CN113809928B - DAB converter power control method, medium and device based on power feedforward - Google Patents
DAB converter power control method, medium and device based on power feedforward Download PDFInfo
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Classifications
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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
-
- 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
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 the input voltage, the output voltage and the 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; the feedforward phase shift angle and the feedback phase shift angle of the double-active bridge converter are added to obtain a phase shift angle between two H bridges of the double-active bridge converter; the switching tube in the double-active bridge converter is based on a single phase shift modulation mode, and the power output of the double-active bridge converter is controlled according to the sequential action of phase shift angles. 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-networks, and particularly relates to a DAB converter power control method, medium and equipment based on power feedforward.
Background
With the development of new energy, the direct current micro-grid has been paid great attention to because of the advantages of high efficiency, no reactive power demand, no need of AC-DC or DC-AC conversion, etc. Energy storage systems are becoming more popular with systems that integrate with dc micro-grids due to their bi-directional power transfer capability and flexible regulation characteristics. In order to realize connection, voltage conversion, electrical isolation and bidirectional power transmission of a direct current bus in a direct current micro-grid, a high-frequency isolation bidirectional DC-DC converter is an indispensable device. The double active bridge (Dual 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, there is little research on the problem of power transmission between two dc micro networks with energy storage systems, which use a DAB converter as an interface, and how to directly and efficiently control the transmission power of the DAB converter under the above conditions, and to achieve a rapid and accurate system response when the power command is suddenly changed or reversed is always a 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 device based on power feedforward, which solve the problems that the existing double-active-bridge converter is low in transmission power control efficiency and the whole double-active-bridge converter is slower in response when a power instruction suddenly changes or reverses.
In order to achieve the above purpose, the present invention provides the following technical solutions: a DAB converter power control method based on power feedforward comprises the following steps:
giving an output power reference value of the double-active-bridge converter and sampling the input voltage, the output voltage and the 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;
the feedforward phase shift angle and the feedback phase shift angle of the double-active bridge converter are added to obtain a phase shift angle between two H bridges of the double-active bridge converter;
the switching tube in the double-active bridge converter is based on a single phase shift modulation mode, and the power output of the double-active bridge converter is controlled according to the sequential action of phase shift angles.
Further, the feedforward phase shift angle of the double active bridge converter is calculated as follows:
inductance value L, transformer transformation ratio n and switching period T of known double active bridge converter s Given an output power reference value P ref Sampling the input voltage v of a dual active bridge converter in And output voltage v c2 ；
According to inductance L, transformer transformation ratio n and switching period T of double active bridge converter s Output power reference value P ref Calculated D 1 ，D 1 Multiplying pi to obtain feedforward phase shift angle pi D 1 The 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 i o And output voltage v c2 Multiplying to obtain output power P o ；
Output power P o And an output power reference value P ref The difference is taken to give ΔP, which is divided by the output voltage v c2 Obtaining a current reference value;
the current reference value is input into a PI controller, and the PI controller outputs feedback phase shift angle D 2 。
Further, before the current reference value is input into the PI controller, the 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:
D 2 (n+1)＝D 2 (n)+Δ(D 2 (n))
Δ(D 2 (n))＝K p Δe(n)+K I e(n)
＝K p (e(n)-e(n-1))+K I e(n)
＝k 1 e(n)+k 2 e(n-1)
in the formula: k (K) p And K is equal to I Proportional and integral coefficients, e (n) being the error value, where k, of the PI controller, respectively 1 ＝K p +K I ，k 2 ＝-K p ，K I ＝K p T s /T I ，T s And T I Respectively representing the switching period and the integration time constant of the double active bridge converter;
analyzing the discrete time model to obtain a discrete domain transfer function from a phase shift angle of the double-active-bridge converter system to output current, and calculating an open-loop transfer function of the double-active-bridge converter according to the discrete domain transfer function and the transfer function of the controller, wherein the open-loop transfer function is used for providing guidance when a PI value is designed for a PI controller.
Further, the specific analytical formula of e (n) is as follows:
wherein: r is R eq1 And R is eq2 Respectively represents the equivalent internal resistance of the battery, x is the inductance current i L Input voltage v in And output voltage v c2 The three-dimensional state vector is composed, n represents the sequence of switching cycles.
Further, the discrete domain transfer function is:
the transfer function of the controller is as follows:
further, the calculation process of the phase shift angle between two H-bridges is as follows:
further, the dual active bridge converter employs an incremental PI controller.
The present invention also provides a computer readable storage medium storing a computer program which when executed by a processor implements any of the methods described above.
The present invention also provides a computing device comprising:
one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising 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 the feedforward phase shift angle of the double-active-bridge converter through input voltage, output voltage and output power reference value, calculates the feedback phase shift angle of the double-active-bridge converter through output current, output voltage and output power reference value, obtains the phase shift angle between two H bridges of the double-active-bridge converter based on the addition of the feedforward phase shift angle and the feedback phase shift angle, then controls the power output of the double-active-bridge converter according to the phase shift angle according to the sequential action in a single phase shift modulation mode, so that the output efficiency of the double-active-bridge converter is directly and efficiently controlled, and the bidirectional transmission of power is accurately realized.
Furthermore, the specific calculation of the feedforward phase shift angle is simple and easy to realize.
Further, feed forward control is the preferred choice for a multi-stage converter because it can greatly improve stability and dynamic performance. By using feed-forward control, when the output power reference value is suddenly changed, the feed-forward path can immediately cause step change of the phase-shift angle signal, so that the capability of the system for tracking the output power designated value is greatly improved.
Further, there is a large error only by feedforward control, and the bidirectional transmission of power cannot be accurately realized. It is therefore not possible to mix the input transmission power with 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 the input power and the output power. Therefore, the output power PI controller is introduced, and the power difference caused by power loss can be compensated, so that the bidirectional transmission of power is accurately realized.
Furthermore, the whole method is convenient to control, has outstanding effect, has higher practical value and economic benefit, builds a simulation model before calculating the feedback phase shift angle, and performs simulation verification on the proposed control method to prove the correctness and reliability of the method.
Drawings
FIG. 1 is a schematic diagram of a DC micro-grid system according to the present invention;
FIG. 2 shows a steady-state waveform and switching tube turn-on sequence of a single phase shift control DAB converter;
FIG. 3 is an iterative relationship of state vectors over a switching cycle;
FIG. 4 is a schematic diagram of the effect of small phase angle signal disturbance on state variables;
FIG. 5 is a system topology and control block diagram of the present invention;
FIG. 6 is a graph of the output power waveform (from 300W to 400W) for a sudden increase in power setpoint in a simulation;
FIG. 7 is a graph of the output power waveforms (from 400W to 300W) for a sudden subtraction of a power set point in a simulation;
FIG. 8 is a graph of output power waveforms (from 300W to-300W) for a given value of power from positive to negative in a simulation;
FIG. 9 is a graph of output power waveforms (from-300W to 300W) for a given value of power from negative to positive in a simulation;
FIG. 10 is a graph of output power waveforms for sudden load increases;
FIG. 11 is a graph of output power waveforms for load sudden decreases;
in the accompanying drawings: t represents a high-frequency transformer of n 1;
l represents the leakage inductance of the transformer of the double-active bridge converter and the external series inductance;
R t representing the sum of the switching device on-resistance, transformer winding and line impedance of the dual active bridge converter;
R eq1 and R is eq2 Respectively representing the equivalent internal resistances of the batteries;
v 1 and v 2 Representing the battery voltage sources on the input and output sides, respectively;
C 1 and C 2 Capacitance at input and output sides, respectively;
f s the switching frequency of the DAB converter;
P ref is an output power reference value;
k p and k is equal to I Proportional and integral coefficients of the PI controller respectively;
πD 1 and D 2 And respectively calculating a feedforward phase shift angle and a feedback phase shift angle of the direct power control feedforward module and the feedback power loop.
Detailed Description
The invention is further described below with reference to the drawings and the detailed description.
The invention provides a DAB converter power control method based on power feedforward, which can directly and efficiently control the transmission power of a DAB converter and realize rapid and accurate system response when a power instruction suddenly changes or is suddenly reversed. Thereby realizing high-efficiency and accurate power bidirectional transmission control in the direct-current micro-grid. The techniques of phase shift modulation of DAB converters mainly include Single Phase Shift (SPS), extended 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 should be for simplicityFor DAB converters. In each switching cycle, an alternating voltage v across the magnetic network p And v s The phase shift angle between them isThus, the DAB converter has four switching states in each switching cycle, corresponding to a time period t ni (i=1, 2,3, 4). The steady-state operating waveform of the single phase-shift control DAB converter is shown in figure 2, with state variable i L And v C Is symmetrical during one switching cycle.
In the present embodiment, the control of the DAB converter is based on single phase shift control, and the control method only requires the given output power reference value P ref The 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 invention eq1 And R is eq2 The on-resistance of the switching device, the transformer winding, and the line impedance. On the one hand, the input voltage, the output voltage and P which are measured in real time ref Calculation is performed, D is calculated in a direct power control feed forward module 1 At this time D 1 The feedforward phase shift angle pi D is obtained by multiplying pi 1 . On the other hand, the output power P is calculated by measuring the output current and the output voltage o And a power reference value P ref The difference is divided by the output voltage v at this time to obtain ΔP c2 Obtaining a current reference value, and obtaining a feedback phase shift angle D through a PI controller 2 . Finally, the phase shift angle between the two H bridges is obtained as follows:
as shown in fig. 1, in the dc micro-grid, power is transmitted between the energy storage systems with loads on both sides through a dual-active bridge converter, and the design process of the direct power control technology of the dual-active bridge dc converter is as follows:
step 1: inductance value L, transformer transformation ratio n and switching period T of known double active bridge converter s . Given an output power reference value P ref The method comprises the steps of carrying out a first treatment on the surface of the As shown in fig. 5, the input voltage v is sampled in Output voltage v c2 The sampled data is subjected to subsequent processing and is applied to a control strategy;
as shown in fig. 5, the input voltage v in Output voltage v c2 And P ref Calculating D in a direct power control feedforward module of the DAB converter 1 ，D 1 The feedforward phase shift angle pi D is obtained by multiplying pi 1 . The formula is as follows:
step 2: in the discrete domain, a discrete time model of the feedback power loop PI controller is built. The digital control DAB converter in the method adopts an incremental PI controller. The discrete time model of an incremental digital PI controller with a first order digitally controlled delay is expressed as:
D 2 (n+1)＝D 2 (n)+Δ(D 2 (n))
Δ(D 2 (n))＝K p Δe(n)+K I e(n)
＝K p (e(n)-e(n-1))+K I e(n)
＝k 1 e(n)+k 2 e(n-1)
wherein k is 1 ＝K p +K I ，k 2 ＝-K p ，K I ＝K p T s /T I ，K p And K is equal to I Proportional and integral coefficients of the PI controller, e (n) is the error value, T s And T I Representing the switching period and the integration time constant, respectively. According to the system topology block diagram 5, the error value e (n) can be expressed as:
wherein R is eq1 And R is eq2 Respectively represents the equivalent internal resistance of the battery, x is inductanceCurrent i L Input capacitance voltage v c1 And output capacitance voltage v C2 The three-dimensional state vector is composed, n represents the sequence of switching cycles.
By using the discrete time model, the discrete domain transfer function from the phase shift angle of the double-active bridge converter system to the output current is calculated according to the discrete domain transfer function and the transfer function of the controller to obtain the open loop transfer function of the double-active bridge converter, wherein the open loop transfer function is used for providing guidance when the PI value is designed for the PI controller and designing the 2PI value of a digital PI controller (proportional integral controller) of a feedback power loop.
Specifically, a discrete time model of a dual active bridge converter is built below. According to the switching tube conduction sequence shown in fig. 2 and combining with 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 is i For the system matrix, the relation between two state variables of the DAB converter is represented. B (B) i For the control matrix, the influence of two voltage sources on the state variable is represented. x is the inductance current i L Input capacitance voltage v c1 And output capacitance voltage v C2 A three-dimensional state vector is composed.
Fig. 3 is a schematic diagram showing an iterative relationship of state vectors of the DAB converter in one switching period under single phase shift control. The state vector x will move along a fixed trajectory in the state space within each switching subinterval. According to the basic theorem of calculus, the continuous time track of the state vector of the DAB converter in each switch subinterval can be obtained by performing integral operation on the state equation of each switch subinterval, as shown in the following formula. The state vector at the end of each switch subinterval may be represented by the initial state vector of the subinterval.
x n+1 ＝f(x n ,d n )＝Φx n +ψ(d n )
Wherein,
based on the obtained DAB converter discrete iteration model, 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 the PI controller. The next goal is to build a small signal model in the form of equation (1).Indicating the phase shift angle in n-1 switching cycles>Small signal disturbances are applied.
After applying a small signal disturbance to the phase shift angle of the n-1 th switching cycle of a single phase shift control DAB converter, it imparts a small signal disturbance to the stateA schematic of the effect of the variables is shown in fig. 4. After small signal disturbance is applied to the phase shift angle, the phase shift angle can be at t p1 And t p2 NearbySmall signal disturbance generating state variable in time period +.>And->
State variable perturbationThrough t p1 To nT s The state transition during this period becomes +.>Similarly, a->Through t p2 To nT s The state transition during this period becomes +.>Due to state transition matrix->Represents the free transition process of the DAB converter state vector in the state space over time without the input and output voltage sources having an influence on the transition process. />And->The expression of (2) is shown in the formula.
And->The sum is the state variable small signal disturbance caused by the small signal disturbance of the phase shift angle. Thus, the first and second substrates are bonded together,and->The relationship G between them can be expressed as:
also due to state transition matrixRepresenting the transition of the DAB converter state vector in the state space over time, < >>And->The relationship Φ between can be expressed as:
by properly deforming the formula (1), a discrete domain transfer function from the phase shift angle of the DAB converter to the state variable vector can be obtained as shown in the formula (5).
Because the voltage of the energy storage battery can not 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 output current versus state variable relationship obtained from the schematic block diagram of the digitally controlled DAB converter system shown in fig. 5 is:
discrete domain transfer function combining phase shift angles obtainable from (5) and (6) to output currentAs shown in the formula. Wherein->Representing the conversion relation of the output current and the state vector.
Furthermore, the discrete domain transfer function of the digital PI controller may be expressed in the form of equation (7). k (k) p And k is equal to i The proportional and integral coefficients, respectively.
According to the transfer function from the control to the 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 provided for the design of the PI controller.
Step 3, sampling output current i o Output voltage v c2 . The output power P is obtained by multiplying the two o And a power reference value P ref The difference is divided by the output voltage v at this time to obtain ΔP c2 Obtaining a current reference value, inputting the current reference value into a PI controller, and obtaining a feedback phase shift angle D through the PI controller 2 。
And 4, adding the phase shift angles of the step 1 and the step 3 to obtain the phase shift angle between the two H bridges, wherein the phase shift angle is as follows:
and 5, after receiving the phase shift angle, the 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 setpoint is ramped from 300W to 400W, the system output power waveform is as shown in fig. 6, with a settling time of 7ms. When the power setpoint suddenly decreases from 400W to 300W, the system output power waveform is as shown in fig. 7, with a settling time of 2.5ms. When the power command value is changed from forward flow to reverse flow, i.e., from 300W to-300W, the left output power waveform is adjusted to 15ms as shown in fig. 8. When the power command value is changed from reverse flow to forward flow, i.e., from-300W to +300W, the left output power waveform is adjusted for 15ms as shown in fig. 9.
When the left load suddenly increases, the left output power waveform is shown in fig. 10, and the adjustment time is 7ms. When the load on the left side is suddenly reduced, the waveform of the output power on the left side is shown in fig. 11, and it can be seen that the output power hardly fluctuates when the load is suddenly reduced.
From the simulation results of fig. 6-9, it can be seen that the dual active bridge converter system can accurately realize constant power transmission and direct power control under both power abrupt change and load abrupt change conditions. Under the working condition, the system has a 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, the terminal device including a processor and a memory, the memory for storing a computer program, the computer program including program instructions, the processor for executing the program instructions stored by the computer storage medium. The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf Programmable gate arrays (FPGAs) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., which are the computational core and control core of the terminal adapted to implement one or more instructions, in particular adapted to load and execute one or more instructions to implement a corresponding method flow or a corresponding function; the processor according to the embodiment of the invention can be used for the operation of the DAB converter power control, and comprises the following steps: giving an output power reference value of the double-active-bridge converter and sampling the input voltage, the output voltage and the 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;
the feedforward phase shift angle and the feedback phase shift angle of the double-active bridge converter are added to obtain a phase shift angle between two H bridges of the double-active bridge converter;
the switching tube in the double-active bridge converter is based on a single phase shift modulation mode, and the power output of the double-active bridge converter is controlled according to the sequential action of phase shift angles.
In a further embodiment of the present invention, the present invention also provides a storage medium, in particular, a computer readable storage medium (Memory), which is a Memory device in a terminal device, for storing programs and data. It will be appreciated that the computer readable storage medium herein may include both a built-in storage medium in the terminal device and 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 stored in the memory space are one or more instructions, which may be one or more computer programs (including program code), adapted to be loaded and executed by the processor. The computer readable storage medium herein may be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory.
One or more instructions stored in a computer-readable storage medium may be loaded and executed by a processor to implement the corresponding steps in the above embodiments with respect to DAB converter power control; one or more instructions in a computer-readable storage medium are loaded by a processor and perform the steps of:
giving an output power reference value of the double-active-bridge converter and sampling the input voltage, the output voltage and the 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;
the feedforward phase shift angle and the feedback phase shift angle of the double-active bridge converter are added to obtain a phase shift angle between two H bridges of the double-active bridge converter;
the switching tube in the double-active bridge converter is based on a single phase shift modulation mode, and the power output of the double-active bridge converter is controlled according to the sequential action of phase shift angles.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. The DAB converter power control method based on power feedforward is characterized by comprising the following steps of:
giving an output power reference value of the double-active-bridge converter and sampling the input voltage, the output voltage and the 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;
and 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, wherein the calculation process is as follows:
output current i o And output voltage v c2 Multiplying to obtain output power P o ；
Output power P o And an output power reference value P ref The difference is taken to give ΔP, which is divided by the output voltage v c2 Obtaining a current reference value;
the current reference value is input into a PI controller, and the PI controller outputs feedback phase shift angle D 2 ；
Before the current reference value is input into the PI controller, the PI value of the PI controller is required to be set, and the PI value setting process 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:
D 2 (n+1)＝D 2 (n)+Δ(D 2 (n))
Δ(D 2 (n))＝K p Δe(n)+K I e(n)
＝K p (e(n)-e(n-1))+K I e(n)
＝k 1 e(n)+k 2 e(n-1)
in the formula: k (K) p And K is equal to I Proportional and integral coefficients, e (n) being the error value, where k, of the PI controller, respectively 1 ＝K p +K I ，k 2 ＝-K p ，K I ＝K p T s /T I ，T s And T I Respectively representing the switching period and the integration time constant of the double active bridge converter;
analyzing the discrete time model to obtain a discrete domain transfer function from a phase shift angle of the double-active-bridge converter system to output current, and calculating an open-loop transfer function of the double-active-bridge converter according to the discrete domain transfer function and the transfer function of the controller, wherein the open-loop transfer function is used for providing guidance when a PI value is designed for a PI controller;
the specific analytical formula of e (n) is as follows:
wherein: r is R eq1 And R is eq2 Respectively represents the equivalent internal resistance of the battery, x is the inductance current i L Input voltage v in And output voltage v c2 A three-dimensional state vector is formed, n represents a sequence of switching periods; v 2 A battery voltage source representing an output side;
the discrete domain transfer function is:
the transfer function of the controller is as follows:
the feedforward phase shift angle and the feedback phase shift angle of the double-active bridge converter are added to obtain a phase shift angle between two H bridges of the double-active bridge converter;
the switching tube in the double-active bridge converter is based on a single phase shift modulation mode, and the power output of the double-active bridge converter is controlled according to the sequential action of phase shift angles.
2. The DAB converter power control method based on power feed forward as recited in claim 1, wherein the calculation process of the feed forward phase shift angle of the dual active bridge converter is as follows:
inductance value L, transformer transformation ratio n and switching period T of known double active bridge converter s Given an output power reference value P ref Sampling the input voltage v of a dual active bridge converter in And output voltage v c2 ；
According to inductance L, transformer transformation ratio n and switching period T of double active bridge converter s Output power reference value P ref Calculated D 1 ，D 1 Multiplying pi to obtain feedforward phase shift angle pi D 1 The formula is as follows:
3. the DAB converter power control method based on power feed forward as recited in claim 2, wherein the phase shift angle between two H-bridges is calculated as follows:
4. the power feedforward-based DAB converter power control method of claim 1, wherein the dual active bridge converter employs an incremental PI controller.
5. A computer readable storage medium storing a computer program which, when executed by a processor, implements any of the methods of claims 1 to 4.
6. A computing device, comprising:
one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing any of the methods of claims 1-4.
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