CN115580146A - Flying capacitor type bidirectional DC-DC converter model prediction control method - Google Patents
Flying capacitor type bidirectional DC-DC converter model prediction control method Download PDFInfo
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- CN115580146A CN115580146A CN202211277950.XA CN202211277950A CN115580146A CN 115580146 A CN115580146 A CN 115580146A CN 202211277950 A CN202211277950 A CN 202211277950A CN 115580146 A CN115580146 A CN 115580146A
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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
- H02M1/0003—Details of control, feedback or regulation circuits
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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
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
- H02J1/10—Parallel operation of dc sources
- H02J1/102—Parallel operation of dc sources being switching converters
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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
Abstract
A flying capacitor type bidirectional DC-DC converter model prediction control method, the operation of flying capacitor type bidirectional DC-DC converter in the microgrid, except battery system, the direct current bus connects load and photovoltaic system, the requirement of the converter is to work in a fixed switching frequency, regulate direct current bus and flying capacitor voltage, and control the bidirectional power between direct current bus and the battery; the model predictive control method disclosed by the invention utilizes a single target cost function to realize a plurality of control targets such as a direct current bus, a flying capacitor voltage regulation, a bidirectional power flow and the like, determines the optimal duty ratio of a power switch, and a converter can realize various control targets without considering weight factors in the cost function; and the dynamic reference model is improved by adding additional parameters, so that an additional control loop is eliminated, and the micro-grid is more efficiently used.
Description
Technical Field
The invention belongs to the technical field of micro-grids, and relates to a model prediction control method for a flying capacitor type bidirectional DC-DC converter.
Background
Due to the non-renewable property of traditional energy sources such as coal, petroleum and the like and the environmental problems brought by more and more attention paid to the traditional energy sources, the renewable energy source distributed power generation is continuously developed. But renewable energy power generation has intermittence and volatility, impact can be caused to the power grid when the renewable energy power generation is connected to the power grid on a large scale, the energy storage system is integrated on the direct current bus through the bidirectional DC-DC converter with the advantages of smoothing power grid fluctuation, improving electric energy quality and the like, and the converter regulates the voltage of the direct current bus through charging and discharging to the energy storage system. Besides the adjustment of the current of the energy storage system and the current of the direct current bus, the multilevel DC-DC converter also needs to additionally adjust the voltage of the flying capacitor, so that the whole control system is very complex and has poor dynamic response, and therefore, a multi-target control research on the flying capacitor type bidirectional DC-DC converter in the direct current microgrid is very necessary.
At present, certain achievements are achieved for multi-target control research of a flying capacitor type bidirectional DC-DC converter, and the method is mainly a limited control set model predictive control method. However, the implementation requires multiple iterations to determine the optimal duty cycle for each power switch, making the method computationally complex and intensive.
The estimation of the weight factor is the main content of the finite control set model predictive control method, and a large amount of simulation or experiment is carried out on a specific model to obtain a proper weight factor, so that the whole process becomes complicated, and the expected performance of the system cannot be ensured. In addition to estimating the weight factors, the finite control set model predictive controller may also determine an optimal duty cycle by minimizing a single target cost function based on the energy storage system current, and employ comparison logic to adjust the flying capacitor voltage. However, this method fails to achieve dc bus voltage regulation and requires iteration to obtain the optimum duty cycle.
Disclosure of Invention
The invention aims to provide a flying capacitor type bidirectional DC-DC converter model prediction control method which can realize multiple control targets of fixed switching frequency operation, dynamic voltage regulation of a direct current bus and a flying capacitor, bidirectional power flow between an energy storage system and the direct current bus and the like by optimizing a single-target cost function.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a flying capacitor type bidirectional DC-DC converter model prediction control method is characterized by comprising the following steps:
step one, constructing a mathematical model of a flying capacitor type bidirectional DC-DC converter;
step two, obtaining the duty ratio of each power switch by minimizing a single target cost function based on the current of the energy storage system;
thirdly, providing a proper battery current reference for the voltage regulation and the bidirectional power flow of the direct-current bus by using an improved dynamic reference model;
step four, obtaining a duty ratio for regulating the voltage of the flying capacitor by optimizing a simple mathematical expression based on the voltage error of the flying capacitor;
and step five, the PWM modulator converts the optimal duty ratio into a proper switching signal of each power switch.
The first step specifically comprises the following steps:
V t ＝(d 2 -d 1 )V fc1 +(1-d 2 )V dc (1)
wherein, V t Terminal voltage, V, of flying capacitor type bidirectional DC-DC converter fc Is a flying capacitor C fc Voltage across, V dc Is the bus voltage, d 1 And d 2 Is a power switch S 1 And S 2 The duty cycle of (a) is,
the continuous-time model of the converter is represented as:
wherein, variable
C fc Is a flying capacitor C fc Capacitance value of (C) dc Is an output capacitor C dc L is the input inductance L in An inductance value of R isResistance value of load resistor, V b Is the battery voltage i PV Is the current of the photovoltaic system and is,
equation (2) discretizing the predicted battery current at time k +1
The values are:
wherein the content of the first and second substances,
is the battery current at time k, T s Is the period of the sampling, and,
and
is the battery voltage and the dc bus voltage at time k,
is at time k the flying capacitor C fc The voltage across the two terminals is such that,
and
is at time k the power switch S 1 And S 2 The duty cycle of (c).
The second step specifically comprises the following steps:
optimizing the single-objective cost function based on the battery current, and minimizing the battery current error to obtain:
wherein the content of the first and second substances,
is the battery current reference value at time k +1,
at the time k +1 the battery current,
minimizing formula (4) to yield J k Is that
And
and separately solving the partial derivatives of the functions (a) and (b) to make them equal to 0 to obtain:
the third step specifically comprises the following steps:
by passing
The discrete-time model of (a) is extrapolated to the continuous-time model to obtain:
to the formula (7) divided by T S When deriving the time t, one can obtain:
wherein, the first and the second end of the pipe are connected with each other,
is a constant dc bus voltage reference value,
is a time-varying DC bus voltage reference value, N R And N L Is a constant parameter, is obtained from equation (8), the improved dynamic reference model is a second order system,
by the undetermined coefficients:
and
simultaneous determination of damping coefficient
Thus, N R And N L The value is determined by the damping coefficient, generally N R Of the order of 10 2 ，N L Of the order of 10 5 ～10 6 。
The fourth step specifically comprises the following steps:
the realization of the regulation of the flying capacitor voltage requires secondary regulation
The average voltage of the flying capacitor over a sampling period can be expressed as:
wherein, V fca Is a flying capacitor C fc The average voltage across the two terminals is,
may be respectively controlled by duty ratio
And
expressed, the expression is as follows:
wherein, Δ d k Is to adjust the parameters
Order to
Obtained by the following formulae (9), (10) and (11):
the discretization of the continuous time model adopts a forward Euler method for discretization.
The minimizing is based on a single target cost function of the energy storage system current by minimizing the battery current error per sampling period.
The improved dynamic reference model is realized by introducing an additional term, so that the steady-state error of the voltage of the unloaded bus can be eliminated, and a proper battery current reference is provided for the voltage regulation of the direct-current bus and the bidirectional power flow.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention discloses a flying capacitor type bidirectional DC-DC converter model prediction control method, which comprises the steps of firstly obtaining the duty ratio of each power switch by minimizing a single target cost function based on the current of an energy storage system, then optimizing the duty ratio for voltage regulation of a flying capacitor obtained by a simple mathematical expression based on the voltage error of the flying capacitor, and finally converting the optimal duty ratio into a proper switching signal of each power switch by a PWM (pulse width modulation) modulator. According to the method, a single target cost function is utilized to realize multiple control targets such as direct current bus, flying capacitor voltage regulation, bidirectional power flow and the like, and the optimal duty ratio of the power switch is determined. Therefore, the converter can realize various control targets without considering weight factors in a cost function, the power switch of the converter can be operated at a constant switching frequency, the performance of operating the power switch at a fixed frequency is superior to that of a traditional model prediction control method, and additional parameters are added to the improved model by improving the dynamic reference model so as to eliminate steady-state errors of the voltage of the dump bus and provide proper battery current reference for direct-current bus voltage regulation and bidirectional power flow. Also, this scheme does not require a secondary control loop because it utilizes an improved dynamic reference model to generate the appropriate battery current reference for regulating the dc bus voltage and bi-directional power.
Drawings
Fig. 1 is a structural diagram of a flying capacitor type bidirectional DC-DC converter in which a battery is integrated into a DC bus according to the present invention.
FIG. 2 is a flow chart of a model predictive control method of the present invention.
Detailed description of the preferred embodiment
The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the examples of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
FIG. 1 is a block diagram of a flying capacitor type bidirectional DC-DC converter in which a battery is integrated into a DC bus according to the present invention, wherein the flying capacitor type bidirectional DC-DC converterConverter, characterized in that it comprises a first power switch S 1 Second power switch S 2 Third power switch S 3 Fourth power switch S 4 Input inductance L in Flying capacitor C fc And an output capacitor C dc ；
The first power switch S 1 Collector and input inductor L in One terminal of (2), a third power switch S 3 The emitting electrodes are connected;
the second power switch S 2 Collector and first power switch S 1 Emitter and flying capacitor C fc One end of the two ends are connected; emitter and output capacitor C dc One end of the two ends are connected;
the third power switch S 3 Collector and flying capacitor C fc The other end of the first power switch tube S 4 The emitting electrodes are connected;
the fourth power switch S 4 Collector and output capacitor C dc The other ends of the two are connected.
The first power switch S 1 And a second power switch S 2 A third power switch S 3 And a fourth power switch S 4 Respectively forming switch pairs, and starting and stopping the two pairs of switches in a complementary mode to realize the flying capacitor C fc And an output capacitor C dc The conductive path of (2).
The following describes the specific operation steps of the control method of the present invention:
first, as shown in fig. 1, a mathematical model of the flying capacitor type bidirectional DC-DC converter is constructed, as shown in formulas (1), (2) and (3),
V t ＝(d 2 -d 1 )V fc +(1-d 2 )V dc (1)
wherein, V t Terminal voltage, V, of flying capacitor type bidirectional DC-DC converter fc Is a flying capacitor C fc Voltage across, V dc Is the bus voltage, d 1 And d 2 Is a power switch S 1 And S 2 The duty cycle of (a) is,
the continuous-time model of the converter is represented as:
wherein the variables are
C fc Is a flying capacitor C fc Capacitance value of C dc Is an output capacitor C dc L is the input inductance L in R is the resistance of the load resistor, V b Is the battery voltage i PV Is the current of the photovoltaic system and is,
equation (2) discretizing the predicted battery current at time k +1
The values are:
wherein, the first and the second end of the pipe are connected with each other,
is the battery current at time k, T s Is the period of the sampling, and,
and
is the battery voltage and the dc bus voltage at time k,
is at time k the flying capacitor C fc The voltage across the two terminals is such that,
and
is at time k the power switch S 1 And S 2 The duty cycle of (c).
Further, the duty cycle of each power switch is obtained by minimizing a single target cost function based on the energy storage system current, as shown in equations (4), (5), (6),
optimizing the single-objective cost function based on the battery current, and minimizing the battery current error to obtain:
wherein, the first and the second end of the pipe are connected with each other,
is the battery current reference value at time k + 1,
at the time k +1 the battery current,
minimizing equation (4) to yield J k Is that
And
and separately solving the partial derivatives of the functions (a) and (b) to make them equal to 0 to obtain:
further, an improved dynamic reference model is utilized to provide a proper battery current reference for the voltage regulation and the bidirectional power flow of the direct-current bus, and the method specifically comprises the following steps:
by passing
The discrete time model is obtained by pushing the discrete time model to the continuous time model, as shown in formula (7),
dividing formula (7) by T S When deriving time t, one can obtain:
wherein, the first and the second end of the pipe are connected with each other,
is a constant dc bus voltage reference value,
is a time-varying DC bus voltage reference value, N R And N L Is a constant parameter
From equation (8), the improved dynamic reference model is a second order system,
by the undetermined coefficients:
and
simultaneous determination of damping coefficient
Thus, N R And N L The value is determined by the damping coefficient, generally N R Of the order of 10 2 ，N L Of the order of 10 5 ～10 6 。
Then, as shown in FIG. 2, by optimizing the flying capacitor voltage error based profileThe single mathematical expression obtains the duty ratio for regulating the voltage of the flying capacitor, and the voltage of the flying capacitor needs to be regulated again
As shown in the formula (9),
thus, the average voltage of the flying capacitor over a sampling period can be expressed as:
wherein, V fca Is a flying capacitor C fc The average voltage across the two terminals is,
may be respectively controlled by duty ratio
And
expression is shown as formulas (10) and (11),
wherein, Δ d k Is to adjust parameters to
Order to
Obtained by the following formulae (9), (10) and (11):
finally, the PWM modulator converts the optimum duty cycle into an appropriate switching signal for each power switch.
The invention discloses a flying capacitor type bidirectional DC-DC converter model prediction control method, which comprises the steps of firstly obtaining the duty ratio of each power switch by minimizing a single target cost function based on the current of an energy storage system, then optimizing the duty ratio for voltage regulation of a flying capacitor obtained by a simple mathematical expression based on the voltage error of the flying capacitor, and finally converting the optimal duty ratio into a proper switching signal of each power switch by a PWM (pulse width modulation) modulator. According to the method, a single target cost function is utilized to realize multiple control targets such as direct current bus, flying capacitor voltage regulation, bidirectional power flow and the like, and the optimal duty ratio of the power switch is determined. Therefore, the converter can realize various control targets without considering weight factors in a cost function, the power switch of the converter can be operated at a constant switching frequency, the performance of operating the power switch at a fixed frequency is superior to that of a traditional model predictive control method, and additional parameters are added to the improved model by improving the dynamic reference model so as to eliminate steady-state errors of the voltage of the unloaded bus, provide proper battery current references for the voltage regulation of the direct-current bus and the bidirectional power flow and ensure the voltage regulation of the bus and the bidirectional power flow, so that an additional control loop is eliminated, and the converter can be used in the microgrid more conveniently and efficiently.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention, and not to limit the same; although the invention has been described in detail with reference to the foregoing examples, it will be understood by those of ordinary skill in the art; the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and in the process of writing modification or replacement, the essence of the corresponding technical scheme does not depart from the scope of the technical scheme of the embodiment of the invention.
Claims (8)
1. A flying capacitor type bidirectional DC-DC converter model prediction control method is characterized by comprising the following steps:
step one, constructing a mathematical model of a flying capacitor type bidirectional DC-DC converter;
step two, obtaining the duty ratio of each power switch by minimizing a single target cost function based on the current of the energy storage system;
thirdly, providing a proper battery current reference for the voltage regulation and the bidirectional power flow of the direct-current bus by using an improved dynamic reference model;
step four, obtaining a duty ratio for regulating the voltage of the flying capacitor by optimizing a simple mathematical expression based on the voltage error of the flying capacitor;
and step five, the PWM modulator converts the optimal duty ratio into a proper switching signal of each power switch.
2. The flying capacitor type bidirectional DC-DC converter model predictive control method as claimed in claim 1, wherein the first step is specifically:
V t ＝(d 2 -d 1 )V fc +(1-d 2 )V dc (1)
wherein, V t Terminal voltage, V, of flying capacitor type bidirectional DC-DC converter fc Is a flying capacitor C fc Voltage across, V dc Is the bus voltage, d 1 And d 2 Is a power switch S 1 And S 2 The duty cycle of (a) is,
the continuous-time model of the converter is represented as:
wherein, variable
C fc Is a flying capacitor C fc Capacitance value of (C) dc Is an output capacitor C dc L is the input inductance L in Electricity (D) fromThe inductance, R is the resistance of the load resistor, V b Is the battery voltage i PV Is the current of the photovoltaic system and is,
equation (2) discretizing the predicted battery current at time k +1
The values are:
wherein the content of the first and second substances,
is the battery current at time k, T s Is the period of the sampling of the sample,
and
is the battery voltage and the dc bus voltage at time k,
is at time k the flying capacitor C fc The voltage across the two terminals is such that,
and
is at time k the power switch S 1 And S 2 Of the duty cycle of (c).
3. The flying capacitor type bidirectional DC-DC converter model predictive control method according to claim 2, characterized in that the second step specifically comprises:
optimizing a single-target cost function based on the battery current, and minimizing the battery current error in each sampling period to obtain the cost function:
wherein the content of the first and second substances,
is the battery current reference value at time k +1,
at the time k +1 the battery current,
minimizing equation (4) to yield J k Is that
And
and separately solving the partial derivatives of the functions (a) and (b) to make them equal to 0, to obtain:
4. the flying capacitor type bidirectional DC-DC converter model predictive control method according to claim 1, characterized in that the third step is specifically:
by passing
Deriving a continuous time model of the discrete time model to obtain:
dividing formula (7) by T S When deriving time t, one can obtain:
wherein the content of the first and second substances,
is a constant dc bus voltage reference value,
is a time-varying DC bus voltage reference value, N R And N L Is a constant parameter
From equation (8), the improved dynamic reference model is a second order system,
by the undetermined coefficients:
and
simultaneous determination of damping coefficient
Thus, N R And N L The value is determined by the damping coefficient, generally N R Of the order of 10 2 ，N L Of the order of 10 5 ～10 6 。
5. The flying capacitor type bidirectional DC-DC converter model predictive control method according to claim 2, characterized in that the fourth step is specifically:
realize the toneThe voltage of the flying capacitor needs to be regulated again
The average voltage of the flying capacitor over a sampling period can be expressed as:
wherein, V fca Is a flying capacitor C fc The average voltage across the two terminals is,
may be respectively controlled by duty ratio
And
expressed, the expression is as follows:
wherein, Δ d k Is to adjust the parameters
Order to
Obtained by the following formulae (9), (10) and (11):
6. the method as claimed in claim 4, wherein the discretization of the continuous-time model is performed by forward euler method.
7. The flying capacitor type bidirectional DC-DC converter model predictive control method as claimed in claim 1, wherein said minimizing a single target cost function based on energy storage system current is achieved by minimizing battery current error per sampling cycle.
8. The flying capacitor type bidirectional DC-DC converter model predictive control method as claimed in claim 1, characterized in that the improved dynamic reference model is realized by introducing an additional term, so that the steady-state error of the dump bus voltage can be eliminated, and a proper battery current reference is provided for the direct current bus voltage regulation and the bidirectional power flow.
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