WO2023166606A1 - Dispositif de commande, dispositif de conversion cc/cc et procédé de commande - Google Patents

Dispositif de commande, dispositif de conversion cc/cc et procédé de commande Download PDF

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Publication number
WO2023166606A1
WO2023166606A1 PCT/JP2022/008859 JP2022008859W WO2023166606A1 WO 2023166606 A1 WO2023166606 A1 WO 2023166606A1 JP 2022008859 W JP2022008859 W JP 2022008859W WO 2023166606 A1 WO2023166606 A1 WO 2023166606A1
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Prior art keywords
converter
frequency
transfer function
control
output voltage
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PCT/JP2022/008859
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English (en)
Japanese (ja)
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秀一 長門
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三菱電機株式会社
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Priority to PCT/JP2022/008859 priority Critical patent/WO2023166606A1/fr
Priority to JP2024504084A priority patent/JPWO2023166606A1/ja
Publication of WO2023166606A1 publication Critical patent/WO2023166606A1/fr

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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

Definitions

  • the present disclosure relates to a DC/DC converter control device, a DC/DC conversion device, and a DC/DC converter control method.
  • a motor control device inputs an inverse model of a transfer function to be controlled, and filters the output of this inverse model with a first low-pass filter.
  • the cutoff frequency of the first low-pass filter is set to a cutoff frequency that attenuates observation noise contained in the output of the inverse model.
  • An object of one aspect of the present disclosure is to provide a technique that can match the response of a DC/DC converter with the response of a transfer function simulating the DC/DC converter.
  • a controller for a DC/DC converter includes a low-pass filter that performs low-pass filtering on the output voltage of the DC/DC converter, and a DC/DC converter that causes the low-pass filtered output voltage to follow a command value.
  • An operation control unit that controls the operation of the DC converter, a generation unit that generates a first transfer function of the DC/DC converter so as to simulate the frequency characteristics of the output voltage of the DC/DC converter, and an output of the DC/DC converter.
  • a setting unit that sets the cutoff frequency of the low-pass filter based on a first frequency range in which an error between the frequency characteristics of the voltage and the frequency characteristics of the first transfer function is equal to or less than an allowable value.
  • a DC/DC conversion device includes a DC/DC converter and the control device described above.
  • a control method for a DC/DC converter includes the steps of: low-pass filtering an output voltage of the DC/DC converter; controlling the operation of the /DC converter; generating a transfer function of the DC/DC converter so as to simulate the frequency characteristics of the output voltage of the DC/DC converter; and the frequency characteristics of the output voltage of the DC/DC converter. and setting the cutoff frequency of the low-pass filter that performs the low-pass filtering based on the frequency range in which the error between the frequency characteristic of the transfer function and the frequency characteristic of the transfer function is equal to or less than the allowable value.
  • FIG. 3 is a block diagram for explaining a specific configuration of a control circuit;
  • FIG. FIG. 3 is a block diagram for explaining a method of calculating frequency characteristics of a DC/DC converter; It is a figure which shows the frequency characteristic of the output voltage of a DC/DC converter.
  • 4 is a flowchart for explaining a method of generating a transfer function;
  • 4 is a flowchart for explaining a method of setting the cutoff frequency of a low-pass filter;
  • FIG. 7 is a diagram showing an example of a result of calculating a cutoff frequency according to the flowchart of FIG. 6;
  • FIG. 4 is a diagram showing a first example of comparison results between the transient response of an electric circuit and the transient response of a transfer function
  • FIG. 10 is a diagram showing a second example of comparison results between the transient response of the electric circuit and the transient response of the transfer function
  • FIG. 10 is a diagram showing a third example of comparison results between the transient response of the electric circuit and the transient response of the transfer function
  • FIG. 10 is a diagram showing a fourth example of comparison results between the transient response of the electric circuit and the transient response of the transfer function
  • FIG. 10 is a diagram showing a fifth example of comparison results between the transient response of the electric circuit and the transient response of the transfer function
  • FIG. 12 is a diagram showing a sixth example of comparison results between the transient response of the electric circuit and the transient response of the transfer function;
  • FIG. 11 is a diagram for explaining a method of setting a cutoff frequency according to a modified example of the present embodiment;
  • FIG. It is a block diagram of the learning part regarding a DC/DC converter.
  • FIG. 1 is a block diagram showing the configuration of a DC/DC converter.
  • DC/DC converter 1 is a power converter provided between DC power supply 2 and load 3 .
  • DC/DC converter 1 includes DC/DC converter 4 as a main circuit, controller 8 for DC/DC converter 4 , and voltage detector 7 .
  • a DC power supply 2 is connected to one end of the DC/DC converter 4, and a load 3 is connected to the other end.
  • Voltage detector 7 detects the output voltage of DC/DC converter 4 and outputs the detected value of the output voltage to control device 8 and frequency analysis device 12 .
  • the DC/DC converter 4 may be a bidirectional DC/DC converter.
  • the control device 8 includes a control circuit 5, a signal generation circuit 6, and a low-pass filter 10.
  • Each of the control circuit 5, the signal generation circuit 6, and the low-pass filter 10 may be dedicated hardware, or the internal memory of the control device 8 (for example, ROM (Read Only Memory), RAM (Random Access Memory), A configuration implemented by a processor such as a CPU (Central Processing Unit) that executes a program stored in a hard disk, etc., may also be used.
  • the control circuit 5 is dedicated hardware, the control circuit 5 is configured by FPGA (Field Programmable Gate Array), ASIC (Application Specific Integrated Circuit), or a combination thereof.
  • the low-pass filter 10 performs low-pass filtering on the detected output voltage, and outputs to the control circuit 5 the output voltage from which high frequency components have been removed.
  • the control circuit 5 generates a control signal P1 for operating the DC/DC converter 4 during normal operation. Specifically, the control circuit 5 generates a control signal P1 for turning ON/OFF the switching element of the DC/DC converter 4 by executing various calculations using the low-pass filtered output voltage. Control circuit 5 outputs control signal P ⁇ b>1 to DC/DC converter 4 .
  • the signal generation circuit 6 generates a control signal P2 for operating the DC/DC converter 4 when acquiring the frequency characteristics (that is, frequency response) of the output voltage of the DC/DC converter 4.
  • the signal generation circuit 6 outputs to the DC/DC converter 4 a control signal P2 based on the sine wave of each frequency received from the frequency analysis device 12 and the control amount.
  • the frequency analysis device 12 outputs a sine wave of each frequency to the signal generation circuit 6.
  • Frequency analysis device 12 receives an input of the output voltage of DC/DC converter 4 operated by control signal P2 generated by signal generation circuit 6 .
  • the frequency analyzer 12 calculates the frequency characteristic of the output voltage and stores it in the database 19 .
  • frequency analysis device 12 and the database 19 are external devices of the DC/DC conversion device 1
  • frequency analysis device 12 and database 19 may be included in DC/DC conversion device 1 .
  • the frequency analysis device 12 may be configured to be connected to the DC/DC conversion device 1 when measuring frequency characteristics.
  • the frequency characteristics of the DC/DC converter 4 may be calculated using an actual device, or may be calculated by simulation using an electric circuit model of the DC/DC converter 4. .
  • FIG. 2 is a block diagram for explaining a specific configuration of the control circuit.
  • control circuit 5 includes an operation control portion 50 , a transfer function generation portion 31 and a setting portion 33 .
  • the low-pass filter 10 performs low-pass filtering on the output voltage of the DC/DC converter 4 .
  • the operation control unit 50 controls the operation of the DC/DC converter 4 so that the low-pass filtered output voltage follows the command value.
  • operation control section 50 includes subtraction section 13 , feedback control amount calculation section 14 , limiter processing section 15 , and control signal generation section 16 .
  • the feedback control amount calculator 14 is composed of a feedback controller (for example, a P controller, a PI controller, a PD controller, and a PID controller).
  • the feedback control amount calculator 14 uses the deviation ⁇ V to calculate the control amount by executing feedback control (for example, P control, PI control, PD control, PID control, etc.).
  • the feedback control amount calculator 14 generates the control amount X by feedback control for making the deviation ⁇ V zero.
  • the limiter processing unit 15 limits the control amount X within the limit range (that is, lower limit: Xd, upper limit: Xu). Specifically, the limiter processing unit 15 outputs the controlled variable X set to the upper limit Xu when the controlled variable X exceeds the upper limit Xu, and outputs the controlled variable X set to the upper limit Xu when the controlled variable X falls below the lower limit Xd.
  • a controlled variable X set to the lower limit value Xd is output, and when the controlled variable X is equal to or greater than the lower limit value Xd and equal to or less than the upper limit value Xu, the controlled variable X is output.
  • the upper limit value Xu is "1" and the lower limit value Xd is "0".
  • the control signal generation unit 16 compares the control amount X and the carrier signal, and generates a control signal P1 as a PWM signal based on the comparison result. For example, a triangular wave is used as the carrier signal.
  • the control signal generator 16 transmits the control signal P1 to the DC/DC converter 4 .
  • the DC/DC converter 4 supplies power from the DC power supply 2 to the load 3 by turning ON/OFF the switching element according to the control signal P1.
  • the transfer function generator 31 generates a transfer function of the DC/DC converter 4 stored in the database 19 so as to simulate the frequency characteristics of the output voltage of the DC/DC converter 4 .
  • the details of the transfer function generation method will be described later.
  • the setting unit 33 sets the cutoff frequency Fc of the low-pass filter 10 based on the frequency characteristics of the output voltage of the DC/DC converter 4 and the frequency characteristics of the generated transfer function.
  • the cutoff frequency Fc is output to the low pass filter 10 . The details of the method for setting the cutoff frequency Fc will be described later.
  • FIG. 3 is a block diagram for explaining a method of calculating frequency characteristics of a DC/DC converter.
  • signal generating circuit 6 of control device 8 includes an adding section 25 and a control signal generating section 26 .
  • the frequency analysis device 12 includes a frequency setting section 20, a sine wave generation section 21, and a frequency characteristic calculation section 22. Each of these functions is implemented by a processing circuit.
  • the processing circuit may be dedicated hardware, or may be a processor that executes a program stored in the internal memory of the frequency analysis device 12 . If the processing circuitry is dedicated hardware, the processing circuitry may be, for example, an FPGA, an ASIC, or a combination thereof.
  • the frequency setting unit 20 sets the frequency f (e.g., the frequency obtained by equally dividing the frequency range) based on the lowest frequency and highest frequency of the frequency range to be measured (that is, the frequency response section) and the number of divisions of the frequency range. calculate.
  • the frequency setting unit 20 transmits the calculated frequencies f to the sine wave generation unit 21 and the frequency characteristic calculation unit 22 in order from the low frequency side.
  • the frequency setting unit 20 may transmit the current frequency f at the timing when the gain and phase for the previous frequency f are calculated by the frequency characteristic calculation unit 22, or may transmit the current frequency f at predetermined intervals. may transmit frequency f.
  • the sine wave generation unit 21 receives a frequency f whose frequency characteristics are to be measured, and outputs a sine wave represented by "Bsin(2 ⁇ ft)" to the signal generation circuit 6 .
  • "B” indicates the amplitude of the sine wave and "t” indicates time.
  • the amplitude B is set to about 1/10 of the control amount A input to the signal generation circuit 6, for example.
  • the addition unit 25 of the signal generation circuit 6 outputs a value obtained by adding the control amount A and the sine wave generated by the sine wave generation unit 21 to the control signal generation unit 26 .
  • the control amount A is a value within the range from the upper limit value Xu to the lower limit value Xd of the limiter processing section 15 .
  • the control amount A indicates the duty ratio.
  • the controlled variable A can range from the upper limit value of "1" to the lower limit value of "0".
  • the control amount A indicates the phase shift ratio. In this case, the control amount A can range from the minimum value "0" to the maximum value "1".
  • the control signal generator 26 compares the added value output from the adder 25 and the carrier signal, and generates a control signal P2 as a PWM signal based on the comparison result. For example, a triangular wave is used as the carrier signal.
  • the control signal generator 16 transmits the control signal P2 to the DC/DC converter 4 .
  • the DC/DC converter 4 outputs a voltage by turning ON/OFF the switching element according to the control signal P2.
  • the frequency characteristic calculator 22 of the frequency analysis device 12 receives the frequency f and the output voltage V of the DC/DC converter 4 .
  • the frequency characteristic calculation unit 22 performs FFT (Fast Fourier Transformation) analysis on the output waveform. , calculates the gain and phase corresponding to the received frequency f component.
  • the frequency characteristic calculator 22 stores the gain and phase corresponding to the frequency f in the database 19 .
  • the frequency characteristic file is a file that associates frequency f(i), gain K(i), and phase ⁇ (i) for each number i.
  • FIG. 4 is a diagram showing the frequency characteristics of the output voltage of the DC/DC converter.
  • graph 61 indicates gain characteristics and graph 62 indicates phase characteristics.
  • Graphs 61 and 62 shown in FIG. 4 are generated based on the frequency characteristic files stored in the database 19 .
  • the configuration was described in which the signal generation circuit 6 of FIG. 3 was additionally used in the control device 8 in order to obtain the frequency characteristics shown in FIG. 4, but the configuration is not limited to this.
  • the control signal generator 16 of the control circuit 5 may be used to generate the control signal P2.
  • the functions of the subtraction unit 13, the feedback control amount calculation unit 14, and the limiter processing unit 15 of the operation control unit 50 shown in FIG. It is not input to the signal generator 16 .
  • the addition section 25 of the signal generation circuit 6 is provided in the operation control section 50 .
  • the adder 25 inputs the added value (that is, the added value of the control amount A and the sine wave generated by the sine wave generator 21 ) to the control signal generator 16 .
  • the control signal generator 16 compares the added value with the carrier signal, and generates the control signal P2 based on the comparison result.
  • a transfer function G1 shown in Equation (1) that simulates the waveform of the frequency characteristics of DC/DC converter 4 shown in FIG. 4 (for example, the maximum error of the waveform is within 1%) is considered.
  • Equation (1) “a n , b m , . . . , a 0 , b 0 ” in Equation (1) are coefficients.
  • the maximum permissible error between the waveform of the frequency characteristics of the DC/DC converter 4 (for example, graphs 61 and 62 in FIG. 4) and the frequency characteristics of the transfer function G1 is within 1% at each frequency.
  • Each coefficient of the transfer function G1 is determined by setting and applying the method of least squares.
  • FIG. 5 is a flowchart for explaining the transfer function generation method. Each process in FIG. 5 is executed by the control circuit 5 (for example, the transfer function generator 31).
  • the control circuit 5 for example, the transfer function generator 31.
  • the control circuit 5 sets the start number is and the end number ie of the frequency f(i) in the frequency range of the desired transfer function G1 (step S100).
  • the control circuit 5 sets the gain tolerance ⁇ K (%) and the phase tolerance ⁇ (%) (step S110).
  • the allowable error ⁇ K is an allowable error value between the gain in the frequency characteristic file of the database 19 and the gain obtained from the transfer function G1.
  • the allowable error ⁇ is an allowable error value between the phase in the frequency characteristic file of the database 19 and the phase obtained from the transfer function G1.
  • the control circuit 5 sets the allowable order m0 of the equation (2) of the denominator G1b of the assumed transfer function G1 (step S120).
  • the control circuit 5 reads the frequency f(i), the gain K(i), and the phase ⁇ (i) from the frequency characteristic file stored in the database 19 (step S150).
  • control circuit 5 uses the least-squares approximation method to obtain the gain K(i ) and the coefficient of the transfer function G1 of the equation (1) for obtaining the approximate value of the phase ⁇ (i) (step S200).
  • the control circuit 5 sequentially calculates the error between the gain K(i) of the frequency characteristic file and the gain of the transfer function G1 using the calculated coefficient for each frequency f(i). , the maximum error Kmax is obtained (step S210).
  • the control circuit 5 sequentially calculates the error between the phase ⁇ (i) of the frequency characteristic file and the phase of the transfer function G1 using the calculated coefficient for each frequency f(i). is obtained (step S220).
  • control circuit 5 determines whether or not the signs of the real parts of the poles are all negative (step S250). If the signs of the real parts of the poles are all negative (YES in step S250), control circuit 5 finally determines the calculated coefficients as the coefficients of transfer function G1 (step S270). Thereby, a transfer function G1 that simulates the frequency characteristic of the output voltage of the DC/DC converter 4 (that is, the frequency characteristic file stored in the database 19) is obtained.
  • step S250 the control circuit 5 determines whether the maximum degree m+1 of the denominator G1b is greater than the allowable degree m0 (that is, m+1>m0) (step S260). If m+1>m0 (YES in step S260), control circuit 5 terminates the process. If m+1 ⁇ m0 (NO in step S260), control circuit 5 returns to the process of step S160.
  • control circuit 5 controls the gain error to be equal to or less than the allowable error ⁇ K and the phase is less than or equal to the allowable error ⁇ .
  • step S100 determines the frequency of the transfer function G1.
  • the range is changed (that is, the start number is and the end number ie are reset) and the process from step S110 is executed.
  • FIG. 6 is a flow chart for explaining a method of setting the cutoff frequency of the low-pass filter. Each process in FIG. 6 is executed by the control circuit 5 (for example, the setting unit 33).
  • the control circuit 5 sets the same end number ie as the end number ie set in step S100 to calculate the transfer function G1 in the flowchart of FIG. 5 (step S300).
  • the control circuit 5 sets the gain tolerance ⁇ K and the phase tolerance ⁇ (step S310).
  • the processing of step S310 is the same as the processing of step S110 in FIG.
  • the control circuit 5 sets the coefficient of the transfer function G1 (step S320). Specifically, the coefficient of the transfer function G1 is set to the coefficient calculated in step S270 of FIG.
  • the control circuit 5 reads the frequency f(i), the gain K(i), and the phase ⁇ (i) from the frequency characteristic file stored in the database 19 (step S330).
  • the control circuit 5 sets the final number of the data of the read frequency characteristic file (that is, frequency f(i), gain K(i), phase ⁇ (i)) to ie1 (step S340).
  • control circuit 5 calculates the error Kd between the gain K(i) of the frequency characteristic file and the gain of the transfer function G1 using the coefficient set in step S320 (step S380).
  • the control circuit 5 calculates the error ⁇ d between the phase ⁇ (i) of the frequency characteristic file and the phase of the transfer function G1 using the coefficient set in step S320 (step S390).
  • the control circuit 5 sets the conditions that the gain error Kd is equal to or less than the allowable error ⁇ K (that is, Kd ⁇ K) and the phase error ⁇ d is equal to or smaller than the allowable error ⁇ (that is, ⁇ d ⁇ ). is established (step S400). If the condition is satisfied (YES in step S400), control circuit 5 returns to the process of step S360. If the condition is not satisfied (NO in step S400), control circuit 5 sets frequency f(i) of number i as cutoff frequency Fc (step S410), and ends the process.
  • FIG. 7 is a diagram showing an example of the result of calculating the cutoff frequency according to the flowchart of FIG. 7, a graph 71 representing the gain characteristic of the transfer function G1 is superimposed on the graph 61 of FIG. 4 representing the gain characteristic based on the frequency characteristic file stored in the database 19.
  • FIG. A graph 72 showing the phase characteristics of the transfer function G1 is superimposed on the graph 62 in FIG. 4 showing the phase characteristics based on the frequency characteristic file.
  • the highest frequency in the frequency range R1 in which the frequency characteristic falls within the allowable error (that is, Kd ⁇ K and ⁇ d ⁇ holds) is the frequency f(i) in step S410 of FIG. 6, which is used as the cutoff frequency Fc. set.
  • the cutoff frequency Fc is set to the highest frequency at which the frequency characteristics of the output voltage of the DC/DC converter 4 can be appropriately simulated by the transfer function G1.
  • a frequency range R2 from the lowest frequency f(is) to the highest frequency f(ie) is the frequency range used to determine the coefficients of the transfer function G1, as explained in the flowchart of FIG. It is understood that frequency range R1 is wider than frequency range R2 (ie, frequency range R2 is included in frequency range R1).
  • FIG. 8 is a diagram showing a first example of comparison results between the transient response of the electric circuit and the transient response of the transfer function.
  • the vibration waveform confirmed in the area 81 in FIG. 8 shows the response waveform of the step input, and the vibration waveform confirmed in the area 82 in FIG. After that, it is a response waveform when the load is reduced in a ramp form from the maximum load to zero.
  • the load input conditions are the same for FIGS. 9 to 11 below.
  • the circled points indicate the transient response of the electric circuit without the low-pass filter, and the solid line indicates the transient response of the transfer function.
  • the "transient response of the electric circuit" in FIG. 4 shows the waveform of the output voltage output from the DC/DC converter 4 operating according to the control signal P1 when the gain of the device is 0.01 and the time constant is 0.01.
  • FIG. 9 is a diagram showing a second example of comparison results between the transient response of the electric circuit and the transient response of the transfer function. Referring to FIG. 9, the circled points indicate the transient response of the electric circuit without the low-pass filter, and the solid line indicates the transient response of the transfer function.
  • the "transient response of the electric circuit" in FIG. 4 shows the waveform of the output voltage output from the DC/DC converter 4 when the gain of the device is 0.03 and the time constant is 0.01.
  • the "transient response of the transfer function" in FIG. 9 is obtained by synthesizing the transfer function G1 of the main circuit and the transfer function G2 of the PI controller with the gain set to "0.03" and the time constant set to "0.01". It is a waveform obtained by transient calculation using the transfer function Gx.
  • FIG. 10 is a diagram showing a third example of comparison results between the transient response of the electric circuit and the transient response of the transfer function.
  • the circled dots indicate the transient response of the electrical circuit using the low-pass filter
  • the solid line indicates the transient response of the transfer function.
  • the cutoff frequency of the low-pass filter is the cutoff frequency Fc calculated according to the flowchart of FIG.
  • the output voltage passed through the low-pass filter 10 in the control device 8 in FIG. It is a waveform of the output voltage output from the DC/DC converter 4 when the time constant is 0.03 and the time constant is 0.01.
  • the "transient response of the transfer function" in FIG. 10 is obtained by synthesizing the transfer function G1 of the main circuit and the transfer function G2 of the PI controller with the gain set to "0.03" and the time constant set to "0.01". It is a waveform obtained by transient calculation using the transfer function Gx.
  • FIG. 11 is a diagram showing a fourth example of comparison results between the transient response of the electric circuit and the transient response of the transfer function.
  • the solid line indicates the transient response of the electrical circuit using the low-pass filter
  • the circular dots indicate the transient response of the transfer function.
  • the "transient response of the electric circuit" in FIG. 4 shows the waveform of the output voltage output from the DC/DC converter 4 when the gain of the controller is 0.06 and the time constant is 0.01.
  • the "transient response of the transfer function" in FIG. 11 is obtained by synthesizing the transfer function G1 of the main circuit and the transfer function G2 of the PI controller with the gain set to "0.06" and the time constant set to "0.01". It is a waveform obtained by transient calculation using the transfer function Gx.
  • FIG. 12 is a diagram showing a fifth example of comparison results between the transient response of the electric circuit and the transient response of the transfer function.
  • FIG. 12 describes the time step size used in the transient calculations.
  • FIG. 12 shows a comparison result when the time step size used for the transient calculation of the electric circuit is ⁇ t and the time step size used for the transient calculation of the transfer function is 1000 times ⁇ t. ing.
  • ⁇ t 1.0E-06.
  • the time step width can be made about 1000 times larger than in the transient calculation of the electric circuit.
  • FIG. 13 is a diagram showing a sixth example of comparison results between the transient response of the electric circuit and the transient response of the transfer function.
  • the circled dots indicate the transient response of the electrical circuit using the low-pass filter
  • the solid line indicates the transient response of the transfer function.
  • the time step size cannot be too large (eg, greater than 1.0E-06) in the transient calculations of electrical circuits.
  • the limit value of the time step width at which the transient response of the electric circuit does not cause oscillation is about "1.0E-06".
  • this time step width is used as a reference, in the transient calculation of the transfer function, it is estimated that the time step width can be made about 1000 times larger than in the transient calculation of the electric circuit.
  • FIG. 14 is a diagram for explaining a cutoff frequency setting method according to the modification of the present embodiment.
  • the cutoff frequency Fc is set to the highest frequency in the frequency range R2 used when calculating the transfer function G1 in the flowchart of FIG. This eliminates the need to execute the flow chart of FIG.
  • the cutoff frequency Fc is smaller than the setting method Z1 of the cutoff frequency Fc according to FIG. Therefore, if it is desired to simulate the transient response of an electric circuit using a transfer function at a frequency as high as possible, the setting method Z1 of the cutoff frequency Fc according to FIG. 6 should be selected.
  • a setting person may arbitrarily select one of the setting methods according to various conditions.
  • the setting method Z1 and the setting method Z2 have different oscillation conditions depending on the value of the control constant.
  • the control constants of the feedback control evaluated by the transfer function can be used in the electric circuit model.
  • control circuit 5 sets the low-pass It is configured to set the cutoff frequency Fc of the filter 10 .
  • control circuit 5 uses the setting method Z1 to set the cutoff frequency Fc to the highest frequency in the frequency range R1.
  • control circuit 5 uses setting method Z2 to set cutoff frequency Fc to the highest frequency in frequency range R2 included in frequency range R1.
  • Embodiment 1 a transfer function that simulates the frequency characteristics of the DC/DC converter 4 is generated, and the error between the frequency characteristics of the DC/DC converter 4 and the frequency characteristics of the transfer function is within the allowable range. Based on this, the cutoff frequency Fc is set. Thereby, the response of the DC/DC converter 4 by feedback control using the low-pass filter with the cutoff frequency Fc set can be matched with the response of the transfer function. Therefore, the control constant of the feedback control evaluated by the transfer function can be used as it is as the control constant in the electric circuit model of the DC/DC converter.
  • the transfer function transient calculation does not need to consider the switching frequency of the semiconductor circuit elements. Therefore, the transient calculation of the transfer function can have a larger time step size than the transient calculation of the electrical network, and the calculation time can be shortened.
  • Embodiment 2 describes a configuration for obtaining control constants of a feedback controller using machine learning.
  • FIG. 15 is a configuration diagram of a learning unit related to the DC/DC conversion device.
  • learning unit 250 included in control device 8 includes a data acquisition unit 251 , a model generation unit 255 , a learning result storage unit 260 and an action selection unit 262 .
  • the learning unit 250 may be dedicated hardware, or may be implemented by a processor that executes a program stored in the internal memory of the control device 8 .
  • the input parameters of the learning unit 250 are state variables.
  • the state variables are the maximum error between the output value (that is, the output voltage) of the DC/DC converter 4 shown in FIG. and control constants (eg, gain and time constants).
  • control constants eg, gain and time constants.
  • the target value is arbitrarily determined by the designer.
  • An output parameter of the learning unit 250 is a behavior value.
  • the action value is a control constant that maximizes future rewards.
  • the control circuit 5 outputs to the learning section 250 the maximum error between the output value of the DC/DC converter 4 and the target value at the time of load fluctuation when the control constant output from the learning section 250 is set in the feedback controller. do.
  • the data acquisition unit 251 acquires learning data including the maximum error between the output voltage of the DC/DC converter 4 and the target voltage and the control constant of the feedback controller selected by the action selection unit 262 .
  • the model generation unit 255 learns the optimum control constant that reduces the maximum error based on the learning data containing the maximum error and the control constant. That is, the model generator 255 uses the learning data to generate a trained model for estimating the optimum control constant from the maximum error.
  • supervised learning ie, agent
  • unsupervised learning ie, unsupervised learning
  • reinforcement learning an agent (ie, agent) in an environment observes the current state (ie, parameters of the environment) and decides what action to take.
  • the environment dynamically changes according to the actions of the agent, and the agent is rewarded according to the change in the environment.
  • the agent repeats this and learns the course of action that yields the most rewards through a series of actions.
  • Q-learning is known as a representative method of reinforcement learning.
  • action value Q of action a with the highest Q value at time t+1 is greater than the action value Q of action a executed at time t
  • action value Q is increased; Decrease the value Q.
  • the action value function Q(s, a) is updated so that the action value Q of action a at time t approaches the best action value at time t+1.
  • the best behavioral value in a certain environment is propagated to the behavioral value in the previous environment.
  • the model generation unit 255 includes the reward calculation unit 253 and the function update unit 254.
  • the reward calculation unit 253 calculates the reward r based on the reward standard that defines how the reward used for learning the learning model is increased or decreased, the control constant, and the maximum error.
  • a reward criterion is set to increase the reward if the maximum error decreases and decrease the reward if the maximum error increases. Specifically, when the obtained control constant is set in the state indicated by the obtained maximum error, the reward calculation unit 253 increases the reward if the maximum error decreases (for example, "+1" reward), and decrease the reward if the maximum error increases (eg, reward "-1").
  • the function updater 254 updates the function for determining the output parameter (that is, the control constant) of the learning unit 250 according to the reward calculated by the reward calculator 253 and outputs it to the learning result storage unit 260 .
  • the action-value function Q(s t , at ) is used as the function for calculating the control constants.
  • s t represents the state of the environment at time t
  • a t represents the action at time t.
  • the action selection unit 262 selects a control constant based on the action value function Q(s, a) that is the learning result of the learning unit 250 stored in the learning result storage unit 260 . Typically, the action selection unit 262 randomly selects control constants in the initial state. The action selection unit 262 selects a control constant using a known action selection method (for example, the ⁇ -greedy method) in the intermediate learning stage. The control constant selected by action selection section 262 becomes the output parameter of learning section 250 .
  • a known action selection method for example, the ⁇ -greedy method
  • the control circuit 5 calculates the maximum error when the control constant output from the learning unit 250 (that is, the control constant selected by the action selection unit 262) is set in the feedback controller, and outputs the maximum error to the learning unit 250. .
  • the data acquisition unit 251 acquires the maximum error and the control constant selected by the action selection unit 262 and outputs them to the model generation unit 255 .
  • the learning unit 250 repeatedly performs the above learning.
  • the function updating unit 254 updates the learning unit It is determined that the learning by 250 is finished.
  • the action selection unit 262 selects the control constant that yields the largest reward based on the converged action-value function Q(s t , a t ) (that is, the optimum control constant is output).
  • the learning result storage unit 260 stores a learned model for estimating the optimum control constant from the maximum error.
  • the time step width can be made larger than in the transient calculation of the electric circuit. Therefore, it is considered that the learning time can be reduced by outputting the maximum error calculated using the transfer function to the learning section 250 .
  • the state variable is the output value of the transfer function Gx obtained by synthesizing the transfer function G1 of the main circuit (that is, the DC/DC converter 4) and the transfer function G2 of the feedback controller that constitutes the feedback control amount calculation unit 14. and the maximum error from the target value, and the control constant of the feedback controller.
  • the output parameters of the learning unit 250 as action values are control constants.
  • the control circuit 5 calculates the maximum error between the output value of the transfer function Gx and the target value when the disturbance corresponding to the load fluctuation is applied to the learning unit. Output to 250.
  • the data acquisition unit 251 of the learning unit 250 acquires learning data including the maximum error between the output value of the transfer function Gx and the target value and the control constant of the feedback controller.
  • the subsequent processing flow of the learning unit 250 is the same as described above.
  • the time step width of the transient calculation of the transfer function is about 1000 times the time step width of the transient calculation of the electric circuit, it is thought that the learning time will be reduced to about 1/1000. For example, if the learning time is one day (that is, 1440 minutes) when using an electric circuit, the learning time when using a transfer function is 1.4 minutes, which can be significantly reduced.
  • the learning time for generating the trained model for calculating the control constant can be greatly shortened. can be done.
  • the configuration illustrated as the above-described embodiment is an example of the configuration of the present disclosure, and can be combined with another known technique. , can also be modified and configured. Further, in the above-described embodiment, the processing and configuration described in other embodiments may be appropriately adopted and implemented.

Abstract

L'invention concerne un dispositif de commande (8) d'un convertisseur CC/CC (4) qui comprend : un filtre passe-bas (10) qui exécute un traitement de filtre passe-bas sur une tension de sortie du convertisseur CC/CC (4) ; une unité de commande de fonctionnement (50) qui commande le fonctionnement du convertisseur CC/CC (4) de façon à amener la tension de sortie soumise au traitement de filtre passe-bas à suivre une valeur de commande ; une unité de génération (31) qui génère une première fonction de transfert pour le convertisseur CC/CC (4) de façon à simuler une caractéristique de fréquence de la tension de sortie du convertisseur CC/CC (4) ; et une unité de réglage (33) qui règle une fréquence de coupure du filtre passe-bas (10) sur la base d'une première plage de fréquences, la différence entre la caractéristique de fréquence de la tension de sortie du convertisseur CC/CC (4) et une caractéristique de fréquence de la première fonction de transfert étant inférieure ou égale à une valeur acceptable.
PCT/JP2022/008859 2022-03-02 2022-03-02 Dispositif de commande, dispositif de conversion cc/cc et procédé de commande WO2023166606A1 (fr)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007068253A (ja) * 2005-08-29 2007-03-15 Nissan Motor Co Ltd Ｄｃ−ｄｃコンバータの制御装置
US20110127980A1 (en) * 2009-12-01 2011-06-02 Industrial Technology Research Institute Voltage converting circuit and method thereof
JP2016516383A (ja) * 2013-03-06 2016-06-02 クゥアルコム・インコーポレイテッドＱｕａｌｃｏｍｍ Ｉｎｃｏｒｐｏｒａｔｅｄ パルス幅変調情報に基づく伝達関数生成

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007068253A (ja) * 2005-08-29 2007-03-15 Nissan Motor Co Ltd Ｄｃ−ｄｃコンバータの制御装置
US20110127980A1 (en) * 2009-12-01 2011-06-02 Industrial Technology Research Institute Voltage converting circuit and method thereof
JP2016516383A (ja) * 2013-03-06 2016-06-02 クゥアルコム・インコーポレイテッドＱｕａｌｃｏｍｍ Ｉｎｃｏｒｐｏｒａｔｅｄ パルス幅変調情報に基づく伝達関数生成

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