CN116505780B - Current-free sensor model prediction method and device for double-active-bridge converter - Google Patents
Current-free sensor model prediction method and device for double-active-bridge converter Download PDFInfo
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- 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
- H02M1/0045—Converters combining the concepts of switch-mode regulation and linear regulation, e.g. linear pre-regulator to switching converter, linear and switching converter in parallel, same converter or same transistor operating either in linear or switching mode
-
- 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
- H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
- H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
- H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
- H02M3/325—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
- H02M3/335—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/33569—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements
- H02M3/33576—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements having at least one active switching element at the secondary side of an isolation transformer
- H02M3/33584—Bidirectional converters
Abstract
A model prediction method and device for a dual-active bridge converter without a current sensor relates to the technical field of dual-active bridge converters, and the method comprises the following steps: acquiring a state equation of a double-active-bridge converter system; adding the total disturbance into the system state equation to serve as a state variable to obtain a linear system equation, and establishing a linear expansion state observer according to the linear system equation; expanding the discrete state space model by using a reduced order model of the double-active bridge converter to obtain a voltage prediction model; discretizing the linear extended state observer to obtain a discrete linear extended state observer for estimating uncertain output current, and predicting output voltage by combining the voltage prediction model; the method combines the expansion state sensor with the model predictive control so as to avoid the use of a current sensor, thereby being capable of remarkably improving the dynamic performance of the double-active-bridge converter and reducing the cost.
Description
Technical Field
The application relates to the technical field of double active bridge converters.
Background
The isolated double-active-bridge (Dual Active Bridge, double-active-bridge) converter has the advantages of symmetrical structure, high efficiency and bidirectional energy circulation, so that the isolated double-active-bridge (Dual Active Bridge, double-active-bridge) converter becomes an ideal choice in the fields of electric automobiles, energy storage equipment, energy conversion devices and the like.
For the existing predictive control method of the double-active bridge converter, a current sensor is generally required to detect the current of the output load, and the detected value is fed back to the converter through a control module. However, once the current sensor fails, the system may experience an overcurrent condition, resulting in unrecoverable failure or even damage to the power semiconductor devices in the inverter, thereby significantly degrading drive control performance.
Therefore, how to overcome the defect that the current sensor is easy to generate faults or errors on the basis of predictive control of the double-active-bridge converter and effectively improve the current prediction accuracy is a technical problem which remains to be solved in the field.
Disclosure of Invention
In order to solve the technical problems, the application provides a model method and a device for a dual-active-bridge converter without a current sensor.
Based on the same inventive concept, the application has four independent technical schemes:
1. a dual active bridge converter currentless sensor model prediction method, comprising:
acquiring a state equation of a double-active-bridge converter system;
adding the total disturbance into the system state equation to serve as a state variable to obtain a linear system equation, and establishing a linear expansion state observer according to the linear system equation;
expanding the discrete state space model by using a reduced order model of the double-active bridge converter to obtain a voltage prediction model;
discretizing the linear extended state observer to obtain a discrete linear extended state observer for estimating uncertain output current, and predicting output voltage by combining the voltage prediction model;
adding the total disturbance into the system state equation as a state variable to obtain a linear system equation, and establishing a linear expansion state observer according to the linear system equation, wherein the method comprises the following steps of:
assuming total disturbanceThe first derivative of (2) exists, the total disturbance is a new state variable in the double active bridge converter system, the new state variable is added into the original system to obtain a linear system, and an extended state observer is built according to the linear system；
The state observer is expressed as:
；
wherein ,z01 and z02 Respectively, for the state variable x in the linear system after expansion 1 And an estimate of x2 is provided,andis a parameter of the extended state observer, +.> and />As a nonlinear function>As a parameter of the error is, and />Z respectively 01 and z02 Differential amount of->As a derivative of the total disturbance f, a non-linear function and />Satisfy->Arbitrary->In this case, the state of the system can be madeAsymptotically converges to the actual value, i.e. +.>；
In the order of，/>Obtaining the linear extended state observer model;
the voltage prediction model is expressed by the following formula:
；
wherein ,、/>output voltages at time k+2 and time k, respectively, +.>For input voltage +.>For outputting capacitance +.>For the switching frequency +.>For phase shifting inductance->The inter-bridge phase shift ratio at time k,and D is the inter-bridge phase shift ratio of a two-side H bridge in the system.
Further, the dual active bridge converter system is a first order nonlinear system, expressed by the following formula:
；
wherein ,for external disturbance effect->In order to integrate the total disturbance of external disturbance and internal disturbance, y and u respectively represent output and input of controlled object, b is known parameter of controlled object, < + >>Is a state variable +.>Is the differentiation of the state variable.
Further, the discrete linear extended state observer estimating the uncertain output current is represented by the following formula:
；
；
wherein ,、/>the estimate of the state variable at time k+1, the estimate of the total disturbance at time k+1,/o, respectively>For switching frequency +.>Reciprocal of->、/>Respectively, the adjustable gains of the linear extended state observer.
Further, the dual active bridge converter no-current sensor model prediction is expressed by the following equation:
；
wherein ,is the value of the output voltage at time k.
2. A dual active bridge converter currentless sensor model predictive device comprising:
the state acquisition module is used for acquiring a state equation of the double-active-bridge converter system;
the linear expansion observer building module is used for adding the total disturbance into the system state equation to serve as a state variable to obtain a linear system equation, and building a linear expansion state observer according to the linear system equation;
the voltage prediction model building module is used for expanding the discrete state space model by utilizing the reduced order model of the double-active bridge converter to obtain a voltage prediction model;
the prediction module is used for discretizing the linear expansion state observer to obtain a discrete linear expansion state observer for estimating uncertain output current, and then combining the voltage prediction model to predict output voltage;
the linear dilation observer building module further includes the following sub-modules:
sub-module one for assuming total disturbanceIs present, the total disturbance being the double active bridgeAdding a new state variable in the converter system into the original system to obtain a linear system;
the second sub-module is used for establishing an expansion state observer according to the linear system;
the state observer is expressed as:
；
wherein ,z01 and z02 Respectively, for the state variable x in the linear system after expansion 1 And an estimate of x2 is provided,andis a parameter of the extended state observer, +.> and />As a nonlinear function>As a parameter of the error is, and />Z respectively 01 and z02 Differential amount of->As a derivative of the total disturbance f, a non-linear function and />Satisfy->Arbitrary->At the same time, the state of the system can be converged to the actual value asymptotically, i.e. +.>；
Sub-module III for use in a game，/>Obtaining the linear extended state observer model;
the voltage prediction model is expressed by the following formula:
；
wherein ,、/>output voltages at time k+2 and time k, respectively, +.>For input voltage +.>For outputting capacitance +.>For the switching frequency +.>For phase shifting inductance->The inter-bridge phase shift ratio at time k,and D is the inter-bridge phase shift ratio of a two-side H bridge in the system.
3. A computer readable storage medium storing a computer program which when executed by a processor implements the method described above.
4. An electronic device comprises a processor and a storage device, wherein a plurality of instructions are stored in the storage device, and the processor is used for reading the plurality of instructions in the storage device and executing the method.
The application provides a prediction method and a prediction device for a dual-active bridge converter currentless sensor model, which at least comprise the following beneficial effects:
the application combines the expansion state sensor with the model predictive control so as to avoid the use of a current sensor, can obviously improve the dynamic performance of the double-active bridge converter, shortens the response time of output voltage, avoids frequent voltage overshoot and power oscillation of a system, adopts a current predictive value to replace the actual current detected by the current sensor, solves the problem of uncontrollable performance deterioration of the current sensor caused by signal errors such as overvoltage, misoperation and the like, and can reduce the cost and simplify a hardware system.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an embodiment of a dual active bridge converter currentless sensor model prediction method provided by the present application;
FIG. 2 is a schematic diagram of a dual active bridge converter according to the present application;
FIG. 3 is a schematic diagram of a reduced order model of a dual active bridge converter used in the present application;
FIG. 4 is a schematic diagram of a current-free sensor predictive control strategy provided by the present application;
FIG. 5 is a graph of dynamic performance versus simulation of an extended state observer at load abrupt changes;
fig. 6 is a graph showing the dynamic performance of the extended state observer under abrupt load versus experimental conditions.
Detailed Description
In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
Embodiment one:
referring to fig. 1, in some embodiments, a dual active bridge converter no-current sensor model prediction method is provided, comprising:
s1, acquiring a state equation of a double-active-bridge converter system;
s2, adding the total disturbance into the system state equation to serve as a state variable to obtain a linear system equation, and establishing a linear expansion state observer according to the linear system equation;
s3, expanding the discrete state space model by using a reduced order model of the double-active-bridge converter to obtain a voltage prediction model;
s4, discretizing the linear extended state observer to obtain a discrete linear extended state observer for estimating uncertain output current, and then combining the voltage prediction model to predict output voltage.
A schematic diagram of the structure of the involved dual active bridge converter is shown in fig. 2.
Specifically, in the steps S1-S2, firstly, a simple linear framework is taken as a basic stone, the total disturbance is expanded into a new state variable, then, all states including the original state variable and disturbance of the system are reconstructed by utilizing the input and the output of the system, and mathematical modeling is carried out on the linear first-order expanded state observer;
taking a first-order nonlinear controlled object as an example, the expression quantity of the external disturbance in the process is expressed as:
；
the dual active bridge converter system is a first order nonlinear system, and is represented by the following formula:
；
wherein ,for external disturbance effect->In order to integrate the total disturbance of external disturbance and internal disturbance, y and u respectively represent output and input of controlled object, b is known parameter of controlled object, < + >>Is a state variable +.>Is the differentiation of the state variable.
In step S2, adding the total disturbance to the system state equation as a state variable to obtain a linear system equation, and building a linear extended state observer according to the linear system equation, including:
s21, assume total disturbanceThe first derivative of the (a) exists, so that the total disturbance is a new state variable in the double-active bridge converter system, the new state variable is added into the original system to obtain a linear system, and an extended state observer is built according to the linear system;
assuming total disturbanceThe first derivative of (2) exists, the total disturbance is a new unknown state variable in the state equation, and is added into the original system, namely, the state of the original system is basedThe first-order nonlinear system can be written as an expansion state equation as shown in the following formula:
；
based on the expansion state equation, the state observer is expressed as:
；
wherein ,z01 and z02 Respectively, for the state variable x in the linear system after expansion 1 and x2 Is used for the estimation of (a), and />Is a parameter of the extended state observer, +.> and />As a nonlinear function>For error parameter +.>Andz respectively 01 and z02 Differential amount of->Nonlinear function +.>Andsatisfy->Arbitrary->At the same time, the state of the system can be converged to the actual value asymptotically, i.e. +.>；
S22, in order，/>And obtaining the linear expansion state observer model.
In step S22, the linear expansion state observer is expressed by the following formula:
；
in step S3, under single phase shift control, the reduced order model of the dual active bridge converter shown in fig. 3 is utilized, so that the phase shift angle and the switching average model in different working modes can be made clear and simple, and the following kinetic formulas can be obtained:
；
wherein ,for current->At->Sampling value in time, ">For the current flowing through the parallel branch of the output capacitance and the output resistance.
The dynamic equation for the available output voltage for a dual active bridge converter is:
；
discretizing the dynamic equation by a forward Euler method to obtain a discrete formula of output voltage:
；
where k is a selected control instant,to output current I out At->Sampling values over time.
Substituting the dynamic formula into the discrete formula of the output voltage to obtain the predicted value of the output voltage at the next moment after the discrete:
；
based on the prediction of the output voltage at the next moment in the predicted value formula of the output voltage at the next moment after the discrete, the second step of prediction of the output voltage of the system can be expressed as follows:
；
in one control period, it can be assumed that the DC output current is constantTime and->The direct current output current value at the moment is the same, and +.>The relation between the system output voltage and the shift, namely the formula of the voltage prediction model at the moment is as follows:
；
wherein ,、/>output voltages at time k+2 and time k, respectively, +.>For input voltage +.>For outputting capacitance +.>For the switching frequency +.>For phase shifting inductance->The inter-bridge phase shift ratio at time k,and D is the inter-bridge phase shift ratio of a two-side H bridge in the system.
It can be seen that by controlling the inter-bridge phase shift ratio of a two-sided H-bridgeThe regulation of the system output voltage can be achieved. Thus, the space model of the double active bridge converter in discrete stateThe response of the dual active bridge converter at time k +2 can be predicted from the output voltage at time k, the current sample value and the inter-bridge phase shift ratio. Model prediction control is built on the basis of a voltage prediction model, and a cost function and a rolling optimization calculation model of the prediction model are built, so that high dynamic response performance of the output voltage of the double-active-bridge converter is achieved. It is evident that the discrete dynamic mode requires not only output voltage sampling, but also an additional current sensor to measure the output current +.>. The use of current sensors undoubtedly affects the cost and size of the system. To solve this problem, the first-order linear extended state observer obtained in step S2 is introduced, avoiding the use of a current sensor.
In step S3, since the dynamic voltage model is a first order single input single output system, the state space model thereof can be expressed as:
；
wherein ,representing state variables, u representing system inputs, b 0 Representing the system input gain, f represents the total disturbance satisfying the relationship df/dt=h.
The linear first order extended state observer can be expressed as:
；
wherein ,for the estimation of state variables +.>For the estimation of the total disturbance ∈> and />Is an adjustable gain of the linear extended state observer.
The state space model of the estimation error is expressed as:
；
if the adjustable gain is satisfied and />The Hurwitz stability criterion is satisfied and the estimation error may converge exponentially to 0. Defining coefficients->For observer bandwidth, the adjustable gain of the linear extended state observer can be obtained as:
，/>；
the linear first-order extended state observer combines a dynamic equation of output voltage to perform discretization:
；
the discretized equation is arranged to obtain an expression of a discrete linear expansion state observer for estimating uncertain output current:
；
；
wherein ,、/>an estimate of the state variable at time k+1, an estimate of the total disturbance at time k+1,/respectively>For switching frequency +.>Reciprocal of->、/>Respectively, the adjustable gains of the linear extended state observer.
The resulting dual active bridge converter no-current sensor model predictions are expressed by the following formula:
；
wherein ,is the value of the output voltage at time k.
Output voltage by deriving current-free sensor extended state observer modelThe value at time k+2 and the output sampling current +.>Regardless, errors due to mismatch of model parameters can be determined by +.>To weaken, FIG. 4The current sensor is avoided to be used for predicting a control strategy schematic diagram for the no-current sensor, and the cost is saved.
FIG. 5 shows the output current obtained by the current sensor when the output resistance of the double active bridge converter is ramped from 600Ω to 180Ω at 0.2sAnd the output current observed by the extended state observer +.>Is a simulation result of (a). Wherein, as can be seen from the above embodiments, it is assumed that when estimating error + -> and />When 0, the output current observed by the extended state observer is +.>Can pass->The output voltage reference value was found to be 300V. Output current obtained by current sensorAfter abrupt load change, the current rises from about 0.5A to 1.75A, and after oscillation, the current is stabilized about 0.03A, and the output current observed by the extended state observer is +.>Also after 0.2s, a current fluctuation value of about 0.03A is generated, the trend of the change and the output current obtained by the current sensor are +.>Approximately the same. It is thereby obtained that the output current observed by the extended state observer is substantially identical to the actual current obtained by the current sensor, and thus the predicted current can be used instead of the actual measured current, in factThere is no current sensor.
FIG. 6 shows the output current obtained by the current sensor when the output resistance of the double active bridge converter is ramped from 600Ω to 180Ω at 0.2sAnd the output current observed by the extended state observer +.>Is a result of the experiment. The experimental result shows that the model predictive control method of the dual-active bridge converter without the current sensor has the same simulation effect, can avoid using an additional current sensor, can realize quick response and high-efficiency control without the current sensor, and reduces the cost of a system circuit.
Embodiment two:
in some embodiments, there is provided a dual active bridge converter no-current sensor model predictive device comprising:
the state acquisition module is used for acquiring the system state of the double-active-bridge converter;
the linear expansion observer building module is used for taking the total disturbance as a new state variable in the system state to obtain a linear system, and building a linear expansion state observer according to the linear system;
the voltage prediction model building module is used for expanding the discrete state space model by utilizing the reduced order model of the double-active bridge converter to obtain a voltage prediction model;
and the prediction module is used for discretizing the linear expansion state observer to obtain a discrete linear expansion state observer for estimating uncertain output current, and then combining the voltage prediction model to predict output voltage.
Embodiment III:
in some embodiments, a computer readable storage medium is provided, which stores a computer program which, when executed by a processor, implements the above method.
Embodiment four:
in some embodiments, an electronic device is provided that includes a processor and a storage device having a plurality of instructions stored therein, the processor configured to read the plurality of instructions in the storage device and perform the method described above.
According to the model prediction method and device for the dual-active bridge converter without the current sensor, the expansion state sensor is combined with model prediction control, so that the use of a current sensor is avoided, the dynamic performance of the dual-active bridge converter can be obviously improved, the response time of output voltage is shortened, frequent voltage overshoot and power oscillation of a system are avoided, the current prediction value is adopted to replace the actual current detected by the current sensor, the problem of uncontrollable performance deterioration of the current sensor due to signal errors such as overvoltage and misoperation is solved, and the cost can be reduced and a hardware system is simplified.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application. It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. A dual active bridge converter currentless sensor model prediction method, comprising:
acquiring a state equation of a double-active-bridge converter system;
adding the total disturbance into the system state equation to serve as a state variable to obtain a linear system equation, and establishing a linear expansion state observer according to the linear system equation;
expanding the discrete state space model by using a reduced order model of the double-active bridge converter to obtain a voltage prediction model;
discretizing the linear extended state observer to obtain a discrete linear extended state observer for estimating uncertain output current, and predicting output voltage by combining the voltage prediction model;
adding the total disturbance into the system state equation as a state variable to obtain a linear system equation, and establishing a linear expansion state observer according to the linear system equation, wherein the method comprises the following steps of:
assuming total disturbanceThe first derivative of the (a) exists, so that the total disturbance is a new state variable in the double-active bridge converter system, the new state variable is added into the original system to obtain a linear system, and an extended state observer is built according to the linear system;
the state observer is expressed as:
；
wherein ,z01 and z02 Respectively, for the state variable x in the linear system after expansion 1 and x2 Is used for the estimation of (a), and />Is a parameter of the extended state observer, +.> and />As a nonlinear function>For error parameter +.> and />Z respectively 01 and z02 Differential amount of->Nonlinear function +.>Andsatisfy->Arbitrary->At the same time, the state of the system can be converged to the actual value asymptotically, i.e. +.>；
In the order of，/>Obtaining the linear extended state observer model;
the voltage prediction model is expressed by the following formula:
；
wherein ,、/>output voltages at time k+2 and time k, respectively, +.>For the input voltage to be applied to the circuit,for outputting capacitance +.>For the switching frequency +.>For phase shifting inductance->For the inter-bridge phase shift ratio at time k +.>And D is the inter-bridge phase shift ratio of a two-side H bridge in the system.
2. The method of claim 1, wherein the dual active bridge converter system is a first order nonlinear system, represented by the following formula:
；
wherein ,for external disturbance effect->In order to integrate the total disturbance of external disturbance and internal disturbance, y and u respectively represent output and input of controlled object, b is known parameter of controlled object, < + >>As a state variable, a state variable is used,is the differentiation of the state variable.
3. The method of claim 1, wherein the discrete linear extended state observer estimating the uncertainty output current is formulated by:
；
；
wherein ,、/>an estimate of the state variable at time k+1, an estimate of the total disturbance at time k+1,/respectively>For switching frequency +.>Reciprocal of->、/>Respectively, the adjustable gains of the linear extended state observer.
4. A method according to claim 3, characterized in that the dual active bridge converter no-current sensor model prediction is expressed by the following formula:
；
wherein ,is the value of the output voltage at time k.
5. A dual active bridge converter currentless sensor model predictive device, comprising:
the state acquisition module is used for acquiring a state equation of the double-active-bridge converter system;
the linear expansion observer building module is used for adding the total disturbance into the system state equation to serve as a state variable to obtain a linear system equation, and building a linear expansion state observer according to the linear system equation;
the voltage prediction model building module is used for expanding the discrete state space model by utilizing the reduced order model of the double-active bridge converter to obtain a voltage prediction model;
the prediction module is used for discretizing the linear expansion state observer to obtain a discrete linear expansion state observer for estimating uncertain output current, and then combining the voltage prediction model to predict output voltage;
the linear dilation observer building module further includes the following sub-modules:
sub-module one for assuming total disturbanceThe first derivative of the (2) exists, so that the total disturbance is a new state variable in the double-active bridge converter system, and the new state variable is added into the original system to obtain a linear system;
the second sub-module is used for establishing an expansion state observer according to the linear system;
the state observer is expressed as:
；
wherein ,z01 and z02 Respectively, for the state variable x in the linear system after expansion 1 and x2 Is used for the estimation of (a), and />Is a parameter of the extended state observer, +.> and />As a nonlinear function>For error parameter +.> and />Z respectively 01 and z02 Differential amount of->Nonlinear function +.>Andsatisfy->Arbitrary->At the same time, the state of the system can be converged to the actual value asymptotically, i.e. +.>；
Sub-module III for use in a game，/>Obtaining the linear extended state observer model;
the voltage prediction model is expressed by the following formula:
；
wherein ,、/>output voltages at time k+2 and time k, respectively, +.>For the input voltage to be applied to the circuit,for outputting capacitance +.>For the switching frequency +.>For phase shifting inductance->When k isInter-bridge phase shift ratio of ∈>And D is the inter-bridge phase shift ratio of a two-side H bridge in the system.
6. A computer readable storage medium storing a computer program, which when executed by a processor performs the method according to any one of claims 1-4.
7. An electronic device comprising a processor and a memory means, wherein a plurality of instructions are stored in the memory means, the processor being arranged to read the plurality of instructions in the memory means and to perform the method of any of claims 1-4.
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