CN114448071A - Bus voltage self-adaptive adjustment method and system of super-capacitor energy storage system - Google Patents

Bus voltage self-adaptive adjustment method and system of super-capacitor energy storage system Download PDF

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CN114448071A
CN114448071A CN202210121275.5A CN202210121275A CN114448071A CN 114448071 A CN114448071 A CN 114448071A CN 202210121275 A CN202210121275 A CN 202210121275A CN 114448071 A CN114448071 A CN 114448071A
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voltage
bus voltage
adaptive
loop
current
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彭军
石志远
李恒
刘伟荣
黄志武
蒋富
李烁
高凯
张晓勇
杨迎泽
周峰
彭辉
闫立森
关凯夫
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Central South University
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Central South University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
    • H02J7/345—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering using capacitors as storage or buffering devices
    • 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
    • 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
    • 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
    • H02M1/00—Details of apparatus for conversion
    • H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
    • H02M1/088—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters for the simultaneous control of series or parallel connected semiconductor devices
    • 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
    • H02M3/1582—Buck-boost converters

Abstract

The invention discloses a bus voltage self-adaptive adjustment method and a bus voltage self-adaptive adjustment system of a super-capacitor energy storage system, wherein the method adopts a self-adaptive control strategy to adjust the bus voltage and/or adopts a set point adjustment strategy to adjust the bus voltage; the self-adaptive control strategy is a double-loop control strategy of adopting a current inner loop with fixed parameters and a self-adaptive voltage outer loop, the proportional parameters and the integral parameters of the voltage outer loop dynamically change along with the terminal voltage of the super capacitor, and the closed loop bandwidth of the system is far away from the zero point of the right half plane: the set point adjustment strategy is: the difference value between the actual value and the expected value of the current bus voltage is within the error allowable range, and adjustment is not carried out; and if the current difference is not within the error allowable range, calculating a prediction error by using a lead compensator according to the current difference, and determining an adjustment amount by using the prediction error and adjusting. By the method, the fluctuation influence of the input voltage sudden change or the load sudden change on the output voltage can be effectively relieved.

Description

Bus voltage self-adaptive adjustment method and system of super-capacitor energy storage system
Technical Field
The invention belongs to the technical field of super-capacitor energy storage systems, and particularly relates to a bus voltage self-adaptive adjusting method and system of a super-capacitor energy storage system.
Background
In recent years, fuel reserve and climate change challenges have provided powerful impetus for the development of clean transportation systems, renewable energy sources, and smart grids. Super capacitor energy storage systems have wide application in these areas. In a super capacitor energy storage system, a super capacitor supplies energy to a load through a DC-DC converter. The super capacitor energy storage element has the characteristics of high power density, high charge and discharge rate, long cycle life, wider working temperature range and the like. The super capacitor is more efficient in absorbing feedback energy, and the problem of low energy density can be solved through series-parallel connection of elements. Due to the above advantages, super capacitor energy storage systems have received much attention.
Because the terminal voltage of the super capacitor has large variation with the capacity and the unknown load can fluctuate randomly, the direct current bus voltage can generate inevitable fluctuation. When the bus voltage is unstable, the normal operation of various loads is directly influenced, and the reliability and the safety of the energy storage system are seriously threatened. Because the input voltage and the load condition are changed, an effective super-capacitor direct-current bus voltage control strategy is designed for the time-varying system, and the super-capacitor energy storage system is guaranteed to keep the direct-current bus voltage stable, so that the method has important significance.
Currently, the main technologies in these areas are: (1) according to a classical PID control strategy with fixed parameters, when the quality requirement of output voltage is not high, the bus voltage can be well stabilized in such a mode. However, when the load and the input voltage suddenly change, the bus voltage has a poor stabilizing effect. (2) The change of input voltage and other parameters can be adapted by adopting a sliding film control strategy. But using the synovial control will cause the system state to traverse the equilibrium point, which will result in large ripple of the output voltage. (3) Optimization and data-driven based control strategies can accommodate variations in system characteristics while reducing voltage ripple. However, both methods require a large training time and calculation amount, and are difficult to apply to the real-time field.
Disclosure of Invention
The invention aims to provide a bus voltage self-adaptive adjusting method and system of a super-capacitor energy storage system, which are used for solving the technical problem of output voltage fluctuation under the condition of sudden input voltage change or sudden load change. Aiming at the problem of sudden change of input voltage, the bus voltage self-adaptive adjusting method adopts a self-adaptive control strategy to adjust, wherein the proportion and integral parameters of a voltage outer ring are functions of the voltage of the super capacitor, so that the bus voltage self-adaptive adjusting method can adapt to the characteristic that the voltage of the super capacitor changes along with time in the operation process; aiming at the problem of sudden load change, the bus voltage self-adaptive adjusting method adopts a set point adjusting strategy, and the set point is quickly adjusted according to the error, so that the stabilizing time and the overshoot of the bus voltage are reduced.
On one hand, the bus voltage self-adaptive adjusting method of the super-capacitor energy storage system provided by the invention adopts a self-adaptive control strategy to adjust the bus voltage and/or adopts a set point adjusting strategy to adjust the bus voltage;
the self-adaptive control strategy is a double-loop control strategy adopting a current inner loop with fixed parameters and a self-adaptive voltage outer loop, the proportional parameter and the integral parameter of the current inner loop are fixed values, the proportional parameter and the integral parameter of the voltage outer loop dynamically change along with the terminal voltage of the super capacitor, and the closed loop bandwidth omega of the system is widecZero point far from right half plane, and system cut-off frequency ω ═ ωcWhen the amplitude of the system open loop transfer function is 1;
the set point adjustment strategy is: the difference value between the actual value and the expected value of the current bus voltage is within the error allowable range, and adjustment is not carried out; and if the current difference is not within the error allowable range, calculating a prediction error by using a lead compensator according to the current difference, and determining an adjustment amount by using the prediction error and adjusting.
Further optionally, the system corresponds to a closed loop bandwidth ωcAway from the zero point of the right half-plane and the system cut-off frequency omega-omegacWhen the amplitude of the corresponding system open-loop transfer function is 1, determining a proportional parameter and an integral parameter of the voltage outer ring; wherein, when the cut-off frequency ω of the closed loop system is equal to ωcWhen the amplitude of the open loop transfer function is 1, it is expressed as:
Figure BDA0003498586350000021
in the formula, KpAs a proportional parameter of the voltage outer loop, KiIs the integral parameter of the voltage outer ring, s is a complex variable, G is a coefficient related to the load resistance, the end voltage of the super capacitor and the bus voltage, a and b are the zero and the pole of the system closed loop, omegacIs a closed loop bandwidth.
Further optionally, the voltage outer loop is such that a closed loop bandwidth ω is provided in Boost converter modecAway from the zero point of the right half plane, the closed loop bandwidth ωcSatisfies the following conditions:
Figure BDA0003498586350000022
wherein, a is the right plane zero point of the system, and x is the parameter to be selected and represents the degree of the closed-loop bandwidth far away from the zero point.
Further optionally, the proportional parameter and the integral parameter of the voltage outer loop are expressed as follows:
Figure BDA0003498586350000023
Figure BDA0003498586350000024
in the formula, KpAs a proportional parameter, KiAs integral parameter, RLAnd CfValues of load resistance and capacitor, VscIs the terminal voltage of the super capacitor, L is the inductance of the converter,
Figure BDA0003498586350000031
the desired value of the bus voltage.
Further optionally, the open loop transfer function G of the systemo(s) is:
Figure BDA0003498586350000032
wherein:
Figure BDA0003498586350000033
in the formula, KpAs a proportional parameter, KiAs integral parameter, RLAnd CfThe values of a load resistor and a capacitor are respectively, s is a complex variable, G is a coefficient related to the voltage of the load resistor, the end of the super capacitor and the voltage of a bus, a and b are a system closed loop zero point and a system closed loop pole, and V isscIs the terminal voltage of the super capacitor, L is the inductance of the converter, VoIs the bus voltage.
Further optionally, the value ranges of the proportional parameter and the integral parameter of the current inner loop are 0.2-0.5, 150-.
Further optionally, the adjustment amount is determined and adjusted in the set point adjustment strategy according to the following formula:
Figure BDA0003498586350000034
in the formula, eminAnd emaxIs the upper and lower error bounds allowed by the system;
Figure BDA0003498586350000035
is defined as the desired value of the bus voltage, Vo' is the actual set value of the system input, m is the error scale factor, epIs the prediction error.
Further optionally, the prediction error epAs follows:
Figure BDA0003498586350000036
in the formula, ep(s) is the prediction error epCorresponding expression of the Laplace transform, TmAnd alphamAre all design parameters, αmWith respect to response speed and robustness to noise, TmS is a time constant, a complex variable in the laplace transform, and e(s) is an expression of the laplace transform corresponding to the current bus voltage error e.
Further optionally, the super capacitor supplies energy to the bus through a DC-DC converter, the DC-DC converter operating in Boost mode when energy flows from the super capacitor to the load, and the DC-DC converter operating in Buck mode when energy flows from the load to the super capacitor.
In a second aspect, the present invention provides a super capacitor energy storage system, which comprises a physical layer and a control layer;
the physical layer comprises an energy supply module and an energy consumption module, the energy supply module comprises a super capacitor and a converter, and the energy consumption module consists of a bus, traction and braking loads;
the control layer comprises a voltage acquisition unit, a current acquisition unit and a bus voltage regulation method unit, wherein the voltage acquisition unit and the current acquisition unit respectively acquire a voltage signal and a current signal and feed back the voltage signal and the current signal to the bus voltage regulation method unit;
the bus voltage adjusting method unit adopts a self-adaptive control strategy to adjust the bus voltage and/or adopts a set point adjusting strategy to adjust the bus voltage;
the self-adaptive control strategy is a double-loop control strategy which adopts a current inner loop with fixed parameters and a self-adaptive voltage outer loop, the proportional parameter and the integral parameter of the current inner loop are fixed values, the proportional parameter and the integral parameter of the voltage outer loop dynamically change along with the terminal voltage of the super capacitor, and the closed loop bandwidth omega of the system is widecZero point far from right half plane, and system cut-off frequency ω ═ ωcWhen the amplitude of the system open loop transfer function is 1;
the set point adjustment strategy is: the difference value between the actual value and the expected value of the current bus voltage is within the error allowable range, and adjustment is not carried out; and if the current difference is not within the error allowable range, calculating a prediction error by using a lead compensator according to the current difference, and determining an adjustment amount by using the prediction error and adjusting.
Advantageous effects
Aiming at the problem of sudden change of input voltage, the bus voltage self-adaptive adjusting method adopts a self-adaptive control strategy to adjust, wherein the proportion and integral parameters of a voltage outer ring are functions of the voltage of the super capacitor, so that the bus voltage self-adaptive adjusting method can adapt to the characteristic that the voltage of the super capacitor changes along with time in the operation process, and ensure the stability of the bus voltage; aiming at the problem of sudden load change, the bus voltage self-adaptive adjusting method adopts a set point adjusting strategy, and modifies the set value of the bus voltage according to the trend of the bus voltage error. Therefore, the method can adapt to the change of the load, improve the dynamic response capability of the system and reduce the overshoot and the stabilization time. In summary, the method and the system provided by the invention take into account that the terminal voltage of the super capacitor changes with the operation time, and the constructed control system is a time-varying system; considering that the load condition is unknown and randomly changed in the operation process, the constructed control system can adapt to the change of the load.
Drawings
FIG. 1 is a block diagram of a super capacitor based energy storage system according to the present invention;
FIG. 2 is a dual loop control block diagram of the present invention;
fig. 3 is a block diagram of the control method of the present invention.
Detailed Description
The present invention will be further described with reference to the following examples.
As shown in fig. 1, the super capacitor energy storage system provided by the present invention has a power supply connected to a DC-DC converter for supplying power to a DC link. In super capacitor trams, traction, braking and other loads draw energy from the dc link. A fast adaptive bus voltage regulation strategy for a supercapacitor-based energy storage system controls a DC-DC converter by adjusting the duty cycle to ensure that the bus voltage is stable and to provide the power required by the load. The DC-DC converter allows bidirectional energy flow: from power supply to load (boost mode) and from load to power supply (buck mode). In fig. 1, for a DC-DC converter, L is the inductance of the converter, S1 and S2 are MOSFETs, and D is the duty cycle of the converter. For a super capacitor RscIs the internal resistance of the super capacitor, CscIs a capacitance value, VscIs the terminal voltage of the super capacitor, RLAnd CfThe values of the load resistance and capacitance, respectively.
To solve the problem of abrupt input voltage changes, i.e. the output voltage of the external voltage loop is related to the supercapacitor terminal voltage, which varies greatly. For this reason, in order to ensure the stability of the output voltage of the external voltage loop, the problem of voltage jump of the super capacitor terminal needs to be overcome. As shown in fig. 2, the present invention employs a dual loop control scheme, i.e., comprising a current inner loop using fixed parameters and an adaptive voltage outer loop. The reasoning process is as follows:
the output voltage is expressed as follows:
Figure BDA0003498586350000051
in the formula, Vo(s)、isc(s) Laplace form of bus voltage value and output current value of super capacitor, VoAnd D, s are the actual value of the bus voltage, the duty ratio of the converter, and the complex variable in the laplace transform, respectively. From the above, the output voltage will follow the supercapacitor termination voltage VscMay vary. It is assumed that the current inner loop can achieve better following effect, so that the transfer function of the current inner loop is
Figure BDA0003498586350000052
The controller used in the voltage outer loop is a PI controller, so the open loop transfer function G of the systemo(s) is:
Figure BDA0003498586350000053
wherein:
Figure BDA0003498586350000054
the expression of the closed loop transfer function is therefore:
Figure BDA0003498586350000061
this exampleThe control of the inner loop of the medium current uses a fixed-parameter PI controller, in which the proportional parameter KpIs 0.25, integral parameter KiIs 166.
The calculation method of the adaptive voltage controller is to enable the voltage outer loop to enable the closed-loop bandwidth omega in the Boost converter modecZero point, omega, remote from the right half-planecShould be designed such that:
Figure BDA0003498586350000062
where x is 10, where ω is ωcThe magnitude of the open loop transfer function should be: | Go(s) | ═ 1, i.e.:
Figure BDA0003498586350000063
the simplified expression in equation (5) taken into equation (6) is:
Figure BDA0003498586350000064
Kpcomprises the following steps:
Figure BDA0003498586350000065
Kicomprises the following steps:
Figure BDA0003498586350000066
in the self-adaptive control strategy, proportional and integral parameters are functions of the terminal voltage of the super capacitor, and the self-adaptive control strategy can adapt to the characteristic that the terminal voltage of the super capacitor changes along with time in the operation process.
In summary, in order to solve the problem of sudden change of the input voltage, the proportional parameter and the integral parameter of the current inner loop are fixed values, and specific values are takenCan be adjusted according to the precision requirement; the proportional parameter and the integral parameter of the voltage outer ring dynamically change along with the terminal voltage of the super capacitor, and the proportional parameter and the integral parameter are obtained by reasoning under the condition that the proportional parameter and the integral parameter meet the requirement of a formula (6). The control effect is further improved, and the voltage outer ring enables the closed-loop bandwidth omega to be in a Boost converter modecAnd (3) moving away from the zero point of the right half plane, and further deducing the proportional parameter and the integral parameter of the formulas (8) and (9).
Aiming at the problem of sudden load change, the bus voltage self-adaptive adjusting method can adopt a set point adjusting strategy, and the set point is quickly adjusted according to the error, so that the stabilizing time and the overshoot of the bus voltage are reduced. The specific logic is as follows: the voltage control loop is integrated by adjusting the set value under the premise of not influencing the original control structure. The set point self-adaptive adjusting strategy judges whether the current bus voltage is in the allowable range of error or not by making a difference between the actual value and the expected value of the current bus voltage. If the error is within the allowable range, the set value is not adjusted. If the difference is outside the allowable range, a lead compensator is used to calculate the future possible difference situation according to the current difference. And multiplying the calculated future difference value by a certain adjusting coefficient to obtain the adjusting value required by the set value. When the bus voltage is smaller than the expected value, the set point self-adaptive adjustment strategy increases the set value, so that the actual output voltage value is also increased, the time for reaching the expected value is shortened, and otherwise, the set value is reduced. It should be understood that the allowable error range is an empirical value set according to the accuracy requirement, and the present invention is not particularly limited thereto. The desired value of the bus voltage is a set value that meets the requirements of the application.
The set point regulation strategy determines and regulates the regulation quantity according to the following formula:
Figure BDA0003498586350000071
wherein m.epIs based on the set point and the prediction error epThe adjustment condition of (2) usually adopts m-0.2, which can lead the system to have certain improvement in dynamic response, and in practical situationsIn which case suitable values can be found by off-line studies. e.g. of the typeminAnd emaxThe upper and lower error bounds are the empirical values set according to the precision requirement.
Prediction error epCan pass through actual errors
Figure BDA0003498586350000072
And a lead compensator calculation, the prediction error being calculated as:
Figure BDA0003498586350000073
wherein, TmAnd alphamThe parameters to be designed are system dependent. In most cases, αmIs selected between 0.05 and 0.3, and TmWhen selected, ensures that the zero of the compensator matches the dominant pole of the system.
According to the practical experimental conditions, alpha is adopted in the inventionmThe best results were obtained at 0.05, Tm0.01.m is selected to be 0.28. e.g. of the typeminAnd emaxAre-1 and 1, respectively.
Through the technical scheme, under the condition of load fluctuation, the bus voltage value fluctuates, but the set point self-adaptive adjusting strategy can quickly adjust the set value according to the error, so that the stability time and the overshoot of the bus voltage are reduced.
It should be appreciated that in some implementations, the bus voltage may be adjusted using an adaptive control strategy alone, or a setpoint adjustment strategy alone; in other implementations, the bus voltage may be adjusted using both an adaptive control strategy and a setpoint adjustment strategy.
Based on the technical principle, the invention also provides a super capacitor energy storage system, which comprises a physical layer and a control layer;
the physical layer comprises an energy supply module and an energy consumption module, the energy supply module comprises a super capacitor and a converter, the energy supply module supplies energy to the energy consumption module, and the energy consumption module in the embodiment comprises a bus and traction and braking loads;
the control layer comprises a voltage acquisition unit, a current acquisition unit and a bus voltage regulation method unit, wherein the voltage acquisition unit and the current acquisition unit respectively acquire a voltage signal and a current signal and feed back the voltage signal and the current signal to the bus voltage regulation method unit;
the bus voltage adjusting method unit adopts an adaptive control strategy to adjust the bus voltage and/or adopts a set point adjusting strategy to adjust the bus voltage;
the bus voltage adjusting method unit adopts an adaptive control strategy to adjust the bus voltage and/or adopts a set point adjusting strategy to adjust the bus voltage, and the technical details are stated with reference to the technical principle, which is not stated in the invention.
It should be emphasized that the examples described herein are illustrative and not restrictive, and thus the invention is not to be limited to the examples described herein, but rather to other embodiments that may be devised by those skilled in the art based on the teachings herein, and that various modifications, alterations, and substitutions are possible without departing from the spirit and scope of the present invention.

Claims (10)

1. A bus voltage self-adaptive adjusting method of a super-capacitor energy storage system is characterized by comprising the following steps: the method comprises the following steps of (1) adjusting the bus voltage by adopting an adaptive control strategy and/or adjusting the bus voltage by adopting a set point adjustment strategy;
the self-adaptive control strategy is a double-loop control strategy adopting a current inner loop with fixed parameters and a self-adaptive voltage outer loop, the proportional parameter and the integral parameter of the current inner loop are fixed values, the proportional parameter and the integral parameter of the voltage outer loop dynamically change along with the terminal voltage of the super capacitor, and the closed loop bandwidth omega of the system is widecZero point far from right half plane, and system cut-off frequency ω ═ ωcWhen the amplitude of the system open loop transfer function is 1; the set point adjustment strategy is: actual and expected values of the present bus voltageThe difference value of (A) is within the error allowable range, and no adjustment is carried out; and if the current difference is not within the error allowable range, calculating a prediction error by using a lead compensator according to the current difference, and determining an adjustment amount by using the prediction error and adjusting.
2. The adaptive bus voltage regulation method according to claim 1, characterized in that: system corresponding closed loop bandwidth omegacAway from the zero point of the right half-plane and the system cut-off frequency omega-omegacWhen the amplitude of the corresponding system open-loop transfer function is 1, determining a proportional parameter and an integral parameter of the voltage outer ring; wherein, when the cut-off frequency ω of the closed loop system is equal to ωcWhen the amplitude of the open loop transfer function is 1, it is expressed as:
Figure FDA0003498586340000011
in the formula, KpAs a proportional parameter of the voltage outer loop, KiIs the integral parameter of the voltage outer ring, s is a complex variable, G is a coefficient related to the load resistance, the end voltage of the super capacitor and the bus voltage, a and b are the zero and the pole of the system closed loop, omegacIs a closed loop bandwidth.
3. The adaptive bus voltage regulation method according to claim 2, characterized in that: the voltage outer loop enables a closed loop bandwidth omega in a Boost converter modecAway from the zero point of the right half plane, the closed loop bandwidth ωcSatisfies the following conditions:
Figure FDA0003498586340000012
wherein, a is the right plane zero point of the system, and x is the parameter to be selected and represents the degree of the closed-loop bandwidth far away from the zero point.
4. The adaptive bus voltage regulation method according to claim 3, characterized in that: the proportional and integral parameters of the voltage outer loop are expressed as follows:
Figure FDA0003498586340000013
Figure FDA0003498586340000014
in the formula, KpAs a proportional parameter, KiAs integral parameter, RLAnd CfValues of load resistance and capacitor, VscIs the terminal voltage of the super capacitor, L is the inductance of the converter,
Figure FDA0003498586340000021
the desired value of the bus voltage.
5. The adaptive bus voltage regulation method according to claim 1, characterized in that: open loop transfer function G of systemo(s) is:
Figure FDA0003498586340000022
wherein:
Figure FDA0003498586340000023
in the formula, KpAs a proportional parameter, KiAs integral parameter, RLAnd CfThe values of a load resistor and a capacitor are respectively, s is a complex variable, G is a coefficient related to the voltage of the load resistor, the end of the super capacitor and the voltage of a bus, a and b are a zero point and a pole of a system closed loop, and V isscIs the terminal voltage of the super capacitor, L is the inductance of the converter, VoIs the bus voltage.
6. The adaptive bus voltage regulation method according to claim 1, characterized in that: the value ranges of the proportional parameter and the integral parameter of the current inner loop are 0.2-0.5 and 150-356 respectively.
7. The adaptive bus voltage regulation method according to claim 1, characterized in that: the set point adjusting strategy determines and adjusts the adjusting quantity according to the following formula:
Figure FDA0003498586340000024
in the formula, eminAnd emaxIs the upper and lower error bounds allowed by the system;
Figure FDA0003498586340000025
is defined as the desired value of the bus voltage, Vo' is the actual set value of the system input, m is the error scale factor, epIs the prediction error.
8. The adaptive bus voltage regulation method according to claim 7, characterized in that: the prediction error epAs follows:
Figure FDA0003498586340000026
in the formula, ep(s) is the prediction error epCorresponding expression of the Laplace transform, TmAnd alphamAre all design parameters, αmWith respect to response speed and robustness to noise, TmS is a time constant, a complex variable in the laplace transform, and e(s) is an expression of the laplace transform corresponding to the current bus voltage error e.
9. The adaptive bus voltage regulation method according to claim 1, characterized in that: the super capacitor supplies energy to the bus through the DC-DC converter, when the energy flows from the super capacitor to the load, the DC-DC converter works in a Boost boosting mode, and when the energy flows from the load to the super capacitor, the DC-DC converter works in a Buck voltage reduction mode.
10. A super capacitor energy storage system, its characterized in that: the method comprises the following steps: a physical layer and a control layer;
the physical layer comprises an energy supply module and an energy consumption module, the energy supply module comprises a super capacitor and a converter, and the energy supply module supplies energy to the energy consumption module;
the control layer comprises a voltage acquisition unit, a current acquisition unit and a bus voltage regulation method unit, wherein the voltage acquisition unit and the current acquisition unit respectively acquire a voltage signal and a current signal and feed back the voltage signal and the current signal to the bus voltage regulation method unit;
the bus voltage adjusting method unit adopts a self-adaptive control strategy to adjust the bus voltage and/or adopts a set point adjusting strategy to adjust the bus voltage;
the self-adaptive control strategy is a double-loop control strategy which adopts a current inner loop with fixed parameters and a self-adaptive voltage outer loop, the proportional parameter and the integral parameter of the current inner loop are fixed values, the proportional parameter and the integral parameter of the voltage outer loop dynamically change along with the terminal voltage of the super capacitor, and the closed loop bandwidth omega of the system is widecZero point far from right half plane, and system cut-off frequency ω ═ ωcWhen the amplitude of the system open loop transfer function is 1;
the set point adjustment strategy is: the difference value between the actual value and the expected value of the current bus voltage is within the error allowable range, and adjustment is not carried out; and if the current difference is not within the error allowable range, calculating a prediction error by using a lead compensator according to the current difference, and determining an adjustment amount by using the prediction error and adjusting.
CN202210121275.5A 2022-02-09 2022-02-09 Bus voltage self-adaptive adjustment method and system of super-capacitor energy storage system Pending CN114448071A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116505535A (en) * 2023-06-26 2023-07-28 深圳市德兰明海新能源股份有限公司 Energy storage system and direct current bus voltage stable control method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116505535A (en) * 2023-06-26 2023-07-28 深圳市德兰明海新能源股份有限公司 Energy storage system and direct current bus voltage stable control method
CN116505535B (en) * 2023-06-26 2024-04-09 深圳市德兰明海新能源股份有限公司 Energy storage system and direct current bus voltage stable control method

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