CN115001000A - Order reduction control method of DC/DC energy storage converter - Google Patents

Order reduction control method of DC/DC energy storage converter Download PDF

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Publication number
CN115001000A
CN115001000A CN202210861581.2A CN202210861581A CN115001000A CN 115001000 A CN115001000 A CN 115001000A CN 202210861581 A CN202210861581 A CN 202210861581A CN 115001000 A CN115001000 A CN 115001000A
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Prior art keywords
order system
loop
closed
order
energy storage
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Inventor
全相军
吴在军
谢兴峰
唐成虹
陈永华
李淑锋
胡浩
李吉平
邢磊
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Southeast University
State Grid Electric Power Research Institute
State Grid Eastern Inner Mongolia Power Co Ltd
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Southeast University
State Grid Electric Power Research Institute
State Grid Eastern Inner Mongolia Power Co Ltd
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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
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/28—Arrangements for balancing of the load in a network by storage of energy
    • H02J3/32—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention discloses a reduced-order control method of a DC/DC energy storage converter, belonging to the field of energy storage converter control. Aiming at the control of the DC/DC energy storage converter, the invention designs a state space feedback control method based on zero-pole cancellation, and provides a general first-order system control structure based on a state space, thereby simplifying a DC/DC converter control system into a simple first-order system; the control method provided by the invention is applied to the energy storage converter, so that the dynamic response of the system is obviously improved, the regulation time is fast, the overshoot is zero, and the robustness on the voltage change of the direct current side is stronger.

Description

Order reduction control method of DC/DC energy storage converter
Technical Field
The invention relates to the field of energy storage converter control, in particular to a reduced-order control method of a DC/DC energy storage converter.
Background
Battery and/or Supercapacitor (SC) energy storage systems are increasingly used in energy storage systems, electric vehicles and micro-grids. A DC/DC converter is typically used as an interface between the battery/supercapacitor and the DC link. The DC/DC converter is responsible for power conversion and control. Therefore, control of the DC/DC converter is crucial to achieve flexible power conversion.
Non-isolated DC/DC converters typically employ a half-bridge configuration to achieve bidirectional power flow. It can implement power control by fundamental current or voltage control of the bidirectional DC/DC converter. Bidirectional DC/DC converters typically employ a typical dual-loop control architecture. For example, battery or Supercapacitor (SC) applications typically use dc voltage outer loop control and current inner loop control as control structures. Furthermore, proportional-integral (PI) controllers are the most widely used controllers to achieve zero steady-state error current and voltage control. The PI controller has the advantages of clear physical meaning, simple parameter tuning, convenient realization and the like. Therefore, the PI controller is widely used for controlling the DC/DC converter. However, current overshoot typically occurs due to the zero introduced by the PI controller. In this case, the second order system is not good for the design of the outer voltage loop, and the overshoot is not good for the system dynamic response.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a reduced-order control method of a DC/DC energy storage converter, so that a DC/DC converter control system is simplified into a simple first-order system; the control method provided by the invention is applied to the energy storage converter, so that the dynamic response of the system is obviously improved, the regulation time is fast, the overshoot is zero, and the robustness on the voltage change of the direct current side is stronger.
The purpose of the invention can be realized by the following technical scheme:
a step-down control method of a DC/DC energy storage converter comprises the following steps:
establishing a first-order system state space model based on a controlled system;
constructing a state feedback control law and a second-order system based on the first-order state space model, and adjusting a closed-loop pole of the second-order system through the state feedback control law;
constructing a feedforward control law, and determining a closed loop zero point of a second-order system through the feedforward control law; the closed-loop zero and one closed-loop pole are offset, so that a second-order system is simplified into a first-order system, and the dynamic response of the second-order system is determined by the other pole, which is beneficial to external direct-current bus voltage control, thereby improving the dynamic response of the system and improving the control performance of the system.
Further, the first-order system state space model specifically includes:
Figure BDA0003755912120000021
in the formula x p Is a state variable, u c Is a control input, u d Is a perturbation term; a, b 1 ,b 2 The correlation coefficients of the state variables, control inputs and disturbance terms, respectively.
Further, the method for adjusting the closed loop pole of the second-order system based on the state feedback control law comprises the following steps:
defining an integral controller:
Figure BDA0003755912120000022
in the formula, x ref Giving a reference value for the control quantity;
the state feedback control law is as follows: u. of c ＝k p x p +k i x c +k d u d +k r x pref
In the formula, k p ,k i ,k r ,k d Respectively a feedback coefficient, an integral coefficient, a disturbance coefficient and a feedforward coefficient;
and (3) constructing an open-loop system state equation by combining a first-order system state space model and an integral controller:
Figure BDA0003755912120000023
transfer function G can be obtained according to open-loop system state equation rc (s) is:
Figure BDA0003755912120000031
it is clear that the proposed transfer function G rc (s) has two and k p And k i The pole concerned, and one can pass k r Zero point of adjustment.
To shape the reference tracking performance, a transfer function G is used rc (s) rewritten in the form of a zero-pole as:
Figure BDA0003755912120000032
wherein p is 1 And p 2 Is a closed-loop pole, z is a closed-loop zero, and p 1 >0，p 2 >0，z>0；
And satisfies:
Figure BDA0003755912120000033
and z ═ k i /k r
In the formula k p And k i Determines the closed loop pole, k r And k i The closed-loop zero is affected, so the control parameters can be designed by configuring the closed-loop pole and the closed-loop zero.
Further, to achieve the best dynamic response, the closed-loop poles are designed as a pair of complex conjugate values with a damping factor of 0.707, and the pole can be determined as p 1 >0、p 2 >0。
Further, constructing a feedforward control law, and determining a closed-loop zero point of a second-order system through the feedforward control law; offsetting a closed loop zero and a closed loop pole to simplify a second-order system into a first-order system, comprising the following steps:
parameter k p And k i Are respectively:
Figure BDA0003755912120000034
when the zero point z of the closed loop is equal to p 2 When k is r Satisfies the following conditions:
Figure BDA0003755912120000035
will G rc (s) optimization to a first order system:
Figure BDA0003755912120000036
settling time t of first order system set Satisfies the following conditions:
Figure BDA0003755912120000037
the invention has the beneficial effects that:
the order reduction control method of the DC/DC energy storage converter is based on a general first-order system control structure of a state space, so that a control system is simplified into a first-order system; when the method is applied to the energy storage DC/DC converter, the dynamic response of the system can be obviously improved, the regulation time is fast, the overshoot is zero, and the robustness on the voltage change of the DC side is stronger; the advantages not only make the design of control parameters simpler, but also can greatly improve the control performance of the system.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a block diagram of a control system of the present application;
FIG. 2 is a block diagram of a half-bridge bi-directional energy storage DC/DC converter and control of the present application;
fig. 3 is a structure diagram of the reduced-order control of the DC bus voltage control according to the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Half-bridge bidirectional DC/DC converter circuit and control architecture as shown in fig. 2, the internal Current Controller (CC) implements zero steady state error current control, while the Voltage Controller (VC) regulates the DC bus voltage to track the reference voltage. R is equivalent resistance; l is equivalent inductance; v. of d For control input, PWM gain K PWM Is considered to be 1.
When applying the proposed control to internal current control, the dynamic response of the inductor current can be designed to be very fast, even below 1ms, with zero overshoot in the 10/20kHz switching frequency range. Therefore, the dynamics of the current loop can be neglected in the design of the dc voltage control, and therefore, the embodiments will apply the proposed control method to design the voltage controller without considering the current loop.
The method specifically comprises the following steps:
step 1: for a first-order system, establishing a first-order system state space model based on a controlled system;
for dc bus voltage control, a linear model is typically implemented using a power-based model of the dc bus. Using a capacitor C d The power model of the dc bus can also be expressed as a first order system:
Figure BDA0003755912120000051
wherein a is 0, b 1 ＝2/C d ，b 2 ＝-2/C d ，
Figure BDA0003755912120000052
Disturbance term p d Is the output power of the dc bus. The equivalent loss resistance is ignored to account for the worst damped condition.
Step 2: establishing a state feedback control law, and optimally designing the closed loop pole position of a second-order system through state feedback control;
fig. 3 shows the proposed dc bus voltage control method. Control law of
Figure BDA0003755912120000053
Wherein x cv Is the state variable of the integrator;
Figure BDA0003755912120000054
for optimal dynamic response, the poles are designed as a pair of complex conjugate values with a damping factor of 0.707, and the closed loop pole of the DC voltage loop can be determined as p 1v And p 2v 。
And step 3: and a feedforward control law is established, the free configuration of system closed-loop zeros is realized through feedforward control design, and one closed-loop pole is counteracted by using the closed-loop zeros, so that a second-order system is simplified into a first-order system, the dynamic response of the system is improved, and the control performance of the system is improved.
Use of
Figure BDA0003755912120000061
And
Figure BDA0003755912120000062
it can be calculated that:
k pv ＝-0.5C d (p 1v +p 2v )
k iv ＝0.5C d p 1v p 2v
k rv ＝k iv /p 2v ＝0.5C d p 1v
the obtained transfer function is:
Figure BDA0003755912120000063
satisfies p 1v >>p 2v Then the setup time can be approximated as:
Figure BDA0003755912120000064
the foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed.

Claims (5)

1. A step-down control method of a DC/DC energy storage converter is characterized by comprising the following steps:
establishing a first-order system state space model based on a controlled system;
constructing a state feedback control law and a second-order system based on a first-order state space model, and adjusting a closed loop pole of the second-order system through the state feedback control law;
constructing a feedforward control law, and determining a closed loop zero point of a second-order system through the feedforward control law; and the closed-loop zero and one closed-loop pole are offset, so that the second-order system is simplified into a first-order system.
2. The method of claim 1, wherein the first-order system state space model is specifically:
Figure FDA0003755912110000011
in the formula x p Is a state variable, u c Is a control input, u d Is a perturbation term; a, b 1 ,b 2 The correlation coefficients of the state variable, control input and disturbance term, respectively.
3. The order-reducing control method of the DC/DC energy storage converter according to claim 2, wherein the step of constructing a state feedback control law and a second-order system based on the first-order state space model, and adjusting a closed-loop pole of the second-order system through the state feedback control law comprises the following steps:
defining an integral controller:
Figure FDA0003755912110000012
in the formula, x ref Giving a reference value for the control quantity;
the state feedback control law is as follows: u. of c ＝k p x p +k i x c +k d u d +k r x pref ；
In the formula, k p ,k i ,k r ,k d Respectively a feedback coefficient, an integral coefficient and a disturbance coefficientAnd a feedforward coefficient;
and (3) constructing an open-loop system state equation by combining a first-order system state space model and an integral controller:
Figure FDA0003755912110000013
transfer function G can be obtained according to open-loop system state equation rc (s) is:
Figure FDA0003755912110000014
transfer function G rc (s) rewritten in the form of a zero-pole as:
Figure FDA0003755912110000021
wherein p is 1 And p 2 Is a closed-loop pole, z is a closed-loop zero, and p 1 >0，p 2 >0，z>0；
And satisfies the following conditions:
Figure FDA0003755912110000022
and z ═ k i /k r
In the formula k p And k i Determines the closed loop pole, k r And k i The closed loop zero is affected.
4. The method of claim 2, wherein the closed-loop poles are designed as a pair of complex conjugate values with a damping factor of 0.707.
5. The order reduction control method of the DC/DC energy storage converter according to claim 1, wherein a feedforward control law is constructed, and a closed-loop zero point of a second-order system is determined through the feedforward control law; offsetting a closed loop zero and a closed loop pole to simplify a second-order system into a first-order system, comprising the following steps:
parameter k p And k i Are respectively:
Figure FDA0003755912110000023
when the zero point z of the closed loop is equal to p 2 When k is r Satisfies the following conditions:
Figure FDA0003755912110000024
g is to be rc (s) optimization to a first order system:
Figure FDA0003755912110000025
settling time t of first order system set Satisfies the following conditions:
Figure FDA0003755912110000026
CN202210861581.2A 2022-07-20 2022-07-20 Order reduction control method of DC/DC energy storage converter Pending CN115001000A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117394407A (en) * 2023-09-26 2024-01-12 陕西理工大学 Active disturbance rejection control method applied to photovoltaic hybrid energy storage system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117394407A (en) * 2023-09-26 2024-01-12 陕西理工大学 Active disturbance rejection control method applied to photovoltaic hybrid energy storage system

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