB converter power control method, medium and equipment based on power feedforward Download PDFInfo
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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
- H02M3/33584—Bidirectional converters
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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
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
- H02J1/10—Parallel operation of dc sources
- H02J1/102—Parallel operation of dc sources being switching converters
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Abstract
The invention discloses a DAB converter power control method, medium and equipment based on power feedforward, which comprises the following steps: giving an output power reference value of the double-active-bridge converter and sampling input voltage, output voltage and output current of the double-active-bridge converter; calculating a feedforward phase shift angle of the double-active-bridge converter according to the input voltage, the output voltage and the output power reference value of the double-active-bridge converter; calculating a feedback phase shift angle of the double-active-bridge converter according to the output current, the output voltage and the output power reference value of the double-active-bridge converter; adding a feedforward phase shift angle and a feedback phase shift angle of the double-active-bridge converter to obtain a phase shift angle between two H bridges of the double-active-bridge converter; and the switching tubes in the double-active-bridge converter act in sequence according to the phase shift angle based on a single phase shift modulation mode to control the power output of the double-active-bridge converter. The invention can directly and efficiently control the output efficiency of the double-active-bridge converter and accurately realize the bidirectional transmission of power.
Description
Technical Field
The invention belongs to the technical field of direct-current micro-grids, and particularly belongs to a DAB converter power control method, medium and equipment based on power feedforward.
Background
With the development of new energy, direct current micro-grids have attracted extensive attention due to the advantages of high efficiency, no reactive power requirement, no need of AC-DC or DC-AC conversion and the like. Due to the bidirectional power transmission capability and the flexible regulation characteristic of the energy storage system, the system integrated with the direct current micro-grid is more and more popular. In order to realize the connection, voltage conversion, electrical isolation and bidirectional power transmission of the direct current buses in the direct current microgrid, a high-frequency isolation bidirectional DC-DC converter is an indispensable device. The Double Active Bridge (DAB) DC converter has the advantages of bidirectional power flow, simple structure, flexible control, high efficiency and the like. In addition, the high frequency transformer in the DAB converter can also provide voltage isolation and voltage matching between the input and output terminals, and the DAB converter has become a research hotspot of the bidirectional DC-DC converter. However, the research on the power transmission problem between two direct current micro-grids with energy storage systems using a DAB converter as an interface is less, and how to directly and efficiently control the transmission power of the DAB converter under the working conditions and realize rapid and accurate system response when a power instruction is suddenly changed or reversed is always a difficult problem to be solved.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a DAB converter power control method, medium and equipment based on power feedforward, and solves the problems that the transmission power control efficiency of the existing double-active-bridge converter is low, and the whole double-active-bridge converter has slow response when a power command is suddenly changed or reversed.
In order to achieve the purpose, the invention provides the following technical scheme: a DAB converter power control method based on power feedforward includes the following steps:
giving an output power reference value of the double-active-bridge converter and sampling input voltage, output voltage and output current of the double-active-bridge converter;
calculating a feedforward phase shift angle of the double-active-bridge converter according to the input voltage, the output voltage and the output power reference value of the double-active-bridge converter;
calculating a feedback phase shift angle of the double-active-bridge converter according to the output current, the output voltage and the output power reference value of the double-active-bridge converter;
adding a feedforward phase shift angle and a feedback phase shift angle of the double-active-bridge converter to obtain a phase shift angle between two H bridges of the double-active-bridge converter;
and the switching tubes in the double-active-bridge converter act in sequence according to the phase shift angle based on a single phase shift modulation mode to control the power output of the double-active-bridge converter.
Further, the calculation process of the feedforward phase shift angle of the dual-active-bridge converter is as follows:
inductance L, transformer transformation ratio n and switching period T of known double-active-bridge convertersGiven an output power reference value PrefSampling the input voltage v of a dual active bridge converterinAnd an output voltage vc2；
According to the inductance value L, the transformer transformation ratio n and the switching period T of the double-active-bridge convertersAnd an output power reference value PrefCalculated to give D1，D1Multiplying pi to obtain a feed-forward phase shift angle pi D1The formula is as follows:
further, the calculation process of the feedback phase shift angle of the dual active bridge converter is as follows:
output current ioAnd an output voltage vc2Multiplying to obtain output power Po；
Output power PoAnd an output power reference value PrefDifferencing to yield Δ P, Δ P divided by the output voltage vc2Obtaining a current reference value;
inputting the current reference value into a PI controller, and outputting feedback by the PI controllerPhase shift angle D2。
Further, before the current reference value is input to the PI controller, a PI value of the PI controller needs to be set, and the setting process of the PI value of the PI controller is as follows:
establishing a discrete time model of the PI controller in a discrete domain, wherein the discrete time model is as follows:
D2(n+1)＝D2(n)+Δ(D2(n))
Δ(D2(n))＝KpΔe(n)+KIe(n)
＝Kp(e(n)-e(n-1))+KIe(n)
＝k1e(n)+k2e(n-1)
in the formula: kpAnd KIProportional and integral coefficients of the PI controller, respectively, e (n) is an error value, where k is1＝Kp+KI，k2＝-Kp，KI＝KpTs/TI，TsAnd TIRespectively representing the switching period and the integral time constant of the double-active-bridge converter;
and analyzing the discrete time model to obtain a discrete domain transfer function from the phase shift angle of the double-active-bridge converter system to the output current, and calculating according to the discrete domain transfer function and the transfer function of the controller to obtain an open-loop transfer function of the double-active-bridge converter, wherein the open-loop transfer function is used for providing guidance when a PI value is designed for the PI controller.
Further, the specific analytic formula of e (n) is as follows:
in the formula: req1And Req2Respectively representing the equivalent internal resistance of the battery, x is the inductive current iLInput voltage vinAnd an output voltage vc2A three-dimensional state vector of components, n representing a sequence of switching cycles.
Further, the discrete domain transfer function is:
the transfer function of the controller is:
further, the calculation process of the phase shift angle between the two H-bridges is as follows:
further, the double-active-bridge converter adopts an incremental PI controller.
The invention also provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements any of the methods as described above.
The present invention also provides a computing device comprising:
one or more processors, memory, and one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods described above.
Compared with the prior art, the invention has at least the following beneficial effects:
the invention provides a DAB converter power control method based on power feedforward, which adopts a corresponding control strategy to control a double-active-bridge converter, can calculate a feedforward phase shift angle of the double-active-bridge converter through input voltage, output voltage and an output power reference value, calculates a feedback phase shift angle of the double-active-bridge converter through output current, output voltage and the output power reference value, adds the feedforward phase shift angle and the feedback phase shift angle to obtain a phase shift angle between two H bridges of the double-active-bridge converter, and then controls the power output of the double-active-bridge converter according to the sequential action of the phase shift angles in a single phase shift modulation mode, so that the double-active-bridge converter directly and efficiently controls the output efficiency of the double-active-bridge converter, the bidirectional transmission of power is accurately realized, and the method is suitable for application occasions of low-voltage direct current and high power.
Furthermore, the specific calculation of the feedforward phase shifting angle is simple and easy to realize.
Further, feed forward control is the preferred choice for multilevel converters because it can greatly improve stability and dynamic performance. By using feed-forward control, when the output power reference value changes suddenly, the feed-forward path can immediately cause step change of the phase shift angle signal, thereby greatly improving the capability of the system for tracking the specified value of the output power.
Further, there is a large error only by the feedforward control, and the bidirectional power transmission cannot be realized accurately. It is therefore not possible to mix the input transmission power and the output power in order to meet the required output power requirements. In practical converter applications, the power loss of the DAB dc-dc converter is not negligible and there is a difference in input power and output power. Therefore, the output power PI controller is introduced, so that the power difference caused by power loss can be compensated, and the bidirectional transmission of power can be accurately realized.
Furthermore, the whole method is convenient to control, has outstanding effects and higher practical value and economic benefit, and in addition, a simulation model is set up before the feedback phase shift angle is calculated, and the provided control method is subjected to simulation verification, so that the correctness and the reliability of the method are proved.
Drawings
Fig. 1 is a schematic structural diagram of a dc microgrid system according to the present invention;
FIG. 2 is a steady state waveform and switching tube conduction sequence of the single phase shift control DAB converter;
FIG. 3 is an iterative relationship of state vectors for one switching cycle;
FIG. 4 is a schematic diagram of the effect of phase shift angle small signal disturbance on state variables;
FIG. 5 is a system topology and control block diagram of the present invention;
FIG. 6 is a waveform of output power (from 300W to 400W) for a power setpoint overshoot in a simulation;
FIG. 7 is a waveform of output power (from 400W to 300W) for a power setpoint overshoot in a simulation;
FIG. 8 is a graph of the output power waveform from positive to negative for a given power value in a simulation (from 300W to-300W);
FIG. 9 is a graph of the output power waveform (from-300W to 300W) for a power setpoint from negative to positive in a simulation;
FIG. 10 is a waveform diagram of output power at load surge;
FIG. 11 is a waveform diagram of output power at load dump;
in the drawings: t represents a high-frequency transformer with n: 1;
l represents a transformer leakage inductance and an external series inductance of the double-active-bridge converter;
Rtrepresenting the sum of the on-resistance of a switching device, a transformer winding and line impedance of the double-active-bridge converter;
Req1and Req2Respectively representing the equivalent internal resistance of the battery;
v1and v2A battery voltage source representing an input side and an output side, respectively;
C1and C2Capacitors on the input and output sides, respectively;
fsthe switching frequency of the DAB converter;
Prefis an output power reference value;
kpand k isIProportional and integral coefficients of the PI controller are respectively;
πD1and D2And the feedforward phase shift angle and the feedback phase shift angle are respectively obtained by calculation of a direct power control feedforward module and a feedback power loop.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
The invention provides a DAB converter power control method based on power feedforward, which canThe system can directly and efficiently control the transmission power of the DAB converter and realize quick and accurate system response when the power command is suddenly changed or reversed. Therefore, efficient and accurate power bidirectional transmission control in the direct-current microgrid is achieved. The phase shift modulation technique of the DAB converter mainly comprises Single Phase Shift (SPS), Expanded Phase Shift (EPS), Double Phase Shift (DPS) and Triple Phase Shift (TPS) modulation. In the present invention, the most widely used single phase shift modulation is applied to the DAB converter for simplicity. In each switching cycle, an alternating voltage v across the magnetic networkpAnd vsA phase shift angle therebetween of
Thus, the DAB-converter has four switching states in each switching cycle, corresponding to respective time durations tni(i ═ 1,2,3, 4). The steady state operating waveform of the single phase shift control DAB converter is shown in FIG. 2, and the state variable iLAnd vCSymmetrical within one switching period.
In this embodiment, the control of the DAB converter is based on a single phase shift control, which only requires a given output power reference value PrefThe corresponding phase shift angle can be calculated. In order to accurately control the output power, the internal resistance R of the battery is considered in the analysis of the inventioneq1And Req2On-resistance of the switching device, transformer winding, and line impedance. In one aspect, the input voltage, output voltage and P are measured in real timerefPerforming calculation to calculate D in the direct power control feedforward module1At this time D1Multiplying pi to obtain feedforward phase shift angle pi D1. On the other hand, the output power P is obtained by measuring the output current and the output voltageoWith a power reference value PrefThe difference is obtained as Δ P, divided by the output voltage v at this timec2Obtaining a current reference value, and obtaining a feedback phase shift angle D through a PI controller2. The phase shift angle between the two H bridges is finally obtained as follows:
as shown in fig. 1, in the dc micro grid, power transmission is performed between energy storage systems with loads on two sides through a dual-active-bridge converter, and a design process of a direct power control technology of the dual-active-bridge dc converter is as follows:
step 1: inductance L, transformer transformation ratio n and switching period T of known double-active-bridge converters. Given an output power reference value Pref(ii) a As shown in fig. 5, the input voltage v is sampledinOutput voltage vc2The sampled data is subjected to subsequent processing and applied to a control strategy;
as shown in fig. 5, the input voltage v is appliedinOutput voltage vc2And PrefPerforming calculation to calculate D in the direct power control feedforward module of the DAB converter1，D1Multiplying pi to obtain feedforward phase shift angle pi D1. The formula is as follows:
step 2: in the discrete domain, a discrete-time model of the feedback power loop PI controller is established. The digital control DAB converter in the method adopts an incremental PI controller. The discrete-time model of an incremental digital PI controller with first order digital control delay is represented as:
D2(n+1)＝D2(n)+Δ(D2(n))
Δ(D2(n))＝KpΔe(n)+KIe(n)
＝Kp(e(n)-e(n-1))+KIe(n)
＝k1e(n)+k2e(n-1)
wherein k is1＝Kp+KI，k2＝-Kp，KI＝KpTs/TI，KpAnd KIProportional and integral coefficients of the PI controller, e (n) is an error value, TsAnd TIRespectively represent the switching cyclesPeriod and integration time constant. According to the system topology block diagram 5, the error value e (n) can be expressed as:
wherein R iseq1And Req2Respectively representing the equivalent internal resistance of the battery, x is the inductive current iLInput capacitor voltage vc1And an output capacitor voltage vC2A three-dimensional state vector of components, n representing a sequence of switching cycles.
And calculating according to the discrete domain transfer function and the transfer function of the controller to obtain an open-loop transfer function of the double-active-bridge converter, wherein the open-loop transfer function is used for providing guidance when designing a PI value for the PI controller and designing a 2PI value of a digital PI controller (proportional integral controller) of a feedback power loop.
Specifically, a discrete-time model of the dual active bridge converter is established below. According to the conduction sequence of the switching tubes shown in FIG. 2 and the digital control DAB converter schematic block diagram shown in FIG. 5, four circuit topology equivalent circuits of the DAB converter in one switching period can be obtained. According to the circuit structure and the working principle of each circuit topology, the state equation of the ith switch subinterval can be obtained as
Wherein A isiThe system matrix represents the link between two state variables of the DAB converter. B isiTo control the matrix, the effect of two voltage sources on the state variables is represented. x is an inductive current iLInput capacitor voltage vc1And an output capacitor voltage vC2A constituent three-dimensional state vector.
Fig. 3 is a schematic diagram showing the iterative relationship of the state vectors of the DAB converter in one switching period under the single phase shift control. The state vector x will move in the state space along a fixed trajectory within each switch subinterval. According to the basic principle of calculus, the continuous-time trajectory of the state vector of the DAB converter in each switching subinterval can be determined by integrating the state equation of each switching subinterval, as shown in the following formula. The state vector at the end of each switching subinterval may be represented by the initial state vector of the subinterval.
xn+1＝f(xn,dn)＝Φxn+ψ(dn)
Wherein the content of the first and second substances,
on the basis of the obtained discrete iterative model of the DAB converter, small signal disturbance can be applied to the state variable, so that a small signal model of the DAB converter is obtained and guidance is provided for the design of a PI controller. The next goal is to model the small signal in the form of equation (1).
Representing the phase shift angle in n-1 switching cycles
Small signal perturbations applied.
The effect on the state variable after applying a small signal disturbance to the phase shift angle of the n-1 switching cycle of a single phase shift controlled DAB converter is shown schematically in fig. 4. After small signal disturbance is applied to the phase shift angle, it will be at tp1And tp2Nearby
Small signal disturbance producing state variable in time period
And
disturbance of state variables
Passing through tp1To nTsThe state transition of the period can become
In a similar manner to that described above,
passing through tp2To nTsThe state transition of the period can become
Due to state transition matrix
Representing the free transition process of the state vector of the DAB converter in the state space over time without the input and output voltage sources having an effect on the transition process.
And
the expression of (c) is shown in formula (2).
also due to the state transition matrix
Representing the transition of the DAB converter state vector in the state space over time,
and
the relationship Φ between can be expressed as:
by appropriately modifying equation (1), a discrete domain transfer function of the phase shift angle to state variable vector of the DAB converter can be obtained as shown in equation (5).
Because the voltage of the energy storage battery cannot be suddenly changed under the condition of no fault, the inner core of the power loop is the output current control, and the PI controller is designed according to the relation between the output current and the phase shift angle. The relationship between the output current and the state variable can be obtained according to the schematic block diagram of the digital control DAB converter system shown in FIG. 5 as follows:
combining equations (5) and (6) yields a discrete domain transfer function of phase shift angle to output current
As shown in the formula. Wherein
Representing the switching relationship of the output current to the state vector.
Further, the discrete domain transfer function of the digital PI controller may be expressed in the form of equation (7). k is a radical ofpAnd k isiProportional and integral coefficients, respectively.
According to the transfer function from control to output in the formula (7) and the transfer function of the controller in the formula (8), the open-loop transfer function of the system can be finally obtained, and guidance is further provided for the design of the PI controller.
Step 3, sampling output current ioOutput voltage vc2. The output power P is obtained by multiplying the twooWith a power reference value PrefThe difference is obtained as Δ P, divided by the output voltage v at this timec2Obtaining a current reference value, inputting the current reference value into a PI controller, and obtaining a feedback phase shift angle D through the PI controller2。
And 4, adding the phase shift angles in the step 1 and the step 3 to obtain a phase shift angle between two H bridges as follows:
and 5, after receiving the phase shift angle, corresponding switches of the double-active-bridge converter act in sequence, so that the accurate and efficient transmission of power is controlled.
When the power set value is suddenly increased from 300W to 400W, the system output power waveform is shown in FIG. 6, and the adjusting time is 7 ms. When the given power value is suddenly reduced from 400W to 300W, the system output power waveform is shown in FIG. 7, and the regulation time is 2.5 ms. When the power command value is changed from the forward flow to the reverse flow, i.e., from 300W to-300W, the left-side output power waveform is as shown in fig. 8, and the adjustment time is 15 ms. When the power command value is changed from the reverse flow to the forward flow, i.e., -300W to +300W, the left-side output power waveform is as shown in fig. 9, and the adjustment time is 15 ms.
When the left side load suddenly increases, the left side output power waveform is shown in fig. 10, and the adjustment time is 7 ms. The left output power waveform when the load on the left side suddenly decreases is shown in fig. 11, and it can be seen that the output power hardly fluctuates when the load suddenly decreases.
From the simulation results of fig. 6 to 9, it can be known that the dual-active-bridge converter system can accurately realize constant power transmission and realize direct power control under the working conditions of sudden power change and sudden load change. Under the working conditions, the system has quick response speed, and the output power reaches a steady-state value within 20 ms. In conclusion, the simulation result verifies the correctness and superiority of the control method.
In yet another embodiment of the present invention, a terminal device is provided that includes a processor and a memory for storing a computer program comprising program instructions, the processor being configured to execute the program instructions stored by the computer storage medium. The Processor may be a Central Processing Unit (CPU), or may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable gate array (FPGA) or other Programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc., which is a computing core and a control core of the terminal, and is adapted to implement one or more instructions, and is specifically adapted to load and execute one or more instructions to implement a corresponding method flow or a corresponding function; the processor of the embodiment of the invention can be used for the operation of the power control of the DAB converter, and comprises the following steps: giving an output power reference value of the double-active-bridge converter and sampling input voltage, output voltage and output current of the double-active-bridge converter;
calculating a feedforward phase shift angle of the double-active-bridge converter according to the input voltage, the output voltage and the output power reference value of the double-active-bridge converter;
calculating a feedback phase shift angle of the double-active-bridge converter according to the output current, the output voltage and the output power reference value of the double-active-bridge converter;
adding a feedforward phase shift angle and a feedback phase shift angle of the double-active-bridge converter to obtain a phase shift angle between two H bridges of the double-active-bridge converter;
and the switching tubes in the double-active-bridge converter act in sequence according to the phase shift angle based on a single phase shift modulation mode to control the power output of the double-active-bridge converter.
In still another embodiment of the present invention, the present invention further provides a storage medium, specifically a computer-readable storage medium (Memory), which is a Memory device in a terminal device and is used for storing programs and data. It is understood that the computer readable storage medium herein may include a built-in storage medium in the terminal device, and may also include an extended storage medium supported by the terminal device. The computer-readable storage medium provides a storage space storing an operating system of the terminal. Also, one or more instructions, which may be one or more computer programs (including program code), are stored in the memory space and are adapted to be loaded and executed by the processor. It should be noted that the computer-readable storage medium may be a high-speed RAM memory, or may be a non-volatile memory (non-volatile memory), such as at least one disk memory.
One or more instructions stored in the computer readable storage medium may be loaded and executed by the processor to perform the corresponding steps related to the power control of the DAB converter in the above embodiments; one or more instructions in the computer-readable storage medium are loaded by the processor and perform the steps of:
giving an output power reference value of the double-active-bridge converter and sampling input voltage, output voltage and output current of the double-active-bridge converter;
calculating a feedforward phase shift angle of the double-active-bridge converter according to the input voltage, the output voltage and the output power reference value of the double-active-bridge converter;
calculating a feedback phase shift angle of the double-active-bridge converter according to the output current, the output voltage and the output power reference value of the double-active-bridge converter;
adding a feedforward phase shift angle and a feedback phase shift angle of the double-active-bridge converter to obtain a phase shift angle between two H bridges of the double-active-bridge converter;
and the switching tubes in the double-active-bridge converter act in sequence according to the phase shift angle based on a single phase shift modulation mode to control the power output of the double-active-bridge converter.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A DAB converter power control method based on power feedforward is characterized by comprising the following steps:
giving an output power reference value of the double-active-bridge converter and sampling input voltage, output voltage and output current of the double-active-bridge converter;
calculating a feedforward phase shift angle of the double-active-bridge converter according to the input voltage, the output voltage and the output power reference value of the double-active-bridge converter;
calculating a feedback phase shift angle of the double-active-bridge converter according to the output current, the output voltage and the output power reference value of the double-active-bridge converter;
adding a feedforward phase shift angle and a feedback phase shift angle of the double-active-bridge converter to obtain a phase shift angle between two H bridges of the double-active-bridge converter;
and the switching tubes in the double-active-bridge converter act in sequence according to the phase shift angle based on a single phase shift modulation mode to control the power output of the double-active-bridge converter.
2. A DAB converter power control method based on power feed forward as claimed in claim 1, characterized in that the feed forward phase shift angle of the dual active bridge converter is calculated as follows:
inductance L, transformer transformation ratio n and switching period T of known double-active-bridge convertersGiven an output power reference value PrefSampling the input voltage v of a dual active bridge converterinAnd an output voltage vc2；
According to the inductance value L, the transformer transformation ratio n and the switching period T of the double-active-bridge convertersAnd an output power reference value PrefCalculated to give D1，D1Multiplying pi to obtain a feed-forward phase shift angle pi D1The formula is as follows:
3. a DAB converter power control method based on power feed forward as claimed in claim 1, characterized in that the feedback phase shift angle of the dual active bridge converter is calculated as follows:
output current ioAnd an output voltage vc2Multiplying to obtain output power Po；
Output power PoAnd an output power reference value PrefDifferencing to yield Δ P, Δ P divided by the output voltage vc2Obtaining a current reference value;
inputting the current reference value into a PI controller, and outputting a feedback phase shift angle D by the PI controller2。
4. A DAB converter power control method based on power feedforward as in claim 3, characterized by that, before the current reference value is inputted into the PI controller, the PI value of the PI controller is set, the setting process of the PI value of the PI controller is as follows:
establishing a discrete time model of the PI controller in a discrete domain, wherein the discrete time model is as follows:
D2(n+1)＝D2(n)+Δ(D2(n))
Δ(D2(n))＝KpΔe(n)+KIe(n)
＝Kp(e(n)-e(n-1))+KIe(n)
＝k1e(n)+k2e(n-1)
in the formula: kpAnd KIProportional and integral coefficients of the PI controller, respectively, e (n) is an error value, where k is1＝Kp+KI，k2＝-Kp，KI＝KpTs/TI，TsAnd TIRespectively representing the switching period and the integral time constant of the double-active-bridge converter;
and analyzing the discrete time model to obtain a discrete domain transfer function from the phase shift angle of the double-active-bridge converter system to the output current, and calculating according to the discrete domain transfer function and the transfer function of the controller to obtain an open-loop transfer function of the double-active-bridge converter, wherein the open-loop transfer function is used for providing guidance when a PI value is designed for the PI controller.
5. A DAB converter power control method based on power feedforward according to claim 4, characterized in that the specific analytic formula of e (n) is as follows:
in the formula: req1And Req2Respectively representing the equivalent internal resistance of the battery, x is the inductive current iLInput voltage vinAnd an output voltage vc2A three-dimensional state vector of components, n representing a sequence of switching cycles.
6. A DAB converter power control method based on power feedforward according to claim 4, characterized in that the discrete domain transfer function is:
the transfer function of the controller is:
7. a DAB converter power control method based on power feed forward according to claim 1, characterized in that the phase shift angle between two H-bridges is calculated as follows:
8. a DAB converter power control method based on power feedforward as in claim 1, characterized by that, the dual active bridge converter uses an incremental PI controller.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements any of the methods of claims 1 to 8.
10. A computing device, comprising:
one or more processors, memory, and one or more programs stored in the memory and configured for execution by the one or more processors, the one or more programs including instructions for performing any of the methods of claims 1-8.
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