CN116742817A - IPT system and multi-parameter joint identification control method thereof - Google Patents

IPT system and multi-parameter joint identification control method thereof Download PDF

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Publication number
CN116742817A
CN116742817A CN202310996889.2A CN202310996889A CN116742817A CN 116742817 A CN116742817 A CN 116742817A CN 202310996889 A CN202310996889 A CN 202310996889A CN 116742817 A CN116742817 A CN 116742817A
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bat
primary side
iden
equivalent
ipt system
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Inventor
王蕾
孙盼
吴旭升
何笠
孙军
杨刚
蔡进
梁彦
荣恩国
张筱琛
沈昊旻
王乐宇
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Naval University of Engineering PLA
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Naval University of Engineering PLA
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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
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
    • H01M10/44—Methods for charging or discharging
    • 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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
    • 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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
    • H02J7/00714—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery charging or discharging current
    • 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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
    • H02J7/007182—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery voltage

Abstract

The invention discloses an IPT system and a multi-parameter joint identification control method thereof. The method comprises the following steps: measuring an effective value of a fundamental component of the output current of the inverter, and an effective value of a fundamental component of the voltage of the parallel compensation capacitor and an effective value of the primary side coil current; constructing a double-impedance mode equation set, and performing iterative computation on the double-impedance mode equation set by adopting an LMS algorithm based on a self-adaptive filter to obtain identification values of mutual inductance, equivalent load, system load equivalent impedance, battery charging voltage and battery charging current; and the target conduction angle corresponding to the target output can be directly calculated based on the identification value, so that the system output control is realized. The invention is applicable to the dynamic charging scene with real-time change of mutual inductance, does not need participation of a PID controller, omits the design process of the PID controller, and saves the dynamic adjustment time of the conduction angle adjusted by the PID controller.

Description

IPT system and multi-parameter joint identification control method thereof
Technical Field
The invention belongs to the technical field of wireless power transmission, and particularly relates to an IPT system and a multi-parameter joint identification control method thereof.
Background
The inductive power transfer (Inductive Power Transfer, IPT) technology has been attracting attention due to its advantages such as non-contact power supply, flexibility, convenience, and high safety, and research results and applications have been extended to industries including electric vehicles, medical devices, and rail transit. Typical IPT system architecture is shown in FIG. 1, DC supply voltageU dc Is supplied by commercial power through a direct current power supply module, and a high-frequency alternating current inverter is used for supplying power to the commercial powerU dc The high-frequency alternating current is converted into high-frequency alternating current and injected into a primary side compensation network, and the high-frequency alternating current filtered by the primary side compensation network passes through a primary side coilL p Secondary side coilL s Electromagnetic induction is carried out to the secondary side, and stable direct-current output voltage is formed for charging the power supply after the secondary side compensation network and secondary side rectification filtering.
To achieve stable output characteristics of an IPT charging system, a typical implementation is shown in fig. 2. Detecting real-time charging voltage of battery charging through voltage and current sensorsU Bat Charging currentI Bat And to detectU Bat 、I Bat The data is fed back to the primary side controller through the wireless communication module, and the primary side PID (Proportion Integration Differentiation) controller receives the data in real timeU Bat 、I Bat To control the conduction angle of the primary side inverter, and further to realize the control of the output, also called phase shift control. When single-phase inverter phase-shifting control is adopted to realize the output of an IPT system, the on-off and conduction angle of a primary side switch and the instantaneous value of the output voltage of the inverteru inv The relation between the two is shown in FIG. 3, wherein the instantaneous value of the fundamental component of the output voltage of the inverter can be obtained according to the Fourier changeAnd conduction angleαDirect current input voltageU dc Satisfies the formula (1).
（1）
The existing control strategy for realizing primary and secondary side signal feedback based on the wireless communication module shown in fig. 2 has the following problems: (1) The wireless communication module is utilized to realize feedback of secondary side charging parameters, so that the cost and complexity of the IPT system are increased; (2) And information transmission is carried out by utilizing wireless communication, so that the transmission delay is larger, and the dynamic response speed of constant output regulation is influenced.
In order to omit a wireless communication module, an IPT system and a charging control method based on parameter joint identification are proposed in the prior patent CN 2022105870833. According to the method, a wireless communication module is not needed, mutual inductance and charging parameters of the system are identified in stages, and parameters of the PID controller are adjusted according to the difference between the charging parameters and reference information, so that the adjustment of the conduction angle of the inverter is realized. However, because the mutual inductance identification of the method is realized based on the soft start of the system, the mutual inductance identification can only be carried out once before the system operates, and the real-time identification of the mutual inductance can not be realized, the method is limited to the application of static charging scenes, and is not applicable to the dynamic charging scenes with the real-time change of the mutual inductance. And the method still depends on the design of the PID controller, and the design process is complex.
Disclosure of Invention
Aiming at least one defect or improvement requirement of the prior art, the invention provides an IPT system and a multi-parameter joint identification control method thereof, which are applicable to dynamic charging scenes with mutual inductance changing in real time and do not need participation of a PID controller.
To achieve the above object, according to a first aspect of the present invention, there is provided an IPT system comprising an inverter, a primary side compensation network, a primary side coil, a secondary side compensation network, a rectifier and a parameter identification module, the primary side compensation network comprising a primary side parallel compensation capacitor, the parameter identification module being adapted to implement the steps of:
determining instantaneous value of fundamental component of output voltage of inverterMeasuring the effective value of the fundamental component of the output current of the inverterI inv_f_mea The primary side is connected in parallel with the effective value of the fundamental component of the compensation capacitor voltageU c1_f_mea And the primary side coil current effective valueI p_mea ；
Determination from IPT system equivalent circuit and />Is represented by the formula (i),Z p the equivalent impedance of the back end of the compensation capacitor is connected in parallel to the primary side,Z in input equivalent impedance for IPT system, +.>Is thatZ p Is (are) mould>Is thatZ in Is (are) mould> and />The expression of (2) is about the parameter to be identified +.>Function of->For an equivalent load of the IPT system,Mmutual inductance between the primary side coil and the secondary side coil;
according toI inv_f_mea 、Calculated->According toU c1_f_mea AndI p_mea calculated->Will beEquivalent to->Will->Equivalent to->Obtaining the parameter to be identified>Is a dual impedance modular equation set;
performing iterative computation on the dual-impedance modular equation set by adopting an LMS algorithm based on an adaptive filter, and ending the iterationMAndR L takes the value of (2) as the identification value thereofMThe identification value of (2) is recorded asM iden Will beR L The identification value of (2) is recorded asR L_iden ；
Will beR L Equivalent to equivalent resistanceR e And equivalent inductanceL e Is to record the battery charging voltage asU Bat The battery charging current is recorded asI Bat Determination from equivalent circuit of IPT systemR e 、L e 、U Bat 、I Bat According to the calculation formula of (2)M iden 、R L_iden Calculated to obtainR e 、L e 、U Bat AndI Bat is a recognition value of (a).
Further, the iterative calculation of the equation set by using the LMS algorithm based on the adaptive filter includes the steps of:
setting upR L Initial value of iteration；
R L Is satisfied by the iteration of (a)，/>Is thatR L Is the first of (2)n+1Iterative value->Is thatR L Is the first of (2)nIterative value->，/>，When->And (3) withZ in Iteration value +.>The difference is less than a preset threshold and the iteration is ended.
Further, the method comprises the steps of,。
further, the method comprises the steps of,。
further, the IPT system further comprises a charge control module for implementing the steps of:
target conduction angles in constant-voltage charging stage are respectively determined according to equivalent circuits of IPT (intelligent terminal technology) systemIs equal to or greater than the calculation formula of (1), the target conduction angle in the constant current charging stage>Is calculated according to the formula;
according toU Bat The identification value of the IPT system and the target output voltage of the constant voltage charging stage are used for judging whether the IPT system is in the constant voltage charging stage or the constant current charging stage;
substituting the identification value and the target output voltage into the constant voltage charging stageCalculation of the calculation formula of (2)According to->Generates a control signal for controlling the inverter such that the conduction angle of the inverter is maintained +.>；
If the constant-current charging stage is in, substituting the identification value and the target output current of the constant-current charging stageIs calculated by the calculation formula of->According to->Generates a control signal for controlling the inverter such that the conduction angle of the inverter is maintained +.>。
Further, the IPT system is a bilateral LCC type IPT system, the primary side compensation network further comprises a primary side series compensation capacitor and a primary side series compensation inductor, the secondary side compensation network comprises a secondary side series compensation inductor, a secondary side series compensation capacitor and a secondary side parallel compensation capacitor, and />The calculation formula of (2) is as follows:
，
，
Z e_iden =jωL e_iden + R e_iden ，
=/>，
，
，
，
，
Z L1 =jωL 1 + R L1 ，
Z c1 =1/(jωC 1 )+R c1 ，
Z cp =1/(jωC p )+R cp ，
Z Lp =jωL p + R Lp ，
Z m =jωM iden ，
Z Ls =jωL s + R Ls ，
Z cs =1/(jωC s )+R cs ，
Z c2 =1/(jωC 2 )+R c2 ，
Z L2 =jωL 2 + R L2 ，
Z e_iden =jωL e_iden + R e_iden ，
wherein ,R e_iden is thatR e Is used to determine the identification value of the (c),L e_iden is thatL e Is used to determine the identification value of the (c),U Bat_ref for the target output voltage to be the same,I Bat_ref for the target output current to be set,U dc for inputting the dc supply voltage of the inverter,jrepresenting the imaginary part of the complex number,ωfor the angular frequency of the system,L 1 compensating an inductance for the primary side series,R L1 is thatL 1 Is used for the control of the resistance of the resistor,C 1 a compensation capacitor is connected in parallel with the primary side,R c1 is thatC 1 Is used for the control of the resistance of the resistor,C p for the primary side series compensation capacitor,R cp is thatC p Is used for the control of the resistance of the resistor,L p for the primary side coil inductance,R Lp is thatL p Is used for the control of the resistance of the resistor,L s for the secondary side coil inductance,R Ls is thatL s Is used for the control of the resistance of the resistor,C s a compensation capacitor is connected in series for the secondary side,R cs is thatC s Is used for the control of the resistance of the resistor,C 2 a compensation capacitor is connected in parallel with the secondary side,R c2 is thatC 2 Is used for the control of the resistance of the resistor,L 2 compensating an inductance for the primary side series,R L2 is thatL 2 Is a stray resistance of (c).
Further, according toU Bat The identification value and the target output voltage of the IPT system are used for judging whether the IPT system is in a constant voltage charging stage or a constant current charging stage, and the method comprises the following steps: will beU Bat The identification value of (2) is recorded asU Bat_iden The target output voltage is recorded asU Bat_ref If (if)U Bat_iden＜ U Bat_ref And judging the constant current charging stage, otherwise, judging the constant voltage charging stage.
According to a second aspect of the present invention, there is provided a multi-parameter joint identification control method of an IPT system including an inverter, a primary side compensation network, a primary side coil, a secondary side compensation network and a rectifier, the primary side compensation network including a primary side parallel compensation capacitor, the method comprising the steps of:
determining instantaneous value of fundamental component of output voltage of inverterMeasuring the effective value of the fundamental component of the output current of the inverterI inv_f_mea The primary side is connected in parallel with the effective value of the fundamental component of the compensation capacitor voltageU c1_f_mea And the primary side coil current effective valueI p_mea ；
Determination from IPT system equivalent circuit and />Is represented by the formula (i),Z p the equivalent impedance of the back end of the compensation capacitor is connected in parallel to the primary side,Z in input equivalent impedance for IPT system, +.>Is thatZ p Is (are) mould>Is thatZ in Is (are) mould> and />The expression of (2) is about the parameter to be identified +.>Function of->For an equivalent load of the IPT system,Mmutual inductance between the primary side coil and the secondary side coil;
according toI inv_f_mea 、Calculated->According toU c1_f_mea AndI p_mea calculated->Will beEquivalent to->Will->Equivalent to->Obtaining the parameter to be identified>Is a dual impedance modular equation set;
performing iterative computation on the dual-impedance modular equation set by adopting an LMS algorithm based on an adaptive filter, and ending the iterationMAndR L takes the value of (2) as the identification value thereofMThe identification value of (2) is recorded asM iden Will beR L The identification value of (2) is recorded asR L_iden ；
Will beR L Equivalent to equivalent resistanceR e And equivalent inductanceL e Is to record the battery charging voltage asU Bat The battery charging current is recorded asI Bat Determination from equivalent circuit of IPT systemR e 、L e 、U Bat 、I Bat According to the calculation formula of (2)M iden 、R L_iden Calculated to obtainR e 、L e 、U Bat AndI Bat is a recognition value of (a).
Further, the method further comprises the steps of:
target conduction angles in constant-voltage charging stage are respectively determined according to equivalent circuits of IPT (intelligent terminal technology) systemIs equal to or greater than the calculation formula of (1), the target conduction angle in the constant current charging stage>Is calculated according to the formula;
according toU Bat The identification value of the IPT system and the target output voltage of the constant voltage charging stage are used for judging whether the IPT system is in the constant voltage charging stage or the constant current charging stage;
substituting the identification value and the reference target output voltage into the constant voltage charging stageCalculation of the calculation formula of (2)According to->Generates a control signal for controlling the inverter such that the conduction angle of the inverter is maintained +.>；
If the constant current charging stage is in, substituting the identification value and the reference target output voltage intoIs calculated by the calculation formula of->According to->Generates a control signal for controlling the inverter such that the conduction angle of the inverter is maintained +.>
Overall, compared with the prior art, the invention has the beneficial effects:
(1) Compared with the existing parameter identification method, the identification method can realize identification of the mutual inductance, the equivalent load, the equivalent impedance of the rectifier, the battery charging voltage and the battery charging current without measuring the phase difference between the voltage and the current, can be suitable for dynamic charging scenes with the mutual inductance changing in real time, and has wider application scene range.
(2) The invention also provides a novel control strategy for rapidly calculating the conduction angle based on the identification value, and the whole process does not need participation of a PID controller, compared with the control strategy based on wireless communication in the prior art and the control strategy of the prior patent CN2022105870833, the invention omits the early-stage PID controller, saves the system cost, reduces the complexity of the system, saves the time required by dynamic adjustment of the PID controller, and has faster dynamic response speed.
Drawings
FIG. 1 is a block diagram of a typical IPT system of the prior art;
fig. 2 is a schematic diagram of a prior art IPT system based on a wireless communication module;
FIG. 3 shows the on-off and conduction angle of a switch according to the prior artu inv A relationship between;
FIG. 4 is a basic equivalent circuit of a bilateral LCC IPT system of an embodiment of the present invention considering rectifier equivalent impedance;
FIG. 5 is a flowchart of a multi-parameter joint identification control method according to an embodiment of the present invention;
FIG. 6 is a comparison of the simulated output of the constant voltage charging stage with a reference target output voltage of 360V in accordance with an embodiment of the present invention;
FIG. 7 is a comparison of the simulated output of the constant current charging phase with the reference target output current 10A according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The invention provides an IPT system, which comprises an inverter, a primary side compensation network, a primary side coil, a secondary side compensation network, a rectifier and a parameter identification module, wherein the output of the inverter is connected with the primary side coil through the primary side compensation network, the secondary side coil is connected with the rectifier through the secondary side compensation network, the rectifier outputs to charge a load (battery), the primary side compensation network comprises a primary side parallel compensation capacitor, and the parameter identification module is used for realizing the following steps:
determining instantaneous value of fundamental component of output voltage of inverterMeasuring the effective value of the fundamental component of the output current of the inverterI inv_f_mea The primary side is connected in parallel with the effective value of the fundamental component of the compensation capacitor voltageU c1_f_mea And the primary side coil current effective valueI p_mea ；
Determination from IPT system equivalent circuit and />Is represented by the formula (i),Z p the equivalent impedance of the back end of the compensation capacitor is connected in parallel to the primary side,Z in input equivalent impedance for IPT system, +.>Is thatZ p Is (are) mould>Is thatZ in Is (are) mould> and />The expression of (2) is about the parameter to be identified +.>Function of->For an equivalent load of the IPT system,Mmutual inductance between the primary side coil and the secondary side coil;
according toI inv_f_mea 、Calculated->According toU c1_f_mea AndI p_mea calculated->Will beEquivalent to->Will->Equivalent to->Obtaining the parameter to be identified>Is a dual impedance modular equation set;
performing iterative computation on the dual-impedance modular equation set by adopting an LMS algorithm based on an adaptive filter, and ending the iterationMAndR L takes the value of (2) as the identification value thereofMThe identification value of (2) is recorded asM iden Will beR L The identification value of (2) is recorded asR L_iden ；
Will beR L Equivalent to equivalent resistanceR e And equivalent inductanceL e Is to record the battery charging voltage asU Bat The battery charging current is recorded asI Bat Determination from equivalent circuit of IPT systemR e 、L e 、U Bat 、I Bat According to the calculation formula of (2)M iden 、R L_iden Calculated to obtainR e 、L e 、U Bat AndI Bat is a recognition value of (a).
The following will specifically explain.
General frame and working principle
The bilateral LCC compensation network has obvious advantages because the resonant frequency is irrelevant to the load and the mutual inductance, so that the IPT system based on the bilateral LCC compensation network is taken as an example for illustration. However, the invention is equally applicable to other types of IPT systems, the specific set of dual impedance modulus equations and the formula for solving the conduction angle can be adjusted according to the circuit structure of each different topology, and can be deduced by those skilled in the art based on the principle of circuit calculation.
(1) Multi-parameter joint real-time identification method based on dual impedance modes
The fundamental equivalent circuit of the bilateral LCC-based IPT system (DLCC IPT) is shown in figure 4, whereinZ e Equivalent impedance of rectifier load module comprising series equivalent resistanceR e And series equivalent inductanceL e Two parts of the two-way valve are arranged on the two sides,R e 、L e equivalent load with IPT system (i.e. equivalent resistance with rechargeable battery)R L Satisfying the equation relationship shown in the formula (3). In order to satisfy the constant current output characteristics of the DLCC IPT system, the components of each compensation network in (b) in FIG. 4 are required to satisfy the resonance condition as shown in formula (2), whereinω 0 Is the rated operating angular frequency.
(2)
(3)
ωFor the angular frequency of the system,L 1 the inductance is compensated for the primary side series,R L1 is thatL 1 Is used for the control of the resistance of the resistor,C 1 is the primary sideThe side of the compensation capacitor is connected in parallel,R c1 is thatC 1 Is used for the control of the resistance of the resistor,C p the compensation capacitor is connected in series with the primary side,R cp is thatC p Is used for the control of the resistance of the resistor,L p for the primary side coil inductance,R Lp is thatL p Is used for the control of the resistance of the resistor,L s for the secondary side coil inductance,R Ls is thatL s Is used for the control of the resistance of the resistor,C s a compensation capacitor is connected in series with the secondary side,R cs is thatC s Is used for the control of the resistance of the resistor,C 2 a compensation capacitor is connected in parallel with the secondary side,R c2 is thatC 2 Is used for the control of the resistance of the resistor,L 2 the inductance is compensated for the primary side series,R L2 is thatL 2 Is a stray resistance of (c). According to the circuit diagram shown in FIG. 4, the equivalent impedance of the rear end of the secondary side coil is obtained by combining the circuit principleZ s The expression is shown as a formula (4),
(4)
wherein , ，
jrepresenting the imaginary part of the complex number,ωis the angular frequency of the system.
Thus, the reflection impedanceZ r Can be represented by formula (5),
(5)
wherein ,Mis the mutual inductance between the primary side coil and the secondary side coil.
From the reflection impedance expression, can be obtainedZ p AndZ in satisfying (6) and (7), respectively.Z p Andin order to obtain an equivalent impedance expression according to the circuit characteristics of the system, the expression comprises parameters of a compensating element of the system and mutual inductance +.>Equivalent load->。
(6)
(7)
wherein ,Z Lp =jωL p +R Lp ，Z p is the equivalent impedance of the rear end of the primary side parallel capacitor,R p is thatZ p Is used for the real part of (c),X p is thatZ p Is a virtual part of (c).Z L1 =jωL 1 +R L1 ，Z C1 =1/(jωC 1 )+R c1 。R in Is thatZ in Is used for the real part of (c),X in is thatZ in Is a virtual part of (c).
According toZ p Andthe real part and the imaginary part of (1) can obtain equivalent impedanceZ p 、/>Impedance mode expression +.>、/>In the formula, shown in the following formula>、/>Respectively, the relation +.>、/>Is a functional expression of +.>Is an unknown variable to be identified.
；
；
；
in the formula ,，/>，/>，/>，，/>，/>，/>，/>，，/>，/>，/>，/>。
the effective value of the fundamental component of the output current of the primary side inverter is measured by adopting a measuring moduleI inv_f_mea Primary side parallel compensation capacitor voltage fundamental wave component effective valueU c1_f_mea Primary side coil current effective valueI p_mea . According to the knownAnd measured (and)I inv_f_mea 、U c1_f_mea 、I p_mea The actual equivalent impedance module value of the system during operation can be measured through calculation>、, wherein />，/>. Theoretically, calculated from the measured values +.>And +.>Are equal; also, calculated from measured valuesAnd +.>Are equal. Therefore, in conclusion, there will be->Equivalent to->Will beEquivalent to->Can obtain the unknown quantity about to be identified>The dual impedance modulus equation set of (2) as in equation (8):
deforming the formula (8.1) to obtain an unknown amountMWith respect toR L The expression of (2) is as in the expression (9),
(9)
substituting formula (9) into formula (8.2) to obtainZ in Impedance modulus with respect to unknownsR L and |Z p_mea The equation of i is shown in equation (10).
(10)
、/>All represent functions.
Iterative computation of a set of hidden function equations (8) using an adaptive filter-based LMS algorithm to track the approximation of parameters to be identifiedMAndR L . The method comprises the following steps:
setting upR L Initial value of iteration；
R L Is satisfied by the iteration of (a)，/>Is thatR L Is the first of (2)n+1Iterative value->Is thatR L Is the first of (2)nIterative value->Represents the iteration step size ++>Is about->Function of->，，/>Is about->Is a function of (a) and (b),when->And (3) withZ in Iteration value +.>Difference of->And (5) being smaller than a preset threshold value, and ending the iteration.
The specific implementation flow of the algorithm is shown in table 1.
TABLE 1
The measured value is measuredI inv_f_mea 、U c1_f_mea 、I p_mea Substituting into table 1, performing the iterative calculation process described in table 1 to obtain parametersMAndR L the identification results of (a) are respectivelyM iden AndR L_iden 。
the battery charge voltage is recorded asU Bat The battery charging current is recorded asI Bat Determination from equivalent circuit of IPT systemR e 、L e 、U Bat 、I Bat According to the calculation formula of (2)M iden 、R L_iden Calculated to obtainR e 、L e 、U Bat AndI Bat will beR e The identification value of (2) is recorded asR e_iden Will beL e The identification value of (2) is recorded asL e_iden Will beU Bat The identification value of (2) is recorded asU Bat_iden Will beI Bat The identification value of (2) is recorded asI Bat_iden 。
R e 、L e The calculation formula of (a) is shown as formula (3), andR L_iden substituting into (3) to obtain the identification results of the equivalent impedance of the rectifier as respectivelyR e_iden 、L e_iden 。
U Bat 、I Bat The calculation formula of (1) is (11), (12) and (13), and the identification result is obtainedM iden 、R L_iden 、R e_iden 、L e_iden Substituted into (11) (12) (13),
(11)
(12)
(13)
wherein ,is the impedance mode of the equivalent impedance of the back end of the secondary side coil,I s_iden is the effective value of the secondary side coil current,I rec_f for the rectifier front-end current fundamental component effective value,U rec_f for the rectifier front-end voltage fundamental component effective value,Z e_iden is thatZ e Is a recognition value of (a). Thus, according to the multi-parameter joint real-time identification method based on the dual impedance mode, the parameters can be obtainedM、R L 、R e 、L e 、U Bat AndI Bat corresponding identification resultM iden 、R L_iden 、R e_iden 、L e_iden 、U Bat_iden AndI Bat_iden 。
(2) Control strategy based on conduction angle rapid calculation
After the parameter identification result is obtainedThen, KVL (kirchhoff's voltage law) analysis is performed on fig. 4, in which the relationship between each voltage and current in the circuit satisfies equation (14), wherein,Z L1 =jωL 1 + R L1 、Z c1 =1/(jωC 1 )+R c1 、Z cp =1/(j ωC p )+R cp 、Z Lp =jωL p + R Lp 、Z m =jωM iden ，Z Ls =jωL s + R Ls 、Z cs =1/(jωC s )+R cs 、Z c2 =1/(jωC 2 )+ R c2 、Z L2 =jωL 2 + R L2 、Z e_iden =jωL e_iden + R e_iden 。
(14)
the formula (14) is deformed to obtain a formula (15), wherein,，/>，due toZ e Is known asZ e_iden ，/>，i inv_f For the fundamental component of the output current of the inverter,u inv_f for the fundamental component of the output voltage of the inverter,i p for the primary coil current,i s for the secondary side coil current,i rec_f the fundamental component of the current is input to the front end of the rectifier.
Combining the formula (1) and the formula (15), and carrying out the deformed formula (16),U dc is the dc input voltage of the inverter. Further simplifying the step (16) to obtain the instantaneous value of the fundamental component of the current at the front end of the rectifieri rec_f Equations for each recognition result and the system known parameters are shown in equation (17). Correspondingly, the formula (18) is currenti rec_f An expression for a valid value.
Recombination of the identification resultsZ e_iden =jωL e_iden + R e_iden Obtaining a solution formula of the fundamental wave component effective value of the front-end voltage of the rectifier as formula (19), whereinU rec_f Is the effective value of the fundamental component of the input voltage at the front end of the rectifier,I rec_f is the effective value of the fundamental wave component of the front-end current of the rectifierZ e_iden I is impedanceZ e_iden Is used for the control of the (c),αis the conduction angle of the system.
(19)
At this time, the battery voltageU Bat And battery currentI Bat And system known parameters and recognition resultsM iden 、R L_iden 、 R e_iden 、L e_iden Satisfies the equation (20).
(20)
Assuming the required battery voltageU Bat For a target reference output voltageU Bat_ref Then, at this time, the target output voltage can be obtained by combining the expression (18), the expression (19) and the expression (20)U Bat_ref In the case ofThe equation (21) is simplified to obtain the target output voltageU Bat_ref Corresponding toTarget conduction angle +.>The expression of (2) is expression (22).
(21)
(22)
The same principle can be obtained that the target output current needs to be maintainedI Bat_ref Corresponding target conduction angleThe expression of (2) is formula (23).
(23)
wherein ,
=/>，
that is, when the recognition result is knownM iden 、R L_iden 、R e_iden 、L e_iden Constant voltage target output voltageU Bat_ref In the case of (2), substituting these amounts into (22) can obtain the target output voltage to be maintainedU Bat_ref Inverter conduction angle required for output controlThe method comprises the steps of carrying out a first treatment on the surface of the Correspondingly, when the identification result is knownM iden 、R L_iden 、R e_iden 、L e_iden Constant current target output currentI Bat_ref In the case of (2), the constant pressure is required to be maintained by substituting these amounts into the formula (23)I Bat_ref Inverter conduction angle required for output control>. Finally, the calculated +.>Or->The constant voltage or constant current output control of the IPT system can be controlled by using the control signal as an instruction signal for generating a driving signal. The whole control process does not need the design and adjustment of the controller.
The control strategy of multi-parameter combination real-time identification based on double-impedance mode constraint and rapid calculation based on conduction angle is summarized, and the specific flow is shown in figure 5 when the control strategy is applied to an IPT system to realize Constant Voltage (CV)/Constant Current (CC) control. The method comprises the following specific steps:
firstly, carrying out multi-parameter identification according to measured values;
then, judging whether the IPT system is in a constant voltage charging stage or a constant current charging stage, specifically: if it isU Bat_iden＜ U Bat_ref Judging the constant current charging stage, otherwise, judging the constant voltage charging stage;
if the constant voltage charging stage (CV) is in, substituting the identification result and the target output voltage into the constant voltage charging stage (22) to obtain the corresponding constant voltage output target conduction angleAccording to->Generates a control signal for controlling the inverter such that the conduction angle of the inverter is maintained at +.>；
If the constant current charging stage (CC) is in, substituting the identification result and the target output current into the constant current charging stage (23) to obtain a corresponding constant current output target conduction angleAccording to->Generates a control signal for controlling the inverter such that the conduction angle of the inverter is maintained at +.>；
I.e. the driving circuit is based onOr->And generating a driving signal for CV or CC output control to control the output voltage of the inverter, thereby achieving constant voltage and constant current output control of the IPT system.
(3) Simulation and experimental verification
Simulation and experiment verification are carried out on the method, and system parameters corresponding to the constructed simulation and experiment platform are shown in table 2.
Table 2 system parameters
The reference target output voltage for the CV charging phase is set to 360V and the reference target output current for the CC charging phase is set to 10A. The simulation is carried out by adopting the method, and the actual output voltage and the constant current actual current of the simulation system in the constant voltage stage are obtained as shown in fig. 6 and 7 respectively. It can be seen from the figure that with this method, both in the CV charging stage and in the CC charging stage, the target output voltage or the target output current can be maintained in the vicinity of the target output voltage or the target output current with a small output error.
And respectively carrying out experiments on the constant voltage 360V output and the constant current 10A output realized in the constant voltage charging stage. According to experimental results, after the load is suddenly changed, the constant voltage control is performed by adopting the method, the dynamic response time is about 8ms, and the overshoot is 6.66% at maximum. When the mutual inductance is continuously changed, the constant current 10A output control is kept by adopting the method, the output current is relatively stable, and only small fluctuation exists. The method for identifying the parameters has good real-time performance and accuracy, and the control strategy based on the rapid calculation of the conduction angle has strong disturbance rejection capability and rapid dynamic response speed, and does not need parameters of a wireless communication module and a controller.
The invention provides a multi-parameter joint identification control method of an IPT system, the IPT system comprises an inverter, a primary side compensation network, a primary side coil, a secondary side compensation network and a rectifier, the primary side compensation network comprises a primary side parallel compensation capacitor, the method comprises the following steps:
determining instantaneous value of fundamental component of output voltage of inverterMeasuring the effective value of the fundamental component of the output current of the inverterI inv_f_mea The primary side is connected in parallel with the effective value of the fundamental component of the compensation capacitor voltageU c1_f_mea And the primary side coil current effective valueI p_mea ；
Determination from IPT system equivalent circuit and />Is represented by the formula (i),Z p the equivalent impedance of the back end of the compensation capacitor is connected in parallel to the primary side,Z in input equivalent impedance for IPT system, +.>Is thatZ p Is (are) mould>Is thatZ in Is (are) mould> and />The expression of (2) is about the parameter to be identified +.>Function of->For an equivalent load of the IPT system,Mmutual inductance between the primary side coil and the secondary side coil;
according toI inv_f_mea 、Calculated->According toU c1_f_mea AndI p_mea calculated->Will beEquivalent to->Will->Equivalent to->Obtaining the parameter to be identified>Is a dual impedance modular equation set;
performing iterative computation on the dual-impedance modular equation set by adopting an LMS algorithm based on an adaptive filter, and ending the iterationMAndR L takes the value of (2) as the identification value thereofMThe identification value of (2) is recorded asM iden Will beR L The identification value of (2) is recorded asR L_iden ；
Will beR L Equivalent to equivalent resistanceR e And equivalent inductanceL e Is to record the battery charging voltage asU Bat The battery charging current is recorded asI Bat Determination from equivalent circuit of IPT systemR e 、L e 、U Bat 、I Bat According to the calculation formula of (2)M iden 、R L_iden Calculated to obtainR e 、L e 、U Bat AndI Bat is a recognition value of (a).
The implementation principle and the technical effect of the multi-parameter joint identification control method of the IPT system are the same as those of the IPT system, and are not repeated here.
It should be noted that, in any of the above embodiments, the methods are not necessarily sequentially executed in the sequence number, and it is meant that the methods may be executed in any other possible sequence, as long as it cannot be inferred from the execution logic that the methods are necessarily executed in a certain sequence.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (9)

1. The IPT system is characterized by comprising an inverter, a primary side compensation network, a primary side coil, a secondary side compensation network, a rectifier and a parameter identification module, wherein the primary side compensation network comprises a primary side parallel compensation capacitor, and the parameter identification module is used for realizing the following steps:
determining instantaneous value of fundamental component of output voltage of inverterMeasuring the effective value of the fundamental component of the output current of the inverterI inv_f_mea The primary side is connected in parallel with the effective value of the fundamental component of the compensation capacitor voltageU c1_f_mea And the primary side coil current effective valueI p_mea ；
Determination from IPT system equivalent circuit and />Is represented by the formula (i),Z p the equivalent impedance of the back end of the compensation capacitor is connected in parallel to the primary side,Z in input equivalent impedance for IPT system, +.>Is thatZ p Is (are) mould>Is thatZ in Is (are) mould> and />The expression of (2) is about the parameter to be identified +.>Function of->For an equivalent load of the IPT system,Mmutual inductance between the primary side coil and the secondary side coil;
according toI inv_f_mea 、Calculated->According toU c1_f_mea AndI p_mea calculated->Will beEquivalent to->Will->Equivalent to->Obtaining the parameter to be identified>Is a dual impedance modular equation set;
performing iterative computation on the dual-impedance modular equation set by adopting an LMS algorithm based on an adaptive filter, and ending the iterationMAndR L takes the value of (2) as the identification value thereofMThe identification value of (2) is recorded asM iden Will beR L The identification value of (2) is recorded asR L_iden ；
Will beR L Equivalent to equivalent resistanceR e And equivalent inductanceL e Is to record the battery charging voltage asU Bat The battery charging current is recorded asI Bat Determination from equivalent circuit of IPT systemR e 、L e 、U Bat 、I Bat According to the calculation formula of (2)M iden 、R L_iden Calculated to obtainR e 、L e 、U Bat AndI Bat is a recognition value of (a).
2. An IPT system as claimed in claim 1 wherein the iterative calculation of the system of equations using an adaptive filter based LMS algorithm comprises the steps of:
setting upR L Initial value of iteration；
R L Is satisfied by the iteration of (a)，/>Is thatR L Is the first of (2)n+1The number of iterations of the values is,is thatR L Is the first of (2)nIterative value->，/>，When->And (3) withZ in Iteration value +.>The difference is less than a preset threshold and the iteration is ended.
3. An IPT system as claimed in claim 1 wherein,。
4. an IPT system as claimed in claim 1 wherein,。
5. an IPT system as claimed in claim 1 further comprising a charge control module for effecting the steps of:
target conduction angles in constant-voltage charging stage are respectively determined according to equivalent circuits of IPT (intelligent terminal technology) systemIs equal to or greater than the calculation formula of (1), the target conduction angle in the constant current charging stage>Is calculated according to the formula;
according toU Bat The identification value of the IPT system and the target output voltage of the constant voltage charging stage are used for judging whether the IPT system is in the constant voltage charging stage or the constant current charging stage;
substituting the identification value and the target output voltage into the constant voltage charging stageIs calculated by the calculation formula of->According to->Generates a control signal for controlling the inverter so that the conduction angle of the inverter is maintained as；
If the constant-current charging stage is in, substituting the identification value and the target output current of the constant-current charging stageIs calculated by the calculation formula of->According to->Generates a control signal for controlling the inverter such that the conduction angle of the inverter is maintained +.>。
6. An IPT system as claimed in claim 5 wherein the IPT system is a double sided LCC IPT system, the primary side compensation network further comprises a primary side series compensation capacitance and a primary side series compensation inductance, the secondary side compensation network comprises a secondary side series compensation inductance, a secondary side series compensation capacitance and a secondary side parallel compensation capacitance, and />The calculation formula of (2) is as follows:
，
，
Z e_iden =jωL e_iden + R e_iden ，
=/>，
，
，
，
，
Z L1 =jωL 1 + R L1 ，
Z c1 =1/(jωC 1 ) +R c1 ，
Z cp =1/(jωC p ) +R cp ，
Z Lp =jωL p + R Lp ，
Z m =jωM iden ，
Z Ls =jωL s + R Ls ，
Z cs =1/(jωC s ) +R cs ，
Z c2 =1/(jωC 2 ) +R c2 ，
Z L2 =jωL 2 + R L2 ，
Z e_iden =jωL e_iden + R e_iden ，
wherein ,R e_iden is thatR e Is used to determine the identification value of the (c),L e_iden is thatL e Is used to determine the identification value of the (c),U Bat_ref for the target output voltage to be the same,I Bat_ref for the target to be transportedThe current is discharged and the current is discharged,U dc for inputting the dc supply voltage of the inverter,jrepresenting the imaginary part of the complex number,ωfor the angular frequency of the system,L 1 compensating an inductance for the primary side series,R L1 is thatL 1 Is used for the control of the resistance of the resistor,C 1 a compensation capacitor is connected in parallel with the primary side,R c1 is thatC 1 Is used for the control of the resistance of the resistor,C p for the primary side series compensation capacitor,R cp is thatC p Is used for the control of the resistance of the resistor,L p for the primary side coil inductance,R Lp is thatL p Is used for the control of the resistance of the resistor,L s for the secondary side coil inductance,R Ls is thatL s Is used for the control of the resistance of the resistor,C s a compensation capacitor is connected in series for the secondary side,R cs is thatC s Is used for the control of the resistance of the resistor,C 2 a compensation capacitor is connected in parallel with the secondary side,R c2 is thatC 2 Is used for the control of the resistance of the resistor,L 2 compensating an inductance for the primary side series,R L2 is thatL 2 Is a stray resistance of (c).
7. An IPT system as claimed in claim 5 wherein the reference is toU Bat The identification value and the target output voltage of the IPT system are used for judging whether the IPT system is in a constant voltage charging stage or a constant current charging stage, and the method comprises the following steps: will beU Bat The identification value of (2) is recorded asU Bat_iden The target output voltage is recorded asU Bat_ref If (if)U Bat_iden＜ U Bat_ref And judging the constant current charging stage, otherwise, judging the constant voltage charging stage.
8. The multi-parameter joint identification control method of the IPT system is characterized in that the IPT system comprises an inverter, a primary side compensation network, a primary side coil, a secondary side compensation network and a rectifier, wherein the primary side compensation network comprises a primary side parallel compensation capacitor, and the method comprises the following steps:
determining instantaneous value of fundamental component of output voltage of inverterMeasuring the effective value of the fundamental component of the output current of the inverterI inv_f_mea The primary side is connected in parallel with the effective value of the fundamental component of the compensation capacitor voltageU c1_f_mea And the primary side coil current effective valueI p_mea ；
Determination from IPT system equivalent circuit and />Is represented by the formula (i),Z p the equivalent impedance of the back end of the compensation capacitor is connected in parallel to the primary side,Z in input equivalent impedance for IPT system, +.>Is thatZ p Is (are) mould>Is thatZ in Is (are) mould> and />The expression of (2) is about the parameter to be identified +.>Function of->For an equivalent load of the IPT system,Mmutual inductance between the primary side coil and the secondary side coil;
according toI inv_f_mea 、Calculated->According toU c1_f_mea AndI p_mea calculated->Will beEquivalent to->Will->Equivalent to->Obtaining the parameter to be identified>Is a dual impedance modular equation set;
performing iterative computation on the dual-impedance modular equation set by adopting an LMS algorithm based on an adaptive filter, and ending the iterationMAndR L takes the value of (2) as the identification value thereofMThe identification value of (2) is recorded asM iden Will beR L The identification value of (2) is recorded asR L_iden ；
Will beR L Equivalent to equivalent resistanceR e And equivalent inductanceL e Is to record the battery charging voltage asU Bat The battery charging current is recorded asI Bat Determination from equivalent circuit of IPT systemR e 、L e 、U Bat 、I Bat According to the calculation formula of (2)M iden 、R L_iden Calculated to obtainR e 、L e 、U Bat AndI Bat is a recognition value of (a).
9. A multi-parameter joint identification control method of an IPT system as claimed in claim 8 further comprising the steps of:
target conduction angles in constant-voltage charging stage are respectively determined according to equivalent circuits of IPT (intelligent terminal technology) systemIs equal to or greater than the calculation formula of (1), the target conduction angle in the constant current charging stage>Is calculated according to the formula;
according toU Bat The identification value of the IPT system and the target output voltage of the constant voltage charging stage are used for judging whether the IPT system is in the constant voltage charging stage or the constant current charging stage;
substituting the identification value and the reference target output voltage into the constant voltage charging stageIs calculated by the calculation formula of->According to->Generates a control signal for controlling the inverter so that the conduction angle of the inverter is maintained as；
If the constant current charging stage is in, substituting the identification value and the reference target output voltage intoIs calculated by the calculation formula of->According to->Generates a control signal for controlling the inverter so that the conduction angle of the inverter is maintained as。
CN202310996889.2A 2023-08-09 2023-08-09 IPT system and multi-parameter joint identification control method thereof Pending CN116742817A (en)

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