Voltage closed-loop control method and related equipment

Abstract

The invention discloses a voltage closed-loop control method and related equipment, and relates to the technical field of voltage control, and the method comprises the steps: obtaining the current voltage of a distribution box in a charging process; generating an initial control target value through a feedback control algorithm based on the deviation between the current voltage and a preset target voltage; generating a compensation value based on the current voltage and the state observation variable; generating a target control instruction based on the initial control target value and the compensation value; and adjusting the duty ratio of the boost loop according to the target control instruction to converge the voltage of the distribution box to a preset target voltage. According to the invention, through combination of the feedback control algorithm and the state observer, dynamic adaptive adjustment of voltage fluctuation is realized, the real-time response capability of disturbance such as power fluctuation of the charging pile is effectively improved, and voltage drop and charging protection caused by control delay are avoided.

Description

Technical Field

[0001] The present application relates to the field of voltage control technology, and in particular to a voltage closed-loop control method and related equipment. Background Art

[0002] In the field of boost charging for electric vehicles, charging pile stations are limited by total power allocation, and their actual maximum output power fluctuates dynamically and cannot be pre-calibrated. When the output power of the charging pile changes suddenly, traditional control schemes cannot identify power boundaries in real time, which can easily cause the input voltage of the distribution box to drop. Especially in high-power constant-current charging mode, if the electric drive system fails to synchronously adjust the virtual load characteristics, the output voltage of the charging pile will become unstable, and in severe cases, undervoltage protection will be triggered, interrupting charging. Therefore, a closed-loop voltage control method is urgently needed to solve the above-mentioned technical problems. Summary of the Invention

[0003] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention of this application is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] In a first aspect, the present application provides a voltage closed-loop control method, comprising:

[0005] Get the current voltage of the power distribution box during charging;

[0006] Based on the deviation between the current voltage and the preset target voltage, an initial control target value is generated through a feedback control algorithm;

[0007] Generate compensation value based on current voltage and state observation variables;

[0008] Generate target control instructions based on the initial control target value and the compensation value;

[0009] The duty cycle of the boost circuit is adjusted according to the target control instruction so that the voltage of the distribution box converges to the preset target voltage.

[0010] In some embodiments, generating an initial control target value through a feedback control algorithm based on a deviation between a current voltage and a preset target voltage includes:

[0011] Determining a voltage deviation value based on a deviation between the current voltage and a preset target voltage;

[0012] Based on the voltage deviation value, the proportional term output value is determined through proportional operation;

[0013] Based on the voltage deviation value, the integral term output value is determined by integration operation;

[0014] An initial control target value is determined based on a weighted sum of the proportional term output value and the integral term output value.

[0015] In some embodiments, the state observation variables include a first state variable, a second state variable, and a third state variable. Generating a compensation value based on the current voltage and the state observation variables includes:

[0016] determining an observation error value based on the current voltage and a first state variable, wherein the first state variable represents an estimated value of the current voltage;

[0017] Generate a nonlinear compensation amount based on the observed error value and a preset nonlinear function;

[0018] Determining a second state variable and a third state variable based on a nonlinear compensation amount and a preset observer gain parameter, wherein the second state variable represents an estimated value of a current voltage change rate, the third state variable represents an estimated value of a current voltage disturbance, and the second state variable and the third state variable form a coupling relationship based on a state coupling equation;

[0019] A compensation value is generated based on the third state variable and the system control gain parameter.

[0020] In some embodiments, generating a target control instruction based on the initial control target value and the compensation value includes:

[0021] Generate anti-disturbance control quantity based on the calculation results of the initial control target value and the compensation value;

[0022] Based on the preset control limit range, the anti-disturbance control amount is limited to determine the limit control amount;

[0023] Based on the determined limit control amount, a target control instruction is generated.

[0024] In some embodiments, the preset control clipping range includes a duty cycle upper threshold and a duty cycle lower threshold. Based on the preset control clipping range, the anti-disturbance control amount is clipped to determine the clipping control amount, including:

[0025] When the anti-disturbance control amount is greater than or equal to the duty cycle upper limit threshold, the duty cycle upper limit threshold is output as the limit control amount;

[0026] When the anti-disturbance control amount is less than the duty cycle lower limit threshold, the duty cycle lower limit threshold is output as the limit control amount.

[0027] In some embodiments, adjusting the duty cycle of the boost circuit according to the target control instruction so that the voltage of the power distribution box converges to a preset target voltage includes:

[0028] Determine the duty cycle adjustment amount based on the target control instruction;

[0029] Determining an updated duty cycle based on the duty cycle adjustment amount and the current duty cycle;

[0030] generating a switching device driving signal according to the updated duty cycle;

[0031] Based on the switch device drive signal, the switching state of the boost circuit is controlled to make the voltage of the distribution box converge to the preset target voltage.

[0032] In some embodiments, the process of determining the preset target voltage includes:

[0033] Obtain the current maximum output power and target charging current of the charging pile, where the target charging current is determined based on the maximum allowable charging current of the battery pack and the current requested by the vehicle controller;

[0034] Based on the principle of conservation of energy, the current maximum output power and target charging current are calculated to generate a preset target voltage.

[0035] In a second aspect, the present application proposes a voltage closed-loop control device, comprising:

[0036] A voltage acquisition unit is used to obtain the current voltage of the power distribution box during charging;

[0037] The control output unit generates an initial control target value through a feedback control algorithm based on the deviation between the current voltage and the preset target voltage;

[0038] A compensation determination unit generates a compensation value based on the current voltage and the state observation variable;

[0039] An instruction generating unit generates a target control instruction based on the initial control target value and the compensation value;

[0040] The voltage adjustment unit is used to adjust the duty cycle of the boost circuit according to the target control instruction so that the voltage of the distribution box converges to a preset target voltage.

[0041] In a third aspect, an electronic device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the voltage closed-loop control method of any one of the first aspects when executing the computer program stored in the memory.

[0042] In a fourth aspect, the present application proposes a computer-readable storage medium storing a computer program, which implements the voltage closed-loop control method of any one of the first aspects when executed by a processor.

[0043] In summary, the present application obtains the current voltage of the distribution box and generates an initial control target value based on its deviation from the target voltage, generates a compensation value in combination with the state observation variable to form a target control instruction, and then adjusts the duty cycle of the boost circuit to make the voltage converge to the target value. The present application realizes dynamic adaptive regulation of voltage fluctuations by combining the feedback control algorithm with the state observer, effectively improving the system's real-time response capability to disturbances such as charging pile power fluctuations, and avoiding voltage drops and charging protection caused by control delays; at the same time, the state observer estimates and compensates for system disturbances, enhancing the stability and anti-interference capability of the closed-loop control, ensuring that the distribution box voltage converges to the preset target value quickly and accurately, improving the control accuracy and reliability of the boost charging process, and solving the problems of high control delay, complex parameter adjustment, and output fluctuation in the prior art.

[0044] The voltage closed-loop control method proposed in this application, and other advantages, objectives and features of this application will be reflected in part through the following description, and in part will be understood by technical personnel in this field through research and practice of this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present description. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0046] Figure 1 A schematic flow chart of a voltage closed-loop control method provided in an embodiment of the present application;

[0047] Figure 2 A schematic structural diagram of a voltage closed-loop control device provided in an embodiment of the present application;

[0048] Figure 3 A schematic diagram of the structure of a voltage closed-loop control electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products or devices. The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments.

[0050] See also Figure 1 , is a flow chart of a voltage closed-loop control method provided in an embodiment of the present application, which may specifically include:

[0051] S110, obtaining the current voltage of the power distribution box during charging;

[0052] For example, during the boost charging process, the distribution box serves as the core hub connecting the charging pile and the battery pack, and its input voltage directly reflects the actual output state of the charging pile. This voltage value represents the energy interaction balance point between the charging pile and the vehicle's virtual load, and is the core physical quantity for detecting power fluctuations and voltage drops. Due to the dynamic changes in site power distribution (such as the start and stop of adjacent charging piles resulting in the redistribution of total power), the maximum output capacity of the charging pile will fluctuate in real time, and the distribution box voltage becomes the most sensitive observation indicator for identifying power boundaries.

[0053] This step uses a voltage sensor (such as a Hall effect sensor or differential sampling circuit) to collect the voltage signal at the input of the power distribution box in real time. To improve sampling reliability, a dual denoising mechanism, combining RC low-pass filtering with sliding mean filtering, is used to accurately capture voltage transient characteristics even in a noisy charging environment, ensuring the closed-loop control system's ability to respond to rapid disturbances. The voltage signal is converted by the ADC module and transmitted to the microcontroller, serving as the basic input for subsequent closed-loop control.

[0054] S120, generating an initial control target value through a feedback control algorithm based on a deviation between the current voltage and a preset target voltage;

[0055] Exemplarily, this step involves converting voltage deviations into control commands through a feedback control algorithm. Essentially, this involves using proportional-integral (PI) control logic to generate an initial control target value based on the deviation between the real-time sampled voltage of the distribution box and the preset target voltage. Specifically, the instantaneous deviation between the current voltage and the target voltage is calculated. A proportional operation is then used to generate a fast adjustment component that responds in real time to the deviation amplitude. An integral operation is then used to accumulate historical deviations to eliminate steady-state errors. Finally, the two outputs are weighted to form the initial control variable.

[0056] A direct mapping relationship between voltage deviation and control output is established, providing the basic control variable for subsequent anti-disturbance compensation. The proportional component ensures the system's rapid response to voltage fluctuations, while the integral component is dedicated to eliminating persistent deviations. Together, the two form the closed-loop control framework and provide the input reference for subsequent disturbance observation and compensation.

[0057] S130, generating a compensation value based on the current voltage and state observation variables;

[0058] Exemplarily, this step uses a state observer (ESO) to dynamically estimate the system disturbance and generate a compensation value to improve the anti-interference ability of the closed-loop control. Specifically, the observation error is first calculated using the current measured voltage and the voltage estimate output by the observer (the first state variable), and a nonlinear compensation amount is generated based on the error and a preset nonlinear function; then the state variables (including the voltage change rate estimate and the disturbance estimate) are updated through the observer gain parameter, wherein the second state variable and the third state variable are related through a coupling equation to jointly characterize the internal and external disturbance characteristics of the system. Finally, a compensation value is generated based on the third state variable (the total disturbance estimate) and the system control gain, which is used to correct the previous stage control output in real time.

[0059] The above content uniformly models uncertain factors such as charging pile power fluctuations and load changes as system disturbances. Through the real-time estimation and compensation mechanism of the state observer, the system's ability to suppress dynamic disturbances is enhanced, providing key compensation for voltage stability control.

[0060] S140, generating a target control instruction based on the initial control target value and the compensation value;

[0061] For example, the initial control target value generated by the PI controller and the compensation value dynamically estimated and output by the ESO are combined to form the target control instruction that ultimately acts on the boost circuit. This is typically done by calculating the difference between the initial control target value and the compensation value to produce an anti-disturbance control variable designed to actively offset system disturbances. To ensure safe and stable system operation, this anti-disturbance control variable is limited within a preset control limit range (usually corresponding to the physical limit of the duty cycle), ultimately outputting a safe limit control variable as the target control instruction.

[0062] By combining the initial control target value, which reflects the basic deviation adjustment requirements, with a compensation value that characterizes the total internal and external disturbances of the system (such as sudden changes in charging pile power), the target control command generated in this step has enhanced anti-interference capabilities. This combined mechanism enables the system to proactively anticipate and offset the impact of disturbances, effectively overcoming the response delay caused by disturbances in traditional control. This ensures that the distribution box voltage converges to the preset target voltage more quickly and smoothly in complex and dynamic charging environments, fundamentally avoiding charging interruption protection triggered by severe voltage drops.

[0063] S150. Adjust the duty cycle of the boost circuit according to the target control instruction so that the voltage of the distribution box converges to a preset target voltage.

[0064] For example, the target control command is essentially the set value for the boost circuit's duty cycle. This command directly regulates the boost circuit's energy transfer efficiency by changing the ratio of the power switch's on and off time. According to the basic principles of the boost circuit, increasing the duty cycle prolongs the inductor's energy storage time and increases the output voltage; decreasing the duty cycle reduces the output voltage. This regulation directly changes the distribution of the charging pile's output power between the virtual load and the battery pack, and is the ultimate execution mechanism for maintaining voltage stability in the distribution box.

[0065] After the target control instruction drives the duty cycle to be updated, the boost circuit will operate according to the new duty cycle, so that the actual voltage of the distribution box approaches the preset target voltage. If the actual voltage still deviates from the target value (for example, due to continuous fluctuations in the power of the charging pile), the deviation will generate a new target instruction again through the closed-loop control loop (PI+ESO) of steps S110-S140 to further adjust the duty cycle. This cycle will iterate until the distribution box voltage dynamically converges to the preset target range, forming a complete logical closed loop from detection, calculation, execution and feedback. This process ensures that the system can continue to resist external disturbances and maintain voltage stability.

[0066] In summary, the embodiments of the present application obtain the current voltage of the distribution box in real time and, based on its deviation from the preset target voltage, use a proportional-integral feedback control algorithm to generate an initial control target value. Simultaneously, a state observer is used to dynamically estimate internal and external disturbances in the system and generate compensation values. The two are then combined to form a target control instruction. Ultimately, the voltage of the distribution box is rapidly converged to the target value by adjusting the duty cycle of the boost circuit. The embodiments of the present application effectively solve the problem of voltage drops caused by dynamic fluctuations in the output power of the charging pile, thereby improving the stability and reliability of the boost charging system.

[0067] Specifically, the synergy between the feedback control algorithm and the state observer enables dynamic adaptive regulation of voltage fluctuations. The proportional operation link in the feedback control ensures the system's ability to respond quickly to voltage deviations, while the integral operation link continuously eliminates steady-state errors. The state observer estimates the voltage change rate and disturbance amount (such as sudden changes in charging pile power, load changes, etc.) in real time through nonlinear functions and gain parameters, and converts the total disturbance amount into a compensation value, thereby actively offsetting the impact of the disturbance on the system. This mechanism greatly improves the system's ability to suppress disturbances in complex charging environments in real time, overcomes the voltage instability problem caused by response delays in traditional control schemes, and avoids triggering undervoltage protection and interrupting charging.

[0068] Furthermore, limiting processing during target control command generation (based on upper and lower duty cycle thresholds) ensures safe system operation and prevents output commands from exceeding the effective range of the physical actuators. A mechanism for determining the preset target voltage, dynamically calculating the charging station's current maximum output power and target charging current (combining the battery pack's carrying capacity with the vehicle's requirements) based on the principle of energy conservation, further enhances the system's adaptability to power boundary fluctuations and reduces reliance on manual calibration.

[0069] In summary, this embodiment achieves high-precision, robust control of the distribution box voltage in boost charging scenarios through the deep integration of closed-loop control and disturbance observation compensation. This not only addresses existing issues such as high control latency, complex parameter adjustment, and large output fluctuations, but also improves the safety and efficiency of the charging process, providing reliable technical support for high-power charging scenarios for electric vehicles.

[0070] In some examples, generating an initial control target value through a feedback control algorithm based on a deviation between a current voltage and a preset target voltage includes:

[0071] Determining a voltage deviation value based on a deviation between the current voltage and a preset target voltage;

[0072] Based on the voltage deviation value, the proportional term output value is determined through proportional operation;

[0073] Based on the voltage deviation value, the integral term output value is determined by integration operation;

[0074] An initial control target value is determined based on a weighted sum of the proportional term output value and the integral term output value.

[0075] For example, the current voltage sampling value V of the distribution box collected in real time in step S110 is obtained. actual (k), where k represents the current sampling moment. At the same time, the preset target voltage value V is obtained. target . Preset target voltage V targetIt is the expected stable voltage value calculated based on the energy conservation principle according to the current maximum output power of the charging pile and the target charging current (the target charging current is determined by the maximum allowable charging current of the battery pack and the current requested by the vehicle controller). Calculate the current voltage sampling value V actual (k) and the preset target voltage V target The deviation between the actual voltage state and the target state is calculated to obtain the voltage deviation value e1(k). The deviation value e1(k) quantifies the degree to which the actual voltage state of the current distribution box deviates from the desired target state and is the basic input for subsequent control operations.

[0076] The voltage deviation value e1(k) calculated based on the above steps is processed through the proportional operation link. The proportional operation link has a preset proportional gain coefficient K p . Proportional gain coefficient K p It is a fixed parameter or adjustable parameter that is pre-calibrated according to the system dynamic response characteristics and stability requirements. The output value of the proportional operation link, that is, the proportional term output value ΔP(k), is determined by the voltage deviation value e1(k) and the proportional gain coefficient K p The calculation formula is: ΔP(k)=K p ×[e1(k)-e1(k-1)]. The proportional term output value ΔP(k) is proportional to the difference between the current voltage deviation e1(k) and the voltage deviation e1(k-1) at the previous moment. Its function is to provide a fast response component to the voltage deviation amplitude. Proportional gain K p The size of K directly affects the system's response speed to voltage fluctuations. p The larger the value, the faster the system responds, but too large K p It may cause system overshoot or oscillation.

[0077] The voltage deviation value e1(k) calculated based on the above steps is processed through the integral operation link. The integral operation link has a preset integral gain coefficient K i . Integral gain coefficient K i It is also a fixed parameter or adjustable parameter set in advance according to the system's need to eliminate steady-state errors and stability calibration. The integral output value ΔI(k) is determined by the integral gain coefficient K i Determined by the current voltage deviation value e1(k), the calculation formula is expressed as:

[0078] ΔI(k)=K i ×e1(k)

[0079] The proportional term output value ΔP(k) and the integral term output value ΔI(k) are weighted and summed to generate the initial control target value u0(k). The formula for the weighted summation operation is: u0(k) = ΔP(k) + ΔI(k). This formula shows that the weight coefficients of the proportional term and the integral term are preset to 1 in this specific implementation, forming a standard PI (proportional-integral) controller output structure. The initial control target value u0(k) is the basic control variable calculated by the feedback control algorithm based on the current voltage deviation and its historical accumulation. This control variable is intended to drive the system to reduce the current voltage deviation e1(k), and its numerical value and direction directly correspond to the intensity of the control action that needs to be applied to the boost circuit. This initial control target value u0(k) provides a benchmark for subsequent steps based on the deviation adjustment requirements.

[0080] In summary, the embodiment of the present application accurately calculates the voltage deviation value e1(k) and uses the preset proportional gain coefficient K p and integral gain coefficient K i , respectively generating a proportional term output value ΔP(k) with fast response characteristics and an integral term output value ΔI(k) with the ability to eliminate steady-state errors, and finally obtaining the initial control target value u0(k) through weighted synthesis. This design establishes a direct and clear mapping relationship from voltage deviation to control output. The proportional link K of the embodiment of this application p Ensure that the system can respond immediately to voltage fluctuations caused by dynamic disturbances such as sudden changes in charging pile power, effectively suppress the rapid drop or rise trend of voltage, and reduce the risk of voltage instability due to control delay; the integral link K i By continuously accumulating and correcting historical deviations, the steady-state voltage error caused by various factors (such as measurement noise, slight model mismatch, constant disturbance, etc.) can be systematically eliminated, ensuring that the distribution box voltage can eventually accurately and stably converge to the preset target voltage V target , improving the control accuracy; the embodiment of the present application provides a stable, reliable and responsive basic control quantity u0(k) for the entire voltage closed-loop control system, laying a solid foundation for subsequent disturbance compensation in combination with a state observer, and jointly improving the overall control performance and robustness of the system in a dynamic charging environment.

[0081] In some examples, the state observation variables include a first state variable, a second state variable, and a third state variable, and generating a compensation value based on the current voltage and the state observation variables includes:

[0082] Determining an observation error value based on the current voltage and a first state variable, wherein the first state variable represents an estimated value of the current voltage;

[0083] Generate a nonlinear compensation amount based on the observed error value and a preset nonlinear function;

[0084] Determining a second state variable and a third state variable based on a nonlinear compensation amount and a preset observer gain parameter, wherein the second state variable represents an estimated value of a current voltage change rate, the third state variable represents an estimated value of a current voltage disturbance, and the second state variable and the third state variable form a coupling relationship based on a state coupling equation;

[0085] A compensation value is generated based on the third state variable and the system control gain parameter.

[0086] For example, the real-time sampling voltage V of the distribution box at the current moment is obtained. actual (k), and at the same time read the first state variable z1(k) output by the state observer. The first state variable z1(k) represents the estimated value of the current voltage (i.e. the distribution box voltage predicted by the observer). By calculating the measured voltage V actual The deviation between the estimated voltage z1(k) and the observed error value e(k) is determined by the mathematical expression:

[0087] e(k)=z1(k)-V actual (k)

[0088] This error value e(k) quantifies the deviation between the actual voltage and the voltage estimated by the observer and is the basic input for subsequent disturbance estimation.

[0089] The nonlinear compensation value e is generated based on the observed error value e(k) and the preset nonlinear function fal(e(k), α, δ) fal (k), the function is defined as:

[0090]

[0091] Where α is a nonlinear factor (0 < α < 1) that controls the curvature of the function; smaller values ​​indicate stronger nonlinearity. δ is the linear interval threshold, defining the boundary for piecewise smoothing of the error. The nonlinear function improves the robustness of the observer under complex perturbations by enhancing sensitivity to small errors and suppressing overshoots of large errors.

[0092] Using the nonlinear compensation e fal (k) and the preset observer gain parameters β1, β2, β3, update the second state variable z2(k+1) and the third state variable z3(k+1), and the state variable update equation is as follows:

[0093] z1(k+1)=z1(k)+T·[z2(k)-β1·e(k)]

[0094] z2(k+1)=z2(k)+T·[z3(k)-β2·e fal (k)+b0·u(k)]

[0095] z3(k+1)=z3(k)+T·[-β3·e fal (k)]

[0096] Here, z2(k) represents the estimated voltage rate of change (i.e., the first-order derivative of voltage); z3(k) represents the estimated current voltage disturbance (integrating internal nonlinear dynamics and external disturbances such as charging power fluctuations); b0 is the system control gain parameter (indicating the amplification factor of the control input on the system); T is the control cycle time; u(k) is the control input (duty cycle command); β1, β2, and β3 are observer gains that adjust the state convergence speed (larger values ​​result in faster response, but oscillation must be avoided). The second state variable is driven by the third state variable, and the two are coupled through the state equation to jointly describe the dynamic characteristics of the system disturbance.

[0097] Based on the updated third state variable z3(k+1) (total disturbance estimate) and the system control gain parameter b0, the compensation value comp(k+1) is generated. The calculation formula is:

[0098]

[0099] This compensation value directly offsets the influence of total disturbance inside and outside the system on the control output, making the closed-loop system have active anti-interference capability.

[0100] In summary, in the embodiment of the present application, the voltage change rate and the total disturbance are tracked in real time through nonlinear functions and gain parameters, and the uncertain factors such as charging pile power fluctuation and load jump are uniformly modeled as an expanded state, which significantly improves the system's perception accuracy of disturbances. The segmented design of the nonlinear function responds smoothly in the small error range to avoid observer oscillation caused by high-frequency noise; it enhances sensitivity in the large error range to ensure rapid convergence. The coupling equation establishes a dynamic relationship between the disturbance and the voltage change rate, so that the observer can capture internal nonlinear dynamics and external disturbances at the same time, improving the adaptability of the model. The compensation value acts directly on the control command, actively offsets the influence of the disturbance, reduces the delay of traditional feedback control, and avoids voltage drop triggering protection interruption. The observer gain and nonlinear parameters can be uniformly adjusted through the system bandwidth to reduce the calibration complexity. Through the real-time disturbance estimation and compensation of the state observer, the system can still maintain the rapid and stable convergence of the distribution box voltage in the scenario of dynamic fluctuation of charging pile power, solving the core problems of high control delay and weak anti-interference ability.

[0101] In some examples, generating a target control instruction based on the initial control target value and the compensation value includes:

[0102] Generate anti-disturbance control quantity based on the calculation results of the initial control target value and the compensation value;

[0103] The preset control limit range includes a duty cycle upper threshold and a duty cycle lower threshold. Based on the preset control limit range, the anti-disturbance control amount is limited, and the limit control amount is determined, including:

[0104] When the anti-disturbance control amount is greater than or equal to the duty cycle upper limit threshold, the duty cycle upper limit threshold is output as the limit control amount;

[0105] When the anti-disturbance control amount is less than the duty cycle lower limit threshold, the duty cycle lower limit threshold is output as the limit control amount.

[0106] Based on the determined limit control amount, a target control instruction is generated.

[0107] Exemplarily, the initial control target value generated by the feedback control algorithm and the compensation value output by the state observer are obtained. The anti-disturbance control quantity is generated by calculating the algebraic sum of the initial control target value and the compensation value, wherein the initial control target value is the basic control quantity calculated by the feedback control algorithm based on the deviation between the current voltage of the distribution box and the target voltage, which is used to respond to the regulation demand of the voltage deviation; the compensation value is the total disturbance estimate of the system (including charging pile power fluctuation, load jump, etc.) generated in real time by the state observer. The compensation value can be positive or negative. A positive compensation value indicates that the positive direction disturbance that hinders voltage stability needs to be offset, and a negative compensation value indicates that the reverse direction disturbance that causes voltage reduction needs to be offset. The anti-disturbance control quantity combines the dual goals of voltage deviation regulation and disturbance suppression to form a preliminary control instruction.

[0108] The preset control limit range is defined by an upper and lower duty cycle threshold, which correspond to the safe operating boundaries of the power switching devices (such as insulated gate bipolar transistors or metal-oxide semiconductor field-effect transistors) in the boost circuit. The anti-disturbance control variable is limited according to the preset thresholds. If the anti-disturbance control variable is greater than or equal to the upper duty cycle threshold, the upper duty cycle threshold is output as the limiter to prevent overvoltage damage to the power devices due to excessively high duty cycles. If the anti-disturbance control variable is less than or equal to the lower duty cycle threshold, the lower duty cycle threshold is output as the limiter to prevent boost function failure due to excessively low duty cycles. If the anti-disturbance control variable is between the upper and lower duty cycle thresholds, the anti-disturbance control variable is directly output as the limiter. This process ensures that the control variable is strictly constrained within the hardware executable range, ensuring safe and stable system operation. The limiter is used as the target control instruction, which physically represents the target duty cycle setpoint for the boost circuit. This instruction is transmitted via the bus to the driver module of the boost circuit, directly controlling the on-time and off-time ratios of the switching devices. The generation of target control instructions marks the transition of control logic from the calculation layer to the execution layer, providing precise input for dynamic adjustment of duty cycle.

[0109] In summary, the embodiment of the present application generates a control quantity with active anti-disturbance capability by integrating the basic deviation adjustment function of the initial control target value and the disturbance suppression function of the compensation value, and performs safety limiting in combination with the preset duty cycle threshold, and finally outputs a stable and reliable target control instruction. The state observer predicts and compensates for disturbances such as charging pile power fluctuations in real time, reduces the risk of voltage drop caused by response delay in traditional proportional-integral control, and avoids false triggering of undervoltage protection and interruption of charging; the duty cycle upper and lower threshold mechanisms ensure that the control instructions do not exceed the physical tolerance limit of the power device, prevent device overload damage, and improve system reliability; dual threshold constraints suppress sudden changes in control instructions, avoid output voltage oscillations caused by overshoot, and ensure that the distribution box voltage converges smoothly to the target value in a complex charging environment. The embodiment of the present application improves the adaptability of the boost charging system to dynamic power fluctuations, and provides high-robustness control guarantees for electric vehicle power charging scenarios.

[0110] In some examples, adjusting the duty cycle of the boost circuit according to the target control instruction so that the voltage of the power distribution box converges to a preset target voltage includes:

[0111] Determine the duty cycle adjustment amount based on the target control instruction;

[0112] Determining an updated duty cycle based on the duty cycle adjustment amount and the current duty cycle;

[0113] generating a switching device driving signal according to the updated duty cycle;

[0114] Based on the switching device driving signal, the switching state of the boost circuit is controlled to make the voltage of the distribution box converge to the preset target voltage.

[0115] Exemplarily, the target control instruction is read, which is a safe duty cycle setting value after limiting (called the target duty cycle). At the same time, the actual duty cycle of the boost circuit is obtained (called the current duty cycle). The difference between the target duty cycle and the current duty cycle is calculated to generate a duty cycle adjustment value. The numerical value of the adjustment value indicates the magnitude of the duty cycle to be adjusted, and the positive and negative signs indicate the direction of adjustment (positive values ​​indicate that the duty cycle needs to be increased, and negative values ​​indicate that the duty cycle needs to be decreased).

[0116] The duty cycle adjustment is added to the current duty cycle to generate an updated duty cycle. The update process uses an incremental adjustment strategy to ensure continuous and smooth duty cycle changes. The updated duty cycle is strictly constrained between a preset upper and lower duty cycle threshold. If the calculated result exceeds the upper threshold, the upper threshold is used as the updated duty cycle; if the calculated result is below the lower threshold, the lower threshold is used as the updated duty cycle; if the calculated result is within the threshold range, the calculated result is used directly. This constraint prevents the power switching device from exceeding the safe operating area.

[0117] Based on the updated duty cycle, the pulse width modulation module generates the corresponding switching device drive signal. Specifically, the duty cycle of the drive signal is equal to the updated duty cycle, and the frequency is consistent with the switching frequency of the boost circuit design. The high-level period of the drive signal corresponds to the on-state of the power switching device, and the low-level period corresponds to the off-state. The voltage amplitude and rise or fall time of the drive signal meet the driving requirements of the power device. The drive signal is transmitted to the driver chip through an electrical isolation circuit to ensure safe isolation between the control and power stages.

[0118] The generated switching device drive signal is applied to the power switching device of a boost circuit (typically a boost circuit topology). Voltage regulation is achieved by controlling its on / off state. When the drive signal is high, the switch conducts, and the power output from the charging pile is stored in the inductor. When the drive signal is low, the switch turns off, and the inductor releases the stored energy, which is superimposed with the charging pile input power and transmitted to the battery pack via a diode. Increasing the duty cycle prolongs the inductor's energy storage time, thereby increasing the distribution box voltage; decreasing the duty cycle shortens the energy storage time and reduces the distribution box voltage. By dynamically adjusting the duty cycle, the actual distribution box voltage approaches the preset target voltage. This regulation process changes the distribution relationship between the charging pile output power between the virtual load (simulating the electric drive system) and the battery pack, forcing the actual distribution box input voltage to approach the preset target voltage. If the voltage still does not converge (due to continuous disturbances), a new target command is iteratively generated through the closed-loop control circuit (S110–S140) until dynamic stability is within the allowable error range.

[0119] In summary, the embodiment of the present application converts the target control instruction into the actual adjustment action of the duty cycle, adopts an incremental update strategy to ensure that the adjustment process is continuous and smooth, and effectively avoids voltage oscillations caused by step jumps. The precise generation and execution of the switching device drive signal directly regulates the energy transmission efficiency of the boost circuit, so that the distribution box voltage quickly converges to the target value. When an external disturbance (such as continuous fluctuations in the power of the charging pile) causes the voltage to deviate again, the closed-loop control system detects the deviation in real time and regenerates the target instruction to form a dynamic adjustment closed loop. This mechanism continuously resists the influence of disturbances, avoids interruption of charging due to severe voltage drop triggering undervoltage protection, and improves the stability and safety of the high-power boost charging system.

[0120] In some examples, the process of determining the preset target voltage includes:

[0121] Obtain the current maximum output power and target charging current of the charging pile, where the target charging current is determined based on the maximum allowable charging current of the battery pack and the current requested by the vehicle controller;

[0122] Based on the principle of conservation of energy, the current maximum output power and target charging current are calculated to generate a preset target voltage.

[0123] For example, the current maximum output power of the charging pile is obtained from the charging pile through a real-time communication interface (such as PLC or CAN bus). This power value is dynamically determined by the total power allocation strategy of the charging pile station. For example, power fluctuations caused by the start and stop of adjacent charging piles or grid scheduling cannot be pre-calibrated. At the same time, the determination of the target charging current requires the integration of two types of constraints: one is the maximum allowable charging current of the battery pack provided by the battery management system (BMS) (calculated in real time by parameters such as cell temperature and state of charge); the other is the request current generated by the vehicle controller (VCU) according to driving needs. The target charging current takes the minimum of the two to ensure that the charging current is always within the safe carrying range of the battery and responds to the energy management needs of the vehicle.

[0124] In a boost charging topology, the distribution box (DBO) acts as an energy transfer node between the charging pile and the battery pack. Its input power equals the charging pile's output power, and its output power equals the battery pack's input power (ignoring conversion losses). According to the principle of conservation of energy, the charging pile's current maximum output power is equal to the power output from the DBO to the battery pack. This voltage represents the target value required to maintain DBO voltage stability within the current power boundary and charging current constraints, ensuring that the target voltage dynamically adapts to the charging pile's current maximum output capacity and the battery's charging requirements.

[0125] In summary, the embodiment of the present application dynamically obtains the real-time maximum output power of the charging pile, and determines the target charging current by combining the battery safety limit and the needs of the whole vehicle, and automatically generates a preset target voltage based on the principle of conservation of energy, thereby improving the system's ability to adapt to site power fluctuations. Traditional solutions rely on fixed calibration values ​​or manual presets, and are unable to respond to dynamic mutations in the power of the charging pile (such as the start and stop of adjacent piles causing redistribution of total power), and are prone to control failures due to mismatches between the target voltage and the actual power boundary. The embodiment of the present application uses real-time communication to ensure that the target voltage always accurately matches the current available power and battery status, avoiding the risk of voltage drops caused by unreasonable target setting from the source, while reducing dependence on manual calibration and enhancing the robustness of the system in complex charging scenarios.

[0126] See also Figure 2 , is a schematic structural diagram of a voltage closed-loop control device provided in an embodiment of the present application, comprising:

[0127] The voltage acquisition unit 21 is used to obtain the current voltage of the power distribution box during charging;

[0128] The control output unit 22 generates an initial control target value through a feedback control algorithm based on the deviation between the current voltage and the preset target voltage;

[0129] The compensation determination unit 23 generates a compensation value based on the current voltage and the state observation variable;

[0130] The instruction generation unit 24 generates a target control instruction based on the initial control target value and the compensation value;

[0131] The voltage adjustment unit 25 is used to adjust the duty cycle of the boost circuit according to the target control instruction so that the voltage of the distribution box converges to a preset target voltage.

[0132] See also Figure 3 An embodiment of the present application also provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor. When the processor 320 executes the computer program 311, the steps of any method of voltage closed-loop control are implemented.

[0133] Since the electronic device introduced in this embodiment is a device used to implement a voltage closed-loop control device in the embodiment of the present application, based on the method introduced in the embodiment of the present application, technical personnel in this field can understand the specific implementation of the electronic device of this embodiment and its various variations. Therefore, how the electronic device implements the method in the embodiment of the present application is no longer introduced in detail here. As long as the equipment used by technical personnel in this field to implement the method in the embodiment of the present application falls within the scope of protection to be protected by this application.

[0134] During the specific implementation process, when the computer program 311 is executed by the processor, any implementation method of the embodiments corresponding to the first aspect can be implemented.

[0135] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0136] Those skilled in the art will appreciate that embodiments of the present application may provide methods, systems, or computer program products. Thus, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-readable storage media containing computer-readable program code.

[0137] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0138] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0139] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0140] The present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device executes Figure 1 The flowchart of a voltage closed-loop control method in the corresponding embodiment.

[0141] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium can be a magnetic medium, an optical medium or a semiconductor medium, etc.

[0142] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0143] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0144] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0145] In addition, the functional units in the various embodiments of the present application may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The above-mentioned integrated units may be implemented in the form of hardware and / or software functional units.

[0146] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disk.

[0147] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0148] Although the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of this specification.

[0149] Obviously, those skilled in the art may make various changes to this specification without departing from the spirit and scope of this specification. Thus, if such changes to this specification fall within the scope of the claims and their equivalents, this specification is intended to include such changes.

Claims

1. A voltage closed-loop control method, characterized in that: include: Get the current voltage of the power distribution box during charging; Based on the deviation between the current voltage and the preset target voltage, generating an initial control target value through a feedback control algorithm; generating a compensation value based on the current voltage and the state observation variable; generating a target control instruction based on the initial control target value and the compensation value; The duty cycle of the boost circuit is adjusted according to the target control instruction so that the voltage of the distribution box converges to the preset target voltage.

2. The method according to claim 1, characterized in that The generating an initial control target value by a feedback control algorithm based on the deviation between the current voltage and the preset target voltage includes: Determining a voltage deviation value based on a deviation between the current voltage and the preset target voltage; Based on the voltage deviation value, determining a proportional term output value through a proportional operation; Determining an integral term output value through an integral operation based on the voltage deviation value; The initial control target value is determined based on a weighted sum of the proportional term output value and the integral term output value.

3. The method according to claim 1, characterized in that The state observation variables include a first state variable, a second state variable, and a third state variable. Generating a compensation value based on the current voltage and the state observation variables includes: determining an observation error value based on the current voltage and the first state variable, wherein the first state variable represents an estimated value of the current voltage; generating a nonlinear compensation amount based on the observed error value and a preset nonlinear function; Determining the second state variable and the third state variable based on the nonlinear compensation amount and a preset observer gain parameter, wherein the second state variable represents an estimated value of a current voltage change rate, the third state variable represents an estimated value of a current voltage disturbance, and the second state variable and the third state variable form a coupling relationship based on a state coupling equation; The compensation value is generated based on the third state variable and a system control gain parameter.

4. The method according to claim 1, wherein The generating a target control instruction based on the initial control target value and the compensation value includes: generating an anti-disturbance control amount based on a calculation result of the initial control target value and the compensation value; Based on a preset control limit range, the anti-disturbance control amount is limited to determine the limit control amount; Based on the determined limit control amount, the target control instruction is generated.

5. The method according to claim 4, characterized in that The preset control limit range includes a duty cycle upper limit threshold and a duty cycle lower limit threshold. The limiting processing of the anti-disturbance control amount based on the preset control limit range to determine the limiting control amount includes: When the anti-disturbance control amount is greater than or equal to the duty cycle upper limit threshold, outputting the duty cycle upper limit threshold as the limit control amount; When the anti-disturbance control amount is less than the duty cycle lower limit threshold, the duty cycle lower limit threshold is output as the limit control amount.

6. The method according to claim 1, wherein The step of adjusting the duty cycle of the boost circuit according to the target control instruction so that the voltage of the power distribution box converges to the preset target voltage includes: determining a duty cycle adjustment amount based on the target control instruction; Determining an updated duty cycle based on the duty cycle adjustment amount and the current duty cycle; generating a switching device drive signal according to the updated duty cycle; Based on the switching device driving signal, the switching state of the boost circuit is controlled so that the voltage of the distribution box converges to the preset target voltage.

7. The method according to claim 1, characterized in that The process of determining the preset target voltage includes: Obtain the current maximum output power and target charging current of the charging pile, wherein the target charging current is determined based on the maximum allowable charging current of the battery pack and the current requested by the vehicle controller; Based on the principle of conservation of energy, the current maximum output power and the target charging current are calculated to generate the preset target voltage.

8. A voltage closed-loop control device, characterized in that: include: A voltage acquisition unit is used to obtain the current voltage of the power distribution box during charging; a control output unit, which generates an initial control target value through a feedback control algorithm based on a deviation between the current voltage and a preset target voltage; a compensation determination unit, generating a compensation value based on the current voltage and state observation variables; an instruction generating unit, generating a target control instruction based on the initial control target value and the compensation value; The voltage adjustment unit is used to adjust the duty cycle of the boost circuit according to the target control instruction so that the voltage of the distribution box converges to the preset target voltage.

9. An electronic device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the voltage closed-loop control method according to any one of claims 1 to 7 when executing the computer program stored in the memory.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the voltage closed-loop control method according to any one of claims 1 to 7 is implemented.

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