CN115313871A - Current-sharing control method for parallel direct-current buck converter system - Google Patents

Current-sharing control method for parallel direct-current buck converter system Download PDF

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CN115313871A
CN115313871A CN202210998784.6A CN202210998784A CN115313871A CN 115313871 A CN115313871 A CN 115313871A CN 202210998784 A CN202210998784 A CN 202210998784A CN 115313871 A CN115313871 A CN 115313871A
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current
direct current
buck converter
voltage
parallel
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王军晓
蒋钦晨
刘义宾
陆勤坤
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Zhejiang University of Technology ZJUT
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
    • 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
    • H02M1/00—Details of apparatus for conversion
    • H02M1/32—Means for protecting converters other than automatic disconnection

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  • Power Engineering (AREA)
  • Dc-Dc Converters (AREA)

Abstract

The invention discloses a current-sharing control method of a parallel direct-current buck converter system, which is suitable for high-precision control of output voltage and inductive current-sharing control of the parallel direct-current buck converter system. The invention is simple to realize, has less parameter adjustment, can not only improve the aim of quickly tracking the reference signal of the parallel direct current buck converter system, but also effectively reduce the steady state fluctuation of the parallel power electronic direct current buck converter, and meets the application of the high-performance power electronic buck converter system.

Description

Current-sharing control method for parallel direct-current buck converter system
Technical Field
The invention relates to the technical field of power electronic direct-current buck converter systems, in particular to a current sharing control method of a parallel direct-current buck converter system.
Background
With the rapid development of modern science and technology, especially the great progress of power electronic technology, microelectronic technology, digital control technology and modern control theory, the dc converter system creates favorable conditions for the development of power electronic dc switch power supply system, especially in the fields of robots, precise radars, military weapons, new energy photovoltaic systems and the like, which have higher and higher requirements on the control performance of dc switch power supplies, the dc converter system receives more and more attention.
In practical dc power supply equipment, because the operating occasions of the dc converter system mostly require that the output voltage precision is rather high, and it is required to be able to adapt to various different operating conditions quickly, but because the currently adopted PI controller mainly uses integration to eliminate the influence of disturbance on the output voltage when the system operates under different operating conditions, for example, under the condition of disturbance, it is a passive and slow control mode, and especially when the system encounters fast time-varying or periodic disturbance, it is difficult to track the given voltage quickly, and these disturbances mainly include load fluctuation, voltage input variation, and the like. If the controller does not actively deal with these disturbances quickly, it is difficult for the closed loop system to achieve fast and high precision voltage output performance. Therefore, under the condition that the direct current voltage reduction power electronic converter system has disturbance, the system can process the disturbance in time, the tracking speed and the tracking precision of the power electronic converter system can be further improved, and the application of the power electronic system in the high-precision voltage output working field is met.
Disclosure of Invention
Aiming at the problem that the parallel direct current buck converter is easily interfered by load resistance change and input voltage change, the invention firstly estimates disturbance by utilizing an extended state observer technology to obtain estimation information of the load resistance and the input voltage disturbance in the system, and then designs a composite controller by combining a sliding mode control technology to realize the rapidity and the accuracy of the parallel direct current buck converter system for tracking the given voltage and the current sharing control of inductive current. The method is easy to realize, the parameter adjustment is relatively simple, and the method has good application value.
The technical scheme of the invention is as follows:
a current sharing control method of a parallel direct current buck converter system comprises the following steps:
step 1: based on the topological structure of the parallel direct current buck converter, the strong nonlinear switching characteristic is considered, a state space averaging method in a continuous modeling method is adopted to carry out weighted averaging on state variables, and a nonlinear time-varying switching circuit is converted into an equivalent linear time-invariant continuous circuit; the method comprises the steps of establishing a state space average model of a system by taking inductive current and capacitance voltage of the system as state variables and depending on a time averaging technology;
and 2, step: considering input voltage fluctuation and load resistance change of the parallel direct current converter, designing an extended state controller for the parallel direct current converter, estimating the load resistance change and the input voltage fluctuation, estimating disturbance of the load resistance change and the input voltage fluctuation as d (t) on the basis of a unified model of the direct current converter, and estimating the disturbance according to an extended state observer technical design observer;
and 3, step 3: on the basis of estimating disturbance by using an extended state observer, a continuous nonsingular terminal sliding mode controller is designed under the condition of considering load resistance change and input voltage fluctuation, and the composite controller can ensure that the output voltage Uc can still track the given reference voltage U quickly when the system has disturbance d 。
Further, the specific steps of step 1 are as follows:
establishing a parallel direct current buck converter system, converting a time-varying nonlinear switching circuit into an equivalent time-invariant linear continuous circuit by using the inductive current and the load voltage of the system as state variables and depending on a time averaging technology, thereby performing large-signal transient analysis on the switching converter and establishing a state space average model of the system; with two states of the switching tube μ =0 or 1, a parallel buck converter is modeled:
switch tube S 1 When the power is turned off, the control quantity input is 0 or mu 1 =0, inductor current i L By two polesPipe D 1 The energy stored by the inductor is transferred to the load and the capacitor to charge the capacitor; at this time, the voltage applied to the inductor is-U c Therefore i L A linear decrease;
Figure BDA0003806711720000031
switch tube S 1 When conducting, the input of the control quantity is 1, namely mu 1 =1, supply voltage E through switch tube S 1 To a diode D 1 And an output filter inductor L 1 On the output filter capacitor C, a diode D 1 Cutting off; at this time, the voltage applied to the inductor is E-U c Therefore i L Linear increase;
Figure BDA0003806711720000032
in two states mu of the switching tube 1 =0 or 1, the above formula being unified:
Figure BDA0003806711720000033
due to two switch tubes S 1 ，S 2 Are connected in parallel, S 2 The relationship between the inductance current and the load voltage of the branch is consistent with the derivation, and the relationship between the single buck chopper circuit and the parallel direct-current buck converter system is applied to obtain a voltage equation of the parallel direct-current buck converter system:
Figure BDA0003806711720000041
current equation:
Figure BDA0003806711720000042
further, the step 2 comprises the following specific steps:
considering the input voltage fluctuation and the load resistance change of the direct current converter, designing an extended state observer for the direct current converter, and estimating the load resistance change and the input voltage fluctuation;
according to the theory of the extended state observer, the observer is designed as follows:
Figure BDA0003806711720000043
in the formula
Figure BDA0003806711720000044
Is an estimate of the difference between the output voltage and the nominal value of the output voltage,
Figure BDA0003806711720000045
is an estimated value derived from the difference between the output voltage and the nominal value of the output voltage,
Figure BDA0003806711720000046
for disturbance estimation of load resistance variations and input voltage fluctuations, parameter beta 1 、β 2 、β 3 ＞0，E 0 、R 0 Respectively representing the nominal values of the input voltage and the load resistance, and simultaneously enabling the two inductors L 1 ＝L 2 ＝L；
Wherein:
Figure BDA0003806711720000051
further, the step 3 comprises the following steps:
designing a slip form surface: s = kx 1 +x 2 On the basis of designing the extended state observer, designing a composite controller combining the extended state observer with variable load resistance and input voltage fluctuation and a sliding mode control technology:
Figure BDA0003806711720000052
Figure BDA0003806711720000053
wherein
Figure BDA0003806711720000054
Eta, k and lambda are adjustable parameters of the sliding mode controller; under the designed control law, the output voltage U of the closed loop system c Can realize the reference voltage U d Tracking of (2); and implements current sharing control such that
Figure BDA0003806711720000055
The invention has the following beneficial results:
1) The invention applies the composite controller combining the extended state observer and the sliding mode control technology to the parallel DC buck converter system, and can obviously inhibit the disturbance caused by the load change and the input voltage fluctuation under the condition of ensuring the dynamic performance of the system, thereby greatly improving the tracking speed and the precision of the DC buck converter and realizing the current-sharing control of the inductive current.
2) The composite control method combining the extended state observer and the sliding mode controller is applied to the parallel direct current buck converter system, under the condition of ensuring the dynamic performance, the anti-interference performance and the tracking performance of the parallel direct current buck change system can be obviously improved, the application of the direct current buck converter in the high-precision field is met, and an engineer only needs to adjust fewer parameters of the controller.
Drawings
FIG. 1 is a control block diagram of the present invention;
FIG. 2 is a schematic diagram of the present invention;
FIG. 3 is a diagram of an extended state observer of the present invention;
FIG. 4 is a response diagram of the output voltage (A), the output inductor current difference (B) and the output control quantity (C) of the parallel DC buck converter system when the load resistance is suddenly changed from 94 Ω to 50 Ω under the ESO-SMC composite controller according to the present invention;
fig. 5 is a response diagram of the output voltage (a), the output inductor current difference (B) and the output control quantity (C) of the parallel direct current buck converter system when the input voltage is suddenly changed from 30V to 29V under the ESO-SMC composite controller.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings: the embodiment is implemented on the premise of the technical scheme of the invention, and a detailed implementation mode and a specific implementation process are given, but the protection scope of the invention is not limited to the following examples.
The method comprises the following steps:
as shown in fig. 1, a basic structure diagram of a dc buck converter is established, and a time-varying and non-linear switching circuit is converted into an equivalent time-varying and linear continuous circuit by using the inductive current and the capacitive voltage of a system as state variables and relying on a time averaging technique, so that a large-signal transient analysis can be performed on the switching converter, and a state space average model of the system is established. The buck converter is modeled in two states of the switching tube, μ =0 or 1.
Switch tube S 1 When the circuit is turned off, the control quantity is input to 0, namely mu =0, and the inductive current i L Through diode D 1 And the energy flows to the output side, and the stored energy of the inductor is transferred to the load and the capacitor to charge the capacitor. At this time, the voltage applied to the inductor is-U c Therefore i is L The linearity decreases.
Figure BDA0003806711720000071
Switch tube S 1 When the switch is turned on, the control quantity input is 1, namely mu =1, and the power supply voltage E passes through the switch tube S 1 To a diode D 1 And output filter circuitFeeling L 1 On the output filter capacitor C, a diode D 1 And (6) cutting off. At this time, the voltage applied to the inductor is E-U c Therefore i L And increases linearly.
Figure BDA0003806711720000072
The above formula is unified into two states of the switching tube, i.e., mu =0 or 1
Figure BDA0003806711720000073
Due to two switch tubes S 1 ，S 2 Are connected in parallel, S 2 The variable relations of the branch circuits, such as the inductive current, the load voltage and the like, are consistent with the deduction, and the relation of the single buck chopper circuit is applied to the parallel buck converter system to obtain a voltage equation of the parallel direct current buck converter system:
Figure BDA0003806711720000074
the current equation is as follows:
Figure BDA0003806711720000081
step two: as shown in fig. 2, a block diagram of a parallel dc buck converter control system is provided, in which a state observer is designed to take into account input voltage fluctuation and load resistance change of the parallel dc converters, and the load resistance change and the input voltage fluctuation are estimated.
Its extended state observer can be designed as:
Figure BDA0003806711720000082
in the formula
Figure BDA0003806711720000083
Is an estimate of the difference between the output voltage and the nominal value of the output voltage,
Figure BDA0003806711720000084
is an estimated value derived from the difference between the output voltage and the nominal value of the output voltage,
Figure BDA0003806711720000085
for disturbance estimation of load resistance variation and input voltage fluctuation, parameter beta 1 、β 2 、β 3 ＞0，E 0 、R 0 Respectively representing the nominal values of the input voltage and the load resistance, and simultaneously enabling the two inductors L 1 ＝L 2 ＝L。
Wherein:
Figure BDA0003806711720000086
step three: designing a slip form surface: s = kx 1 +x 2 On the basis of the designed extended state observer, a composite controller combining the extended state observer with variable load resistance and input voltage fluctuation and a sliding mode control technology is designed:
Figure BDA0003806711720000091
Figure BDA0003806711720000092
wherein
Figure BDA0003806711720000093
Eta, k and lambda are adjustable parameters of the sliding mode controller. Output voltage U of closed loop system c It is realized that for the reference voltage U d The tracking of (2). And implements current sharing control such that
Figure BDA0003806711720000094
Experimental platform in this example: the parallel direct current buck converter system adopts a full digital control mode based on an NI real-time control board card, and the programming language is LabView. The main components of the system are as follows: the power supply comprises a control circuit part taking a control board card of NI company as a core, a direct current voltage reduction circuit part taking a unipolar power field effect transistor (MOSFET) as a core, a load power resistor, a Hall device and other sensors, and further comprises a keyboard and a display module. The main purposes of each device are as follows: the Hall sensor is used for collecting current and voltage signals, and a control board card of an NI company is the core of the whole direct current buck converter system and is responsible for collecting the current and voltage signals, observing errors of the system, calculating the duty ratio of output PWM and other core operations; the upper computer keyboard and the display module are used for setting parameters and displaying the current system state; the power device driving circuit takes a power device MOSFET as a core and controls the on-off time of the MOSFET according to a PWM control signal generated by an upper computer.
To verify the anti-jamming properties of the designed controller, we observed the control effect of the ESO-SMC controller. First, consider the case where there is no input voltage fluctuation, with an input voltage of 30V, a target value of 15V, and an ideal duty cycle of μ =0.5.
Description of the preferred embodiment Parameter symbol Normal value
Input voltage E 30(V)
Reference output voltage U c 15(V)
Inductance L 4.7(mH)
Capacitor with a capacitor element C 1(μF)
Load resistance R 94(Ω)
TABLE 1
When the load is changed from 94 Ω to 50 Ω, the output voltage, the inductor current and the controlled variable are as shown in fig. 4, and the output voltage of the sliding-mode controller based on the extended state observer recovers 15V after a small disturbance when the load is changed. When the load resistance is kept unchanged and the input voltage is changed from 30V to 29V, see FIG. 5, the system output voltage recovers to 15V after small disturbance. Wherein the parameters of the sliding-mode controller are set to η =200, λ =10, k =200, and the parameters of the extended state observer are set to β 1 ＝157，β 2 ＝7000，β 3 =75000. From fig. 4 and 5, it can be seen that the ESO-SMC controller greatly improves the rapidity and accuracy of the parallel dc buck converter system, improves the anti-interference performance of the system, and realizes the current-sharing control of the inductor current.
In the embodiment, the composite controller based on the extended state observer and the sliding mode control technology is used for controlling the parallel direct current buck converter system, and under the condition that the direct current buck power electronic converter system has disturbance, the system can timely process the disturbance, so that the tracking precision and speed of the power electronic converter system can be further improved, and the application of the power electronic buck converter system in the high-performance voltage output working field is met. The experimental results show that: the method has strong universality and good disturbance resistance under the condition that the system has disturbance, and can obviously improve the tracking speed and the precision of the parallel power electronic direct current converter system. The accurate tracking of the output voltage and the current sharing control of the inductive current are effectively realized.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that numerous modifications and adaptations can be made without departing from the principles of the invention and are intended to be within the scope of the invention.

Claims (4)

1. A current sharing control method of a parallel direct current buck converter system is characterized by comprising the following steps:
step 1: based on the topological structure of the parallel direct current buck converter, the strong nonlinear switching characteristic is considered, a state space averaging method in a continuous modeling method is adopted to carry out weighted averaging on state variables, and a nonlinear time-varying switching circuit is converted into an equivalent linear time-invariant continuous circuit; establishing a state space average model of the system by taking the inductive current and the capacitor voltage of the system as state variables and depending on a time averaging technology;
step 2: considering input voltage fluctuation and load resistance change of the parallel direct current converter, designing an extended state controller for the parallel direct current converter, estimating the load resistance change and the input voltage fluctuation, estimating disturbance of the load resistance change and the input voltage fluctuation as d (t) on the basis of a unified model of the direct current converter, and estimating the disturbance according to an extended state observer technical design observer;
and step 3: on the basis of estimating disturbance by using an extended state observer, a continuous nonsingular terminal sliding mode controller is designed under the condition of considering load resistance change and input voltage fluctuation, and the composite controller can ensure that the output voltage U is output when the system has disturbance c Still be able to track a given reference voltage U relatively quickly d 。
2. The method for current sharing control of a parallel direct current buck converter system according to claim 1, wherein the step 1 includes the following steps:
establishing a parallel direct current buck converter system, converting a time-varying nonlinear switching circuit into an equivalent time-invariant linear continuous circuit by using the inductive current and the load voltage of the system as state variables and depending on a time averaging technology, thereby performing large-signal transient analysis on the switching converter and establishing a state space average model of the system; with two states of the switching tube μ =0 or 1, a parallel buck converter is modeled:
switch tube S 1 When the power is turned off, the control quantity input is 0 or mu 1 =0, inductor current i L Through diode D 1 The energy stored by the inductor is transferred to the load and the capacitor to charge the capacitor; at this time, the voltage applied to the inductor is-U c Therefore i L A linear decrease;
Figure FDA0003806711710000021
switch tube S 1 When conducting, the input of the control quantity is 1, namely mu 1 =1, supply voltage E through switch tube S 1 To a diode D 1 And an output filter inductor L 1 On the output filter capacitor C, a diode D 1 Cutting off; at this time, the voltage applied to the inductor is E-U c Therefore i L Linear increase;
Figure FDA0003806711710000022
in two states mu of the switching tube 1 =0 or 1, the above formula being unified:
Figure FDA0003806711710000023
due to the fact thatTwo switch tubes S 1 ，S 2 Are connected in parallel, S 2 The relation between the inductance current and the load voltage of the branch is consistent with the deduction, and the relation of a single buck chopper circuit is applied to the parallel direct current buck converter system to obtain a voltage equation of the parallel direct current buck converter system:
Figure FDA0003806711710000024
current equation:
Figure FDA0003806711710000031
。
3. the method for current sharing control of a parallel direct current buck converter system according to claim 1, wherein the step 2 includes the following steps:
considering the input voltage fluctuation and the load resistance change of the direct current converter, designing an extended state observer for the direct current converter, and estimating the load resistance change and the input voltage fluctuation;
according to the theory of the extended state observer, the observer is designed as follows:
Figure FDA0003806711710000032
in the formula
Figure FDA0003806711710000033
Is an estimate of the difference between the output voltage and the nominal value of the output voltage,
Figure FDA0003806711710000034
is an estimated value derived from the difference between the output voltage and the nominal value of the output voltage,
Figure FDA0003806711710000035
for disturbance estimation of load resistance variation and input voltage fluctuation, parameter beta 1 、β 2 、β 3 ＞O，E 0 、R 0 Respectively representing the nominal values of input voltage and load resistance, and simultaneously making two inductors L 1 ＝L 2 ＝L；
Wherein:
Figure FDA0003806711710000036
4. the method for current sharing control of a parallel direct current buck converter system according to claim 1, wherein the step 3 includes the following steps:
designing a slip form surface: s = kx 1 +x 2 On the basis of designing the extended state observer, designing a composite controller combining the extended state observer with variable load resistance and input voltage fluctuation and a sliding mode control technology:
Figure FDA0003806711710000041
Figure FDA0003806711710000042
wherein
Figure FDA0003806711710000043
Eta, k and lambda are adjustable parameters of the sliding mode controller; under the designed control law, the output voltage U of the closed loop system c Can realize the reference voltage U d Tracking of (2); and implements current sharing control such that
Figure FDA0003806711710000044
CN202210998784.6A 2022-08-19 2022-08-19 Current-sharing control method for parallel direct-current buck converter system Pending CN115313871A (en)

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