CN114189153A - Aerospace distributed power supply system cascade stability control method and implementation device - Google Patents
Aerospace distributed power supply system cascade stability control method and implementation device 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
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
- H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
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Abstract
The invention relates to the technical field of aerospace secondary power supplies, and discloses a cascade stability control method and an implementation device for an aerospace distributed power supply system. In an aerospace distributed power supply system, the output voltage V of a source converter is obtainedmInput voltage V of load converterbAnd an input current IbOutput voltage u of intermediate converteroAnd the inductor current ILObtaining a mathematical model of the intermediate converter and the desired value V of the output voltageo *And desired value of output current IL *And controlling the intermediate converter according to a controller established based on a PCHD equation. Because the controlled quantity of the controlled intermediate converter is determined by the state quantities of all the converters in the distributed system, the response speed and the precision of the aerospace distributed power system to the disturbance of each link are greatly improved, and the cascade stability of the aerospace distributed power system is improved.
Description
Technical Field
The invention relates to the technical field of aerospace secondary power supplies, in particular to a cascade stability control method and an implementation device of an aerospace distributed power supply system.
Background
In recent years, in order to reduce power supply loss of an aerospace power supply system and improve efficiency and power supply flexibility of the power supply system, the aerospace secondary power supply system is gradually changed from a traditional single-stage power supply architecture to a two-stage distributed power supply system architecture. The aerospace distributed power supply system is formed by cascading at least one source converter and one load converter. The source converter realizes primary voltage conversion, simultaneously isolates a power supply system from a spacecraft power supply bus, avoids the situation that the bus voltage has catastrophic failure due to the failure of the power supply system, and realizes secondary voltage conversion. .
However, in the cascade structure of the source converter and the load converter, because the output of the source converter is connected with the input of the load converter, an error caused by disturbance of any one party has a direct influence on the other party, so that the whole distributed power system is very sensitive to disturbance, and the stability of the power supply system is greatly reduced. For this reason, some scholars propose a method of adding a primary intermediate converter between the source converter and the load converter, so as to decouple the output of the source converter and the input of the load converter.
Although the anti-interference capability of the distributed system is improved to a great extent after the intermediate converter is added, the current control method can only indirectly cope with the state change of the source converter or the load converter caused by disturbance through the quantitative control of the output voltage and the output current of the intermediate converter. Therefore, the current control method has slow response speed and low tracking precision. On one hand, when the previous-stage converter encounters abnormal disturbance, the current control method needs to change the output of the intermediate converter again to feed the abnormal disturbance condition back to the controller, so that the interference of the abnormality of the previous-stage converter on the bus voltage of the spacecraft cannot be quickly cut off, the power supply quality of the primary bus voltage of the spacecraft is seriously influenced, and the power supply reliability of the spacecraft is reduced. On the other hand, because the load of the spacecraft and the energy demand of the electric equipment change rapidly, the output energy of the load converter changes greatly, the current control method still cannot respond timely and accurately, and the load cannot work normally for a long time. Therefore, the method for controlling the cascade stability of the aerospace distributed power system and the device for realizing the method have practical significance.
Disclosure of Invention
The invention provides a cascade stability control method and an implementation device for an aerospace distributed power system. In order to achieve the purpose, the technical scheme of the invention is as follows:
a aerospace distributed power system cascade stability control method comprises the following steps:
obtaining an inductor current i of an intermediate converterLAnd the output voltage u of the intermediate converter0；
Obtaining an output voltage V of a source converterm；
Obtaining input voltage V of load converterbInput current Ib；
And establishing a mathematical model of the intermediate converter based on a PCHD equation according to a state space average model of the intermediate converter, and establishing a controller for the converter. The input of the intermediate converter is iLAnd uoThe output of the controller is a switching value d1And d2；
The building of the controller according to the intermediate converter and the PCHD equation comprises:
performing working mode analysis on the intermediate converter, and establishing a state space average model:
l is inductance of the intermediate converter inductor, C is capacitance of the intermediate converter output capacitor, and R is load equivalent resistance of the intermediate converter.
Since the converter energy storage devices are inductors and capacitors C, [ x ] is defined in terms of energy storage1 x2]T＝[LiLCuo]TAnd transforming the state space average model to obtain a mathematical model based on a PCHD equation:
in the formula
In order to make the system error energy caused by external disturbance quickly converge to 0, injecting impedance R into the PCHD equation modelaAnd obtaining a control law of the controller:
according to the obtained output voltage V of the source convertermObtaining the expected value i of the inductive current of the intermediate converterL *According to the obtained input voltage V of the load converterbInput current IbObtaining the energy required by the distributed power system to be supplied to the load, and further obtaining the expected value u of the output voltage of the intermediate converter0 *；
According to the control law and the expected values of the current and the voltage, a controller is established, and the output of the controller is as follows:
iLand u0The state values of the inductive current and the output voltage of the intermediate converter at a certain moment, the switching value d1And d2Is the output of the controller, ra1，ra2Impedance injected for the controller for the distributed power system, iL *And uo *The desired value of the inductor current of the intermediate converter and the desired value of the output voltage of the intermediate converter.
An implementation device of a aerospace distributed power system cascade stability control method comprises the following steps:
a first sampling module for obtaining an inductive current i of the intermediate converterLAnd the output voltage u of the intermediate convertero；
A second sampling module for obtaining the output voltage V of the source converterm；
A third sampling module for obtaining the input voltage V of the load converterbInput current Ib；
The controller module is used for realizing a control law established by the intermediate converter PCHD model and comprises:
an expected value calculation unit for calculating an expected value of the output voltage V of the source converter based on the acquired output voltage VmObtaining the expected value i of the inductive current of the intermediate converterL *According to the obtained input voltage V of the load converterbInput current ibObtaining the energy required by the distributed power system to be supplied to the load, and further obtaining the expected value u of the output voltage of the intermediate convertero *；
A system impedance injection unit for injecting an impedance r into the systema1，ra2；
A control processing unit for controlling the operation of the control unit according to the iL、iL *、uo、uo *、ra1、ra2Calculating the switching value d1And d2：
A drive unit for driving the switching value d1And d2And converting the signal into a PWM switching signal to drive a switching tube of the intermediate converter to execute switching-on or switching-off action.
Has the advantages that:
according to the scheme of the invention, the method and the device for controlling the cascade stability of the aerospace distributed power system are provided, the inductive current and the output voltage of the intermediate converter are obtained as controlled quantities, the output voltage of the source converter, the input voltage and the input current of the load converter are obtained in real time, the expected value of the controlled quantities is calculated, and the controlled quantities of the intermediate converter are controlled through the switching quantities according to the output switching quantities of the controller established based on the PCHD equation. The sampling part of the device is realized by a common analog circuit, and the controller part is implemented by digital circuit programming, so that the device is simple and easy to realize. In conclusion, the control method and the implementation device feed back the output quantity change of the source converter and the energy change of the load converter caused by the external disturbance to the controller of the intermediate converter in real time, so that the system has high response speed to the disturbance, the power supply quality of a spacecraft bus can be better ensured, and the energy supply of various loads and power systems of the spacecraft can be ensured.
Drawings
Fig. 1 is a schematic diagram illustrating an application scenario of an aerospace distributed power system cascade stability control method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an intermediate converter of an aerospace distributed power system cascade stability control method according to an embodiment of the invention;
FIG. 3 is a schematic diagram of an operation mode of an intermediate converter of a aerospace distributed power system cascade stability control circuit according to an embodiment of the invention;
FIG. 4 is a flow chart of a method for controlling cascade stability of an aerospace distributed power system according to an embodiment of the invention;
FIG. 5 is a schematic structural diagram of an apparatus for implementing a cascade stability control method for an aerospace distributed power system according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an aerospace distributed power system according to an embodiment of the invention;
fig. 7 is a schematic diagram illustrating the effect of cascade stability control of an aerospace distributed power system according to an embodiment of the invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
The present invention is described in detail below with reference to the drawings and the specific embodiments, which are not repeated herein, but the embodiments of the present invention are not limited to the following embodiments.
Fig. 1 is an application scenario diagram of a aerospace distributed power supply system cascade stability control method according to an embodiment of the present invention, in an aerospace distributed power supply system, a primary bus is provided by a spacecraft solar photovoltaic cell array or a storage battery, isolation conversion is performed by a source converter, the primary bus enters an intermediate converter and is controlled by a controller, the intermediate converter provides a load converter with required voltage and current, decoupling of the output of the source converter and the input of the load converter is realized, and the load converter directly provides required energy for a spacecraft load and a power consumption device.
The intermediate converter mainly comprises energy storage elements such as an inductor and a capacitor and controlled switching devices such as a switching tube, and has various structural forms, and the structural form of the intermediate converter is shown in figure 2. In a certain time period, the intermediate converter has a plurality of working modes along with the on and off of the two switching tubes, as shown in fig. 3. According to the working mode of the intermediate converter, the mathematical model of the intermediate converter can be obtained as follows:
wherein d is1And d2Is the switching value of the first switching tube and the second switching tube of the intermediate converter respectively. When the first switch is turned on11, when the first switch is turned off, d1D when the second switch is on2When the second switch is turned off, d 12＝0。iLIs the inductor current of the intermediate converter uoIs the output voltage of the intermediate converter, VmIs the output voltage of the source converter.
Based on the application scenario shown in fig. 1 and the intermediate converter shown in fig. 2, the method for controlling the cascade stability of the aerospace distributed power system shown in fig. 4 provided by the embodiment of the invention is established, and includes:
step S1, obtaining the inductive current i of the intermediate converterLAnd the output voltage u of the intermediate converteroObtaining the output voltage V of the source convertermObtaining the input voltage V of the load converterbInput current ib；
Step S2, establishing a mathematical model of the intermediate converter based on the PCHD equation;
and step S3, establishing a controller according to the mathematical model based on the PCHD equation, controlling the intermediate transformer and realizing the control of the cascade stability of the aerospace distributed power supply system.
The step S2 is to establish a mathematical model of the intermediate converter based on the PCHD equation, and includes:
step S2-1, regarding formula (1), the controlled quantity inductive current i of the intermediate converter is takenLAnd an output voltage uoIs a state variable [ x ]1 x2]T＝[iL uo]TAnd obtaining a state space average mathematical model of the intermediate converter by applying a state space average method, wherein the state space average mathematical model comprises the following steps:
since the inductance L of the converter inductor and the capacitance C of the output capacitor are fixed quantities, [ x ] is set1 x2]T＝[LiL Cuo]TDefined as a new state variable, equation (2) is changed to:
step S2-2, writing the formula (3) into a standard form of a PCHD equation, and obtaining a mathematical model of the example intermediate converter based on the PCHD equation:
in the formula
And step S3, establishing a controller according to the mathematical model based on the PCHD equation, controlling the intermediate transformer and realizing the control of the cascade stability of the aerospace distributed power supply system. The method comprises the following steps:
and step S3-1, a controller based on a PCHD equation is preliminarily established for the intermediate converter. The method comprises the following steps:
because the energy storage elements of the intermediate converter are inductors and capacitors, the correspondingly stored energy is
Defining an energy storage function
Then there is
The energy storage function is derived with respect to time to obtain
It is obvious that
The rate of change of the characteristic energy with time is substituted into the formula (4) to obtain:
the error caused by interference to the system is defined as xeThen error energy function
Defining the expected value of the system as x*It is clear that at any instant, x is x*-xeThen equation (5) may be changed to:
due to the fact that
Equation (6) represents the rate of change of the error energy function over time. In order to increase the rate of change of the error energy in order to quickly restore the steady state of the system after disturbance, an impedance R is injected into the systemaThen equation (6) may be changed in order to:
obviously by setting:
then the formula (7) has
Representing the error energy He(x) Will gradually converge to 0 and the system will return to steady state for a certain time. And by adjusting the injected impedance RaDynamically adjusting the error energy He(x) Converging to a velocity of 0. It can be seen that the controller is established for the intermediate converter according to equation (8), so that the distributed power system realizes fast error energyConvergence and improvement of the anti-interference capability and stability of the system.
Setting the inductance current desired value of the intermediate converter of the embodiment as
For desired value of output voltage of intermediate converter
The controller based on the PCHD equation is built according to equation (4) and equation (8):
and step S3-2, establishing a final controller based on the distributed power system.
Because the inductive current required by the intermediate converter is provided by the output capacitor of the source converter, the expected value of the inductive current of the intermediate converter needs to track the voltage value of the output capacitor of the source converter, and the expected value of the inductive current of the intermediate converter is obtained by adopting a volt-second balance rule for the output voltage of the source converter and the inductive current of the intermediate converter:
wherein f is oscillation frequency after the source converter and the intermediate converter are cascaded, and the value is equal to the switching frequency f of the intermediate convertersIn relation to the Middlebrook criterion based on the distributed cascade system, f needs to be ensuredsF is not less than 10f, take fsλ is the source converter capacitor voltage ripple ratio at 15f, and usually the smaller this value is, the better, but too small λ means the source converter output capacitance is too large, and generally λ is 0.4, the intermediate converter inductor current desired value can be obtained:
on the other hand, since the energy stored in the output capacitor of the intermediate converter is the output energy of the intermediate converter, which determines the energy supply of the load converter, the output energy of the intermediate converter is set to track the energy supply of the load converter. Obtaining the desired value of the output voltage of the intermediate converter:
and finally, substituting the formula (11) and the formula (12) into the formula (9) to obtain a final controller:
as can be seen from the formula (13), the controller constructed by the control method of the present invention outputs the switching value d1And d2And controlling the on and off of a switching device of the intermediate converter, thereby realizing the control of the intermediate converter and a distributed system. Due to the switching value d of the controlled converter1And d2The state quantities of all converters in the distributed system are jointly determined, so that the response speed and precision of the system to disturbance are greatly improved, and the cascade stability of the aerospace distributed power system is guaranteed.
The embodiment of the invention provides an implementation device of a cascade stability control method of an aerospace distributed power system, which comprises the following steps of:
a first sampling module for obtaining an inductive current i of the intermediate converterLAnd the output voltage u of the intermediate convertero；
A second sampling module for obtaining the output voltage V of the source converterm；
A third sampling module for obtaining the input voltage V of the load converterbInput current Ib；
A controller module for implementing a controller built based on a PCHD model, comprising:
an expected value calculation unit for executing the formula (11) and the formula (12) according to the acquired output voltage V of the source convertermObtaining the expected value i of the inductive current of the intermediate converterL *According to the obtained input voltage V of the load converterbInput current IbObtaining the energy required by the distributed power system to be supplied to the load, and further obtaining the expected value u of the output voltage of the intermediate convertero *；
A system impedance injection unit for injecting an impedance r into the systema1、ra2；
A control processing unit for controlling the operation of the control unit according to the iL、iL *、uo、uo *、ra1、ra2Calculating the switching value d according to the formula (9)1And d2；
A drive unit for driving the switching value d1And d2And converting the signal into a PWM switching signal to drive a switching tube of the intermediate converter to execute switching-on or switching-off action.
The structure of an aerospace distributed power supply system based on the control method and the implementation device is schematically represented by the figure 6. The first sampling module, the second sampling module and the third sampling module can be realized by common current sampling circuits and voltage sampling circuits, the controller module can realize the control method by programming according to the formula (9), the formula (11) and the formula (12) through a digital circuit, and analog signals of the sampling modules and digital signals of the controller are converted through basic AD/DA conversion.
By the control method and the implementation device, disturbance of each link of the aerospace distributed power supply system can be responded more quickly, and control of cascade stability of the aerospace distributed power supply system is achieved. The effect achieved by the example of the invention is shown in fig. 7, the intermediate converter output voltage uoCan quickly track the output voltage V of the source convertermWhile the current I required by the load converteroVariation of (2) to spacecraft busbar voltage VinThe influence is small, which shows that the aerospace distributed power supply system is stable in cascade connectionThe qualitative control method and the implementation device have strong robustness to system disturbance and good implementation effect.
The above description is only one embodiment of the present invention, and is not intended to limit the present invention, and it is apparent to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A cascade stability control method of an aerospace distributed power system is characterized by comprising the following steps:
obtaining an inductor current i of an intermediate converterLAnd the output voltage u of the intermediate converter0；
Obtaining an output voltage V of a source converterm；
Obtaining input voltage V of load converterbInput current Ib；
According to a state space average model of the intermediate converter, a mathematical model of the intermediate converter based on a PCHD (energy dissipation Hamilton) equation is established, and a controller is established for the converter. The input of the intermediate converter is iLAnd uoThe output of the controller is a switching value d1And d2；
The building of the controller according to the intermediate converter and the PCHD equation comprises:
performing working mode analysis on the intermediate converter, and establishing a state space average model:
l is inductance of the intermediate converter inductor, C is capacitance of the intermediate converter output capacitor, and R is load equivalent resistance of the intermediate converter.
Since the converter energy storage devices are inductors and capacitors C, [ x ] is defined in terms of energy storage1 x2]T＝[LiL Cuo]TAnd transforming the state space average model to obtain a mathematical model based on a PCHD equation:
in the formula
In order to make the system error energy caused by external disturbance quickly converge to 0, injecting impedance R into the PCHD equation modelaAnd obtaining a control law of the controller:
according to the obtained output voltage V of the source convertermObtaining the expected value i of the inductive current of the intermediate converterL *According to the obtained input voltage V of the load converterbInput current IbObtaining the energy required by the distributed power system to be supplied to the load, and further obtaining the expected value u of the output voltage of the intermediate convertero *；
According to the control law and the expected values of the current and the voltage, a controller is established, and the output of the controller is as follows:
iLand uoThe state values of the inductive current and the output voltage of the intermediate converter at a certain moment, the switching value d1And d2Is the output of the controller, ra1，ra2Impedance injected for the controller for the distributed power system, iL *And uo *For said intermediate transformationThe desired value of the inductor current of the inductor and the desired value of the output voltage of the intermediate converter.
2. An implementation device of a aerospace distributed power system cascade stability control method is characterized by comprising the following steps:
a first sampling module for obtaining an inductive current i of the intermediate converterLAnd the output voltage u of the intermediate convertero；
A second sampling module for obtaining the output voltage V of the source converterm；
A third sampling module for obtaining the input voltage V of the load converterbInput current Ib；
The controller module is used for realizing a control law established by the intermediate converter PCHD model and comprises:
an expected value calculation unit for calculating an expected value of the output voltage V of the source converter based on the acquired output voltage VmObtaining the expected value i of the inductive current of the intermediate converterL *According to the obtained input voltage V of the load converterbInput current ibObtaining the energy required by the distributed power system to be supplied to the load, and further obtaining the expected value u of the output voltage of the intermediate convertero *；
A system impedance injection unit for injecting an impedance r into the systema1、ra2；
A control processing unit for controlling the operation of the control unit according to the iL、iL *、uo、uo *、ra1、ra2Calculating the switching value d1And d2：
A drive unit for driving the switching value d1And d2And converting the signal into a PWM switching signal to drive a switching tube of the intermediate converter to execute switching-on or switching-off action.
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| 张晓峰，等: "基于软件定义的航天器分布式电源系统设计", 《航天器工程》, vol. 29, no. 2, pages 51 - 58 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023103471A1 (en) * | 2021-12-06 | 2023-06-15 | 北京卫星制造厂有限公司 | Cascade stability control method for aerospace distributed power supply system, and implementation apparatus |
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| Publication number | Publication date |
|---|---|
| WO2023103471A1 (en) | 2023-06-15 |
| CN114189153B (en) | 2024-05-28 |
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