CN114825923A - Voltage tracking control method of direct current buck converter - Google Patents
Voltage tracking control method of direct current buck converter 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
- H02M3/157—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 with digital control
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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
- H02M1/00—Details of apparatus for conversion
- H02M1/14—Arrangements for reducing ripples from dc input or output
- H02M1/143—Arrangements for reducing ripples from dc input or output using compensating arrangements
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Abstract
The invention discloses a voltage tracking control method of a direct current buck converter, which constructs a discrete variable speed attraction law and estimates system interference by utilizing an interference compensator based on a moving average filtering technology; and constructing an ideal error dynamic state based on the discrete variable speed attraction law and the interference compensator, designing a discrete controller according to the ideal error dynamic state, and taking the calculated signal as the control input of the direct current buck converter. The specific controller parameter setting work can be carried out according to indexes of system convergence performance and steady state performance, and specific expressions of an absolute attraction layer and a steady state error band boundary representing the system convergence performance and the steady state performance are provided. The invention provides a discrete voltage tracking control method which can quickly converge, effectively restrain various interferences such as system buffeting, noise, nonlinearity and the like and effectively reduce output voltage ripples.
Description
Technical Field
The invention relates to a voltage tracking control method of a direct current buck converter, which is suitable for a buck direct current power supply and a DC-DC power supply in industrial control.
Background
A direct current Buck (Buck) converter is a power electronic device that implements voltage conversion of a direct current circuit. The Buck-type converter has the advantages of simple and light system structure, stable voltage reduction, safety, reliability and the like, and is widely applied to the industrial fields of electric vehicle charging, LED driving, aerospace and the like at present.
The conventional Buck converter voltage control is usually a linear proportional-integral-derivative (PID) control method, but the Buck converter has various interferences such as load sudden change, input voltage sudden change, model parameter perturbation and the like, so that high-performance control cannot be realized. The sliding mode control is a nonlinear control method and has the advantages of simple control implementation, fast output response, good robustness and the like. However, the sliding mode control has inherent buffeting problem, and the ripple of the output voltage becomes large when the sliding mode control is applied to the Buck converter. Therefore, how to reduce the system buffeting is a research focus of the sliding mode control.
The sliding mode control approach law method adopts an approach law, the dynamic response process of a closed loop system is divided into an approach process and a sliding mode, and the stability and the convergence of the closed loop system are determined by the specific approach law and a sliding mode function. The attraction law method directly adopts a tracking error signal, a sliding mode function does not need to be defined, and the design of the controller becomes more direct and simpler. The dynamic response process of a closed loop system is determined only by the attraction law. In the presence of interference, interference suppression measures are "embedded" into the attraction law, constructing an ideal error dynamics with interference suppression. The discrete time controller is dynamically designed according to the ideal error, so that the closed-loop system has the error dynamic characteristic described by the ideal error dynamic, and the anti-interference capability and the tracking performance of the control system are improved. When the discrete controller is designed by an attraction law method, two indexes of transient and steady-state behaviors of the tracking error can be given by the attraction law: absolute attraction layers and steady state error bands. In practice, the specific values of the two indicators depend on the controller parameters. Given the specific form of the attraction law, specific expressions of two indexes can be given in advance, and the method can be used for parameter setting of the controller.
The Buck converter has various disturbances (sudden load change, sudden input voltage change and the like), and effective compensation and suppression processing needs to be performed on each disturbance signal. The current disturbance compensation suppression method is a one-step delay interference estimation technology. The technology can play an effective compensation and inhibition role in constant/slow time-varying disturbance. However, this processing method has the problem of measurement noise amplification, which reduces the control accuracy and stability of the Buck converter. Therefore, how to effectively improve the interference suppression capability of the Buck converter and reduce the output voltage ripple (reduce the steady-state error) is a focus problem of the controller design, and is also a difficult problem to be solved.
Disclosure of Invention
The invention provides a voltage tracking control method of a direct current buck converter, aiming at solving the problems of large output voltage ripple, noise amplification and the like of the existing control method. Interference filtering suppression measures are embedded into an attraction law so as to construct ideal error dynamics with disturbance suppression capability, and various interferences such as noise, model nonlinearity and the like can be effectively suppressed. The Buck-type converter digital control technology based on the interference filtering suppression strategy can realize an accurate reference signal tracking task, has anti-interference capability and effectively reduces ripples of output voltage.
The technical scheme adopted by the invention for solving the technical problems is as follows: a voltage tracking control method of a direct current buck converter comprises the following steps:
step (1): establishing a mathematical model of a control system of the direct-current buck converter;
step (2): constructing a discrete variable speed suction law;
and (3): an interference filtering compensation strategy;
and (4): dynamically designing a controller based on the ideal error;
and (5): and taking the current control variable as a control command of the DC buck converter to enable the DC buck converter to change along with the reference signal.
Further, the step (1) is specifically as follows:
the mathematical model of the control system of the direct current buck converter is established as follows:
wherein, V k+1 ,V k ,V k-1 Is the output voltage at the moment k +1, k, k-1 of the DC down-converter, u k Control input signal, T, indicating the k-time of the DC buck converter s R, L and C are respectively a resistor, an inductor and a capacitor of the direct current buck converter in a switching period; v in Is an input voltage signal; w is a k+1 The total interference signal of the system at the moment k + 1;
further, the step (2) is specifically as follows:
the following discrete variable suction law was constructed
Wherein e is k ＝r k -V k Systematic tracking error at time k, r k For a given reference signal at time k, y k The actual output signal of the system at the moment k; hyperbolic secant function
Wherein rho is more than 0 and less than 1; ε, δ > 0 are the convergence rate parameters of the tracking error.
Further, the step (3) is specifically as follows:
in order to improve the anti-interference capability of the system, interference filtering compensation measures are embedded into the attraction law (2) to construct ideal error dynamic with interference filtering compensation effect
Wherein the content of the first and second substances,
the interference compensator based on the moving average filtering technology is used for further filtering while inhibiting constant and slow time-varying interferenceA high frequency interference signal, and n is a filter coefficient; w is a k+1-i A system interference signal at the time k + 1-i; interference filtering compensation error
Satisfy the requirement of
With delta being the supremum of the interference compensation error.
Further, the step (4) is specifically as follows:
by substituting formula (1) for formula (3), the expression of the discrete controller of the DC buck converter can be obtained as
Wherein the content of the first and second substances,
further, the step (5) is specifically as follows: will u k As control input signal of the DC buck converter, the voltage output signal V of the DC buck converter can be measured k Follows the reference signal r k The dynamic behavior of the system tracking error is characterized by equation (3).
Furthermore, in order to represent the convergence performance and the steady-state performance of the attraction law, the invention provides expressions of two indexes, namely an absolute attraction layer boundary and a steady-state error band boundary; these two indicators can be used to guide controller parameter tuning, where the absolute attraction layer boundary and the steady state error band boundary are defined as follows:
1) absolute attraction layer boundary Δ AAL
|e k+1 |＜|e k I, when e k |＞Δ AAL (6)
2) Steady state error band boundary Δ SSE
|e k+1 |≤Δ SSE When e k |≤Δ SSE (7)
Here,. DELTA. AAL To absolute attraction layer boundary, Δ SSE Is a steady state error band boundary. The expression of each index is as follows:
1) absolute attraction layer boundary Δ AAL Expressed as:
2) steady state error band boundary Δ SSE Expressed as:
a. for the case of delta ≦ 4(1- ρ) Δ,
b. for delta > 4 (1-rho) delta cases
The technical conception of the invention is as follows: a voltage tracking control method of a DC buck converter. Interference filtering compensation measures are embedded into the attraction law, and ideal error dynamics with interference suppression effects are formed. And dynamically designing a discrete time controller according to the ideal error to realize accurate tracking of the given reference signal.
The control effect of the invention is mainly shown in that: and interference filtering compensation technology is adopted to inhibit interference so as to improve tracking accuracy. Meanwhile, the discrete time suction law is adopted, so that the fast convergence is realized, the buffeting of the system is effectively restrained, and the system has better control performance.
Drawings
Fig. 1 is a flowchart of a dc buck converter attraction law design method.
Fig. 2 is a circuit schematic of a dc buck converter.
Fig. 3 is a block diagram of a digital controller for a dc buck converter.
FIG. 4 is an exponential attraction law e k+1 ＝(1-ρ)e k -εsgn(e k ) And the proposed law of attraction
The convergence rate of (2) is compared with that of (3).
FIG. 5 illustrates interference filter compensation errors
FIG. 6 illustrates the interference w k The tracking error signal under the action of the digital controller (18) provided by the invention when the controller parameter rho is 0.2, epsilon is 0.1 and delta is 0.5.
FIG. 7 illustrates the interference w k -0.2 sin (pi k/2) cos (pi k/3) and controller parameter p-0.2, -0.2 and-0.5, under the action of the digital controller (18) according to the invention.
FIG. 8 shows the output voltage signal V when a conventional digital controller (17) is used in the case of sudden change of the output voltage out 。
FIG. 9 shows the output voltage signal V when the digital controller (18) according to the present invention is used in case of sudden change of the output voltage out 。
FIG. 10 shows the input voltage signal V when a conventional digital controller (17) is used in the case of sudden change of the input voltage in And an output voltage signal V out 。
FIG. 11 is an error signal e of the output voltage when a conventional digital controller (17) is used in the case of a sudden change in the input voltage k (output voltage ripple).
FIG. 12 shows an input voltage signal V when the digital controller (18) according to the present invention is used in the case of sudden change of the input voltage in And an output voltage signal V out 。
FIG. 13 shows an error signal e of an output voltage when the digital controller (18) according to the present invention is applied in case of a sudden change of an input voltage k (output voltage ripple).
FIG. 14 is the input voltage in the case of a sudden load change, when a conventional digital controller (17) is usedSignal V in And an output voltage signal V out 。
FIG. 15 is an error signal e of the output voltage in the case of a sudden load change, when a conventional digital controller (17) is used k (output voltage ripple).
FIG. 16 shows the input voltage signal V when the digital controller (18) according to the present invention is used in the case of sudden load change in And an output voltage signal V out 。
FIG. 17 shows an error signal e of an output voltage in case of a sudden load change when the digital controller (18) according to the present invention is used k (output voltage ripple).
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings.
Referring to fig. 1 to 17, a voltage tracking control method of a dc down-converter, as shown in fig. 1, includes the following steps:
step (1): establishing a mathematical model of a DC buck converter
FIG. 2 is a circuit schematic of a DC buck converter, where V in Is a direct current input voltage; r, L and C are respectively a resistor, an inductor and a capacitor of the direct current buck converter; i.e. i L Is the inductor current; v T Is a power switch tube; v D Is a diode; v 0 Is the output voltage of a continuous system. According to kirchhoff's voltage and current laws, when a switch is closed and a tube is disconnected, models of a control system of the direct current buck converter are respectively as follows:
a) and (3) closing a switch:
b) and (3) turning off a switch:
the average model is
Where u is the duty cycle, which is provided as a control signal by the pulse-width modulated signal. From equation (3), the following voltage equation can be obtained:
by using the Euler approximation method, equation (4) becomes
Wherein, V k+1 ,V k ,V k-1 For discrete system output voltage u of DC buck converter at time k + 1, k, k-1 k Indicating the control input signal, T, of the DC buck converter at time k s For the period of a switching tube, R, L and C are respectively a resistor, an inductor and a capacitor of the direct current buck converter; v in Is an input voltage signal; Δ w k+1 Is a discrete error.
Considering the uncertainty disturbance of the DC buck converter system and the measurement error of R, L and C, the second-order input-output system model of the DC buck converter becomes
Wherein, the measurement errors of the R, the L and the C are respectively. A mathematical model of the dc buck converter can be obtained from equation (6):
wherein, w k+1 The total interference signal of the system at the moment k +1 is expressed as
Step (2): construction of discrete variable-speed suction law
The following discrete variable suction law was constructed
Wherein e is k ＝r k -V k Systematic tracking error at time k, r k For a given reference signal at time k, y k The actual output signal of the system at the moment k; hyperbolic secant function
Wherein rho is more than 0 and less than 1; ε, δ > 0 are the convergence rate parameters of the tracking error.
And (3): interference filtering compensation strategy
In order to improve the anti-interference capability of the system, interference filtering compensation measures are embedded into an attraction law (9) to construct an ideal error dynamic state with interference filtering compensation effect
Wherein the content of the first and second substances,
the interference compensator based on the moving average filtering technology is used for further filtering high-frequency interference signals while inhibiting constant-value and slow time-varying interference, and n is a filter coefficient; w is a k+1-i A system interference signal at the time k + 1-i; interference filtering compensation error
Satisfy the requirement of
With delta being the supremum of the interference compensation error.
And (4): controller design
By substituting equation (7) for equation (10), the expression of the discrete controller of the DC buck converter can be obtained as
And (5): will u k As control input signal of the DC buck converter, the voltage output signal V of the DC buck converter can be measured k Follows the reference signal r k The dynamic behavior of the system tracking error is characterized by equation (11).
Furthermore, in order to represent the convergence performance and the steady-state performance of the attraction law, the invention provides expressions of two indexes, namely an absolute attraction layer boundary and a steady-state error band boundary; these two indicators can be used to guide controller parameter tuning, where the absolute attraction layer boundary, steady state error band boundary are defined as follows:
1) absolute attraction layer boundary Δ AAL
|e k+1 |＜|e k When | e |) k |＞Δ AAL (12)
2) Steady state error band boundary Δ SSE
|e k+1 |≤Δ SSE When | e k |≤Δ SSE (13)
Here,. DELTA. AAL To absolute attraction layer boundary, Δ SSE Is a steady state error band boundary. The expression of each index is as follows:
1) absolute attractive layer boundary Δ AAL Expressed as:
2) steady state error band boundary Δ SSE Expressed as:
a. for the case of delta ≦ 4(1- ρ) Δ,
b. for delta > 4 (1-rho) delta cases
Furthermore, after the design of the discrete controller of the dc buck converter is completed, the controller parameters therein need to be set. The adjustable parameters delta, epsilon and rho can be adjusted according to 2 indexes representing the convergence process of the attraction law.
Examples
And carrying out closed-loop control on the output waveform of the direct current buck converter. A block diagram of a digital controller for a dc buck converter is shown in fig. 3. The adopted direct current buck converter consists of a given signal part, a digital controller, a PWM (pulse-width modulation) part, a direct current buck converter main control circuit, a signal conditioning circuit and an AD (analog-digital) sampling circuit. The given signal, the digital controller and the PWM module are all realized by an ARM control board, and the rest parts are all realized by a direct current buck converter hardware circuit. The whole direct current buck converter control system is provided with an expected signal needing to be output by an ARM, and drives a high-low pulse signal of a power switch tube of the direct current buck converter after PWM modulation, so that connection and disconnection are realized. The output signal of the direct current buck converter collects required voltage signal data through the signal conditioning circuit and the AD module and returns to the ARM, then the input signal (required PWM signal) is corrected under the action of the digital controller, high-performance accurate tracking control of the direct current buck converter is achieved, and nonlinear interference and various disturbances (load sudden change, input voltage sudden change and the like) of a direct current buck converter model are effectively inhibited.
The following gives the design process of the discrete controller of the dc buck converter.
First, a system mathematical model is established. The main control circuit, the sampling circuit and the low-pass filter of the DC buck converter in FIG. 2 are used as objects to perform mechanism modeling, and the switching period is T s 20us, load resistance R100 Ω, inductance L101 uH, capacitance C470 uF, control period T0.2 ms, and input voltage V in 30V, given a reference signal r k ＝10V。
The digital controller based on exponential attraction law and one-step delay interference estimation is as follows:
the digital controller of the interference compensator based on the variable speed suction law and the low-pass filtering technology is as follows:
the present embodiment will illustrate the effectiveness and superiority of the digital controller design method provided by the present invention through numerical verification and dc buck converter experiment results, respectively.
First, the effectiveness of the variable speed attraction law (9) given by the present invention is illustrated by numerical results, and is related to the exponential attraction law e k+1 ＝(1-ρ)e k -εsgn(e k ) For comparison, the superiority of the variable speed suction law (9) is further explained. In the simulation, the initial error is e o The controller parameters ρ is 0.2, ε is 0.4, and δ is 2, the numerical simulation results are shown in FIG. 4. The solid line in fig. 4 is a variable suction law (9) curve, and the broken line is an exponential suction law curve. As can be seen from fig. 4, the variable-speed suction law (9) according to the present invention has a faster convergence rate than the exponential suction law and eliminates system chatter.
Given a position reference signal of r k Initial error is e ═ 3 o Interference is w ═ 3 k 0.2sin (π k/2) cos (π k/3). Under the action of the digital controller (18), different controller parameters delta, epsilon and rho are selected, and boundary layers in the convergence process of the system are different. If the filter parameter is selected to be n-3, the supremum Δ of the interference compensation error is 0.1667, as shown in fig. 5. To verify the absolute attraction layer boundary Δ given by the present patent AAL And steady state error band boundary Δ SSE The numerical simulation is carried out on the expression (2).
1) When the controller parameter ρ is 0.2, e is 0.1, and δ is 0.5, the two boundaries are
2) When the controller parameter ρ is 0.2, ∈ is 0.2, and δ is 0.5, the two boundaries are respectively equal to
A block diagram of a digital controller of a dc buck converter for experiment is shown in fig. 3, which is used to verify the effectiveness and superiority of the digital controller design method provided by the present invention when the output voltage suddenly changes, the load suddenly changes, and the input voltage suddenly changes.
(1) Abrupt change of output voltage
Load R100 Ω and input voltage V in 30V all remain unchanged, giving a reference signal varying from 10V to 20V. Under the action of the digital controller (17), the controller parameters are selected to be p equal to 0.5 and epsilon equal to 0.5, and the experimental result is shown in figure 8. The experimental data of FIG. 8 is the output voltage V out . When the given voltage signal is 10V, the output voltage ripple is 2 delta SSE 102 mV. When the given voltage signal is 20V, the output voltage ripple is 2 delta SSE 114 mV. In the process of changing the given reference signal from 10V to 20V, the convergence time T is 85 ms. Under the action of the digital controller (18), the controller parameters are selected to be p equal to 0.5, epsilon equal to 0.5, delta equal to 0.5, the filter parameters are selected to be n equal to 3, and the experimental result is shown in figure 9. The experimental data of FIG. 9 is the output voltage V out . When the given voltage signal is 10V, the output voltage ripple is 2 delta SSE ＝80mV。When the given voltage signal is 20V, the output voltage ripple is 2 delta SSE 90 mV. In the process of changing the given reference signal from 10V to 20V, the convergence time T is 59 ms. As can be seen from fig. 8 and 9, the digital controller (18) of the present invention can obtain smaller output voltage ripple and faster convergence speed than the conventional digital controller (17).
(2) Input voltage abrupt change situation
The load R remains constant at 100 Ω, the input voltage changes from 30V to 20V and back to 30V, and the other parameters remain constant. Under the action of the digital controller (17), the controller parameters are selected to be p ═ 0.5 and epsilon ═ 0.5, and the experimental results are shown in fig. 10 and fig. 11. The experimental data of FIG. 10 are input voltages V, respectively in And an output voltage V out Fig. 11 shows an error signal (output voltage ripple) of the output voltage. During the process that the input voltage changes from 30V to 20V and returns to 30V, the output voltage ripples are respectively 2 delta SSE 108mV, 76mV, 108 mV. Under the action of the digital controller (18), the controller parameters are selected to be p equal to 0.5, epsilon equal to 0.5, delta equal to 0.5, and the filter parameters are selected to be n equal to 3, and the experimental results are shown in fig. 12 and fig. 13. The experimental data of FIG. 12 are input voltage signals V, respectively in And an output voltage V out Fig. 13 shows an error signal (output voltage ripple) of the output voltage. During the process that the input voltage changes from 30V to 20V and returns to 30V, the output voltage ripples are respectively 2 delta SSE 80mV, 66mV, 80 mV. As can be seen from fig. 11 and 13, the digital controller (18) of the present invention can obtain smaller output voltage ripple than the conventional digital controller (17).
(3) Load jump situation
Input voltage V in The load is changed from R100 Ω to R25 Ω and back to R100 Ω, while the other parameters remain unchanged. Under the action of the digital controller (17), the controller parameters are selected to be p ═ 0.5 and epsilon ═ 0.5, and the experimental results are shown in fig. 14 and fig. 15. The experimental data of FIG. 14 are the output currents I, respectively out And an output voltage V out FIG. 15 shows an error signal of an output voltage (output voltage ripple 2. delta SS ). When the load changes from R-100 omega to R-25 omega and back to R-100 omegaIn the process of 100 omega, the output voltage ripples are respectively 2 delta SSE 102mV, 114mV, 102 mV. Under the action of the digital controller (18), the controller parameters are selected to be p equal to 0.5, epsilon equal to 0.5, delta equal to 0.5, and the filter parameters are selected to be n equal to 3, and the experimental result is shown in fig. 16 and 17. The experimental data of FIG. 16 are the output currents I, respectively out And an output voltage V out Fig. 17 shows an error signal (output voltage ripple) of the output voltage. In the process of changing the load from R-100 Ω to R-25 Ω and back to R-100 Ω, the output voltage ripples are respectively 2 Δ SSE 80mV, 102mV, 80 mV. As can be seen from fig. 15 and 17, the digital controller (18) proposed by the present invention can obtain smaller output voltage ripple than the conventional digital controller (17).
Claims (2)
1. A voltage tracking control method of a DC buck converter is characterized by comprising the following steps:
step (1): establishing a mathematical model of a control system of the direct-current buck converter;
step (2): constructing a discrete variable speed suction law;
and (3): an interference filtering compensation strategy;
and (4): dynamically designing a controller based on the ideal error;
and (5): taking the current control variable as a control command of the direct-current buck converter to enable the direct-current buck converter to change along with the reference signal;
the step (1) is specifically as follows:
the mathematical model of the control system of the direct current buck converter is established as follows:
wherein, V k+1 ,V k ,V k-1 Is the output voltage at the moment k +1, k, k-1 of the DC down-converter, u k Control input signal, T, indicating the k-time of the DC buck converter s R, L and C are resistance and electricity of the DC buck converter respectively for a switching periodAn inductance and a capacitance; v in Is an input voltage signal; w is a k+1 The total interference signal of the system at the moment k + 1;
the step (2) is specifically as follows:
construction of discrete variable-speed suction law
Wherein e is k ＝r k -V k Systematic tracking error at time k, r k For a given reference signal at time k, y k The actual output signal of the system at the moment k; hyperbolic secant function
Wherein rho is more than 0 and less than 1; epsilon and delta are more than 0 and are convergence speed parameters of the tracking error;
the step (3) is specifically as follows:
interference filter compensation measures are embedded into the attraction law (2) to construct ideal error dynamics with interference filter compensation effect
Wherein the content of the first and second substances,
the interference compensator based on the moving average filtering technology is used for further filtering high-frequency interference signals while inhibiting constant-value and slow time-varying interference, and n is a filter coefficient; w is a k+1-i A system interference signal at the time k + 1-i; interference filtering compensation error
Satisfy the requirement of
Delta is dryThe supremum of the disturbance compensation error;
the step (4) is specifically as follows:
by substituting formula (1) for formula (3), the expression of the discrete controller of the DC buck converter can be obtained as
Wherein the content of the first and second substances,
the step (5) is specifically as follows:
will u k As control input signal of the DC buck converter, the voltage output signal V of the DC buck converter can be measured k Follows the reference signal r k The dynamic behavior of the system tracking error is characterized by equation (3).
2. A voltage tracking control method of a dc buck converter as claimed in claim 1, wherein: the adjustable parameters delta, epsilon and rho of the discrete controller are set according to the indexes representing the convergence performance and the steady-state performance of the attraction law, and the indexes representing the convergence performance and the steady-state performance of the system comprise the boundary delta of an absolute attraction layer AAL And steady state error band boundary Δ SSE ；
1) Absolute attraction layer boundary Δ AAL Expressed as:
2) steady state error band boundary Δ SSE Expressed as:
a. for delta ≦ 4(1- ρ) Δ,
b. for delta > 4 (1-rho) delta cases
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Application publication date: 20220729 |