Closed-loop active-disturbance-rejection control method for two-phase interleaved boost converter

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By adopting a closed-loop active disturbance rejection control method, the problem of traditional dual-loop PI control being unable to simultaneously guarantee strong disturbance rejection capability and robust stability in complex vehicle environments is solved. This achieves efficient and stable voltage control of the two-phase interleaved boost converter, reduces the computational burden on the controller, and improves the dynamic response and stability of the system.

CN120915129APending Publication Date: 2025-11-07NORTHWESTERN POLYTECHNICAL UNIV

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Patent Information

Application Number: CN202511126532.4
Authority / Receiving Office: CN · China
Patent Type: Applications(China)
Current Assignee / Owner
Filing Date: 2025-08-12
Publication Date: 2025-11-07

AI Technical Summary

Technical Problem

Traditional dual-loop PI-controlled two-phase interleaved boost converters struggle to simultaneously guarantee strong anti-interference capability and robust stability when facing complex vehicle-mounted environmental interference. Vehicle-mounted two-phase interleaved boost converters have low dynamic response speed, poor ability to suppress transient fluctuations in bus voltage, and difficulty in achieving higher-precision bus voltage control while avoiding excessive online calculation burden on the controller caused by traditional high-performance control algorithms.

Method used

A closed-loop active disturbance rejection control method is adopted. By constructing dynamic and static models of a two-phase interleaved boost converter, and combining the PI algorithm and extended state observer, an active disturbance rejection control law is designed to estimate and compensate for system disturbances in real time, reduce the number of sensors, and improve system stability and dynamic response speed.

Benefits of technology

It improves the anti-interference capability and system stability of the two-phase interleaved boost converter, reduces hardware costs, enhances dynamic response speed, reduces the probability of on-board equipment failure, improves the control accuracy of the bus output voltage, and reduces the online calculation load of the controller.

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Abstract

The invention provides a closed-loop active-disturbance-rejection control method for a two-phase interlaced boost converter, and mainly aims to stabilize the output voltage of a direct-current bus, ensure high reliability, improve the efficiency of a vehicle-mounted power system and reduce the online calculated amount of a controller. Aiming at the characteristics of time variation, nonlinearity and the like of a two-phase interlaced boost converter control system, the system is approximated into a linear system by analyzing a steady-state working point, an expansion observer is designed to estimate and identify disturbance parameters in the system, and finally, an off-line control law is obtained based on closed-loop active-disturbance-rejection control. The anti-interference capability of the direct-current converter control system is improved, and the hardware cost is reduced; the dynamic response speed of a vehicle-mounted power system is improved, and the fault probability of vehicle-mounted equipment is effectively reduced.

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Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of power conversion, and mainly relates to a closed-loop active disturbance rejection control method for a two-phase interleaved boost converter. BACKGROUND

[0002] The direct current converter is one of the key sub-elements of the power system, and its main function is to meet the power demand of different vehicle-mounted devices by completing the voltage level conversion within the vehicle-mounted power system, and to maintain the stable operation of the vehicle-mounted power system. Among them, the two-phase interleaved boost converter is widely used because of its high power density and lightweight design. The direct current converter control system is based on traditional converter control technology, and introduces a new control method to realize the automatic adjustment of the bus voltage of the vehicle-mounted power system, so as to prevent the bus voltage instability caused by environmental mutations and other reasons of the vehicle-mounted power system. It monitors the system environment in real time, and applies an advanced control algorithm to update the control system parameters in real time, thereby effectively reducing the voltage overshoot, adjusting time, preventing the adverse effects of bus voltage instability on electric vehicles, and improving the safety of electric vehicles.

[0003] At present, the direct current converter control system has high requirements for high power density, high reliability, high efficiency and high intelligence. Compared with other vehicle-mounted power system elements, the direct current converter, as a voltage hub, is more susceptible to the influence of the vehicle-mounted power supply environment. During the operation of the vehicle-mounted power system, the direct current converter control system may encounter load mutations, generator regulation, line voltage drops, battery state changes and other conditions due to factors such as vehicle operating state. At the same time, due to the complexity of the structure of the vehicle-mounted power system, its working characteristics are time-varying, nonlinear and non-minimal phase systems, which will affect the smooth operation of the vehicle-mounted power system, not only reducing the efficiency of power transmission, but also possibly causing the failure of vehicle-mounted computer, drive motor and other vehicle-mounted power equipment. Therefore, the design of the direct current converter control system is crucial. In the traditional direct current converter control system, voltage control is usually based on double-loop control and PID control, and the voltage stabilizing effect is good near the fixed equilibrium point. Once the equilibrium point changes, it is easy to cause bus voltage instability. In order to solve this problem, in recent years, many nonlinear control methods have been applied to the direct current converter control system, but most of them rely too much on modeling accuracy, or use precise calculation instead of high-precision modeling, which increases the amount of calculation of the controller. In addition, the algorithm itself also has problems such as complex design and chattering. Some intelligent algorithms have also been applied to the direct current converter control system, but such methods need to train the model in advance with a large number of data sets in the offline state, and the effect of online operation is not good.

[0004] Active disturbance rejection control (ADRC) can improve the performance of the control system by estimating and compensating the system model uncertainty and external disturbance in real time. However, it faces problems such as complex structure and difficult parameter adjustment when applied in the field of power system, and there is a control deviation phenomenon. Moreover, the estimation and compensation ability of the control system for the "total disturbance" will affect the steady-state output of the system, mainly including the following problems: 1) When facing complex vehicle environment disturbances such as large-scale load mutation and input voltage fluctuation, the traditional double-loop PI controlled two-phase interleaved boost converter is difficult to ensure strong anti-interference ability and robust stability of the system at the same time; 2) In the vehicle power system, the sensor configuration requirement of the two-phase interleaved boost converter is high, and it is difficult to reduce the cost while configuring the working point parameters online; 3) The dynamic response speed of the vehicle two-phase interleaved boost converter is low, and the suppression ability of the bus voltage transient fluctuation is poor, which can easily lead to abnormality or even failure of the key vehicle equipment due to the deterioration of power supply quality; 4) It is difficult to realize higher precision bus voltage control while avoiding the problem of excessive online calculation burden of the controller caused by traditional high-performance control algorithm.

[0005] The above problems make it difficult for the existing direct current converter control system based on active disturbance rejection control to balance the noise suppression ability, voltage tracking ability and controller calculation burden, which further affects the overall performance of the control system. SUMMARY

[0006] In order to overcome the shortcomings of the prior art, to stabilize the output voltage of the direct current bus when the internal environment of the vehicle power system changes, to ensure high reliability while improving the efficiency of the vehicle power system, and to reduce the online calculation amount of the controller, the present application provides a closed-loop active disturbance rejection control method for a two-phase interleaved boost converter.

[0007] The technical solution adopted by the present application to solve its technical problems includes the following steps: Step 1, constructing a dynamic model and a static model of the two-phase interleaved boost converter in continuous conduction mode; The dynamic model and the static model of the two-phase interleaved boost converter in continuous conduction mode are based on the following assumptions: Assumption 1: ignoring the power loss caused by the switch tube during the operation of the circuit; Assumption 2: the element parameters in the two bridge arms of the two-phase interleaved boost converter have the same value, i.e.: (1) In the formula, L1 is the first inductance The inductance value; For the second inductor The inductance value; It is the first high-frequency switching transistor Duty cycle; It is the second high-frequency switching transistor. Duty cycle; and The values are equal, both being equal. ; and The values are equal, both being equal. ; Based on the dynamic model of the two-phase interleaved boost converter, the dynamic model of the two-phase interleaved boost converter operating in continuous conduction mode is established as follows: (2) In the formula, The input voltage of the two-phase interleaved boost converter The dynamic value, The output voltage of the two-phase interleaved boost converter The dynamic value, The first inductor flows through the circuit topology of the two-phase interleaved boost converter. The current, The second inductor flows through the circuit topology of the two-phase interleaved boost converter. The current, For capacitor Standard capacitance value, Equivalent load resistance The resistance value, Runtime; The static model of a two-phase interleaved boost converter in continuous conduction mode is as follows: (3) In the formula, The output voltage of the two-phase interleaved boost converter static parameters, The input voltage of the two-phase interleaved boost converter The static parameters, D is the static parameter of the duty cycle of the two-phase interleaved boost converter; The first inductor flows through the circuit topology of the two-phase interleaved boost converter. current static parameters, The second inductor flows through the circuit topology of the two-phase interleaved boost converter. current Static parameters; Step 2: Based on the dynamic and static models of the two-phase interleaved boost converter in continuous conduction mode, construct a two-phase interleaved boost converter controller, use the PI algorithm to measure the inductor current error, and obtain the inner loop closed-loop transfer function in the time domain. The two-phase interleaved boost converter controller uses a dual-loop cascaded control framework. The controller includes an inner loop and an outer loop; the inner loop is a current control loop, and the outer loop is a voltage control loop; the outer loop provides the inductor reference current to the inner loop. The inner loop obtains controller parameters by measuring the current error of the inductor using a PI control algorithm; the controller parameters include the first high-frequency switching transistor. duty cycle Second high-frequency switching transistor duty cycle First controller parameters Second controller parameters Third controller parameters b and fourth controller parameters The controller parameters are updated in real time based on the model compensation method after measuring the parameters during circuit operation; the parameters during circuit operation include the standard capacitance value of the capacitors. Duty cycle of the control signals for the first and second high-frequency switching transistors The current flowing through the first inductor and the current flowing through the second inductor The first PWM control signal for the first high-frequency switching transistor is generated using a pulse width modulation method. The second PWM control signal of the second high-frequency switching transistor ; Step 3: Estimate the first controller parameter and the third controller parameter using the controller parameters. b The estimated value; Step 4: Construct an extended state observer to estimate the output voltage and total disturbance of the two-phase interleaved boost converter controller, and obtain the extended state observer's estimate of the output voltage. The estimated value and total disturbance The estimated value; Step 5: Based on the inner-loop closed-loop transfer function in the time domain, construct the active disturbance rejection control law based on the model compensation mechanism; Furthermore, the steps for measuring the inductor current error using the PI algorithm and obtaining the inner-loop closed-loop transfer function in the time domain are as follows: A PI control algorithm is used to obtain the function of the inductor current error changing over time. and the time-varying function of the inner-loop control law : (4) (5) wherein, is the proportional coefficient of the inner loop, is the integral time of the inner loop, is a function of the inductor current error varying with time; is a function of the inner loop control law varying with time, is the standard value of the current flowing through the first inductor and the second inductor, is time; simplifying the function , taking the integral term in the formula as , and moving the polynomial to the right side to obtain the integral coefficient of the inner loop controller : (6) According to formula (2) and formula (4), respectively, integrate and and bring them into formula (2) to obtain the dynamic equation of the inner loop current control in the ideal state: (7) Take the parameters in formula (7) as time-invariant parameters, that is, and are equal to the reference current , then the balance point of the circuit working in the ideal state is: (8) Linearize formula (7) at the balance point to obtain formula (9): (9) wherein, is a small signal disturbance of the output voltage, is a small signal disturbance of the inductor reference current, is a small signal disturbance of the input voltage; since the control frequency of the two-phase interleaved boost converter controller is usually in units or even higher, using a first-order linearized simplified inner loop closed-loop transfer function can fully meet the accuracy requirement; Perform a bilinear transformation on formula (9) to obtain the inner loop closed-loop transfer function in the frequency domain : (10) wherein, ; is a frequency domain variable; Let , to obtain the inner loop closed-loop transfer function in the time domain: (11) In the formula, For total disturbance; for The derivative with respect to time.

[0008] Furthermore, by estimating the controller parameters, estimated values for the first controller parameters and the third controller parameters are obtained. b The specific steps for estimating the value are as follows: Ideally, according to equation (3), the current flowing through the inductor and the voltage across the capacitor affect the equivalent load resistance. Perform calculations, that is ; Based on The calculated parameters for the first controller and third controller parameters b Make an estimate: (12) (13) in, This is an estimated value for the first controller parameter 'a'. For the third controller parameters b The estimated value.

[0009] Furthermore, the constructed extended state observer estimates the state variables and total disturbance of the two-phase interleaved boost converter controller, obtaining the extended state observer's view on the output voltage. The estimated value and total disturbance The steps for estimating the value are as follows: The extended state observer structure is constructed as follows: (14) In the formula, For the extended state observer to the output voltage The estimated value, The derivative of the estimated output voltage y with respect to time for the extended state observer. The estimated value; For the extended state observer to the total disturbance The estimated value, This is the time derivative of the estimate of the total disturbance f by the extended state observer. These are the parameters of the first observer. These are the parameters for the second observer.

[0010] Furthermore, the steps for designing the active disturbance rejection control law based on the model compensation mechanism using the inner-loop closed-loop transfer function in the time domain are as follows: Active disturbance rejection control rate for: (15) At this time, formula (11) is simplified into an integral unit, and since the total disturbance is estimated, the calculation is performed through a proportional unit. (16) (17) In the formula, K is a controller gain, B is a control system bandwidth, and ; is an initial value of the active disturbance rejection control law in an ideal undisturbed state.

[0011] The beneficial effects of the present application are: in view of the time-varying and nonlinear characteristics of the two-phase interleaved boost converter control system, the system is approximated to a linear system by analyzing the steady-state working point, an extended observer is designed to estimate and identify the internal disturbance parameters of the system, and finally, an offline control law is obtained based on the closed-loop active disturbance rejection control. The present application improves the anti-interference ability of the DC converter control system and improves the system stability; reduces the number of sensors in the vehicle-mounted power system and reduces the hardware cost; improves the dynamic response speed of the vehicle-mounted power system, effectively reduces the failure probability of the vehicle-mounted equipment, and improves the system safety; improves the control accuracy of the bus output voltage, and reduces the online calculation amount of the DC converter control unit. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 Fig. 1 is a circuit topology diagram of a two-phase interleaved boost converter; Figure 2 Fig. 2 is a closed-loop active disturbance rejection control structure diagram for the two-phase interleaved boost converter; Figure 3 Fig. 3 is a voltage tracking effect diagram of the active disturbance rejection control in a normal operating state, wherein (a) is a voltage tracking effect diagram of the active disturbance rejection control in the normal operating state, (b) is an inductance current schematic diagram of the active disturbance rejection control in the normal operating state, (c) is a control parameter schematic diagram of the active disturbance rejection control in the normal operating state, and (d) is a control parameter schematic diagram of the active disturbance rejection control in the normal operating state. Figure 4 The diagram shows the voltage tracking effect of the active disturbance rejection control (ADRC) of the present invention under a single-arm fault condition; (a) is the voltage tracking effect of the ADRC under a single-arm fault condition; (b) is the inductor current diagram of the ADRC under a single-arm fault condition; and (c) is the control parameters of the ADRC under a single-arm fault condition. Schematic diagram; (d) shows the control parameters of the active disturbance rejection control of the present invention under single-arm fault conditions. Schematic diagram; Figure 5 The diagram shows the voltage tracking effect of the active disturbance rejection control (ADRC) of the present invention under input disturbance conditions; (a) is the voltage tracking effect of the ADRC of the present invention under input disturbance conditions; (b) is a schematic diagram of the inductor current of the ADRC of the present invention under input disturbance conditions; and (c) is the control parameter of the ADRC of the present invention under input disturbance conditions. Schematic diagram; (d) shows the control parameters of the active disturbance rejection control of the present invention under input disturbance conditions. Schematic diagram; Figure 6 The diagram shows the voltage tracking effect of the active disturbance rejection control (ADRC) of the present invention under load change conditions; (a) is the voltage tracking effect of the ADRC of the present invention under load change conditions; (b) is a schematic diagram of the inductor current of the ADRC of the present invention under load change conditions; and (c) is the control parameters of the ADRC of the present invention under load change conditions. Schematic diagram; (d) shows the control parameters of the active disturbance rejection control of the present invention under load change conditions. Schematic diagram; in, - First inductor; -Second inductor; - The current flowing through the first inductor; - The current flowing through the second inductor; - First diode; -Second diode; -First high-frequency switching transistor; -Second high-frequency switching transistor; - First PWM control signal; -Second PWM control signal; - Equivalent load resistance; - Input voltage of the two-phase interleaved boost circuit; - Output voltage of the two-phase interleaved boost circuit; - Output current of the two-phase interleaved boost circuit; C - Capacitor. Detailed Implementation

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments. Step one, the dynamic model and static model of two-phase interleaved boost converter in continuous conduction mode are established; The dynamic model and static model of two-phase interleaved boost converter in continuous conduction mode are based on the following assumptions: Assumption one: the power loss caused by the switch tube is ignored during the operation of the circuit; Assumption two: the element parameters in the two bridge arms of the two-phase interleaved boost converter have the same value, that is: (1) In the formula, is the inductance value of the first inductor ; is the inductance value of the second inductor ; is the duty ratio of the first high-frequency switch tube ; is the duty ratio of the second high-frequency switch tube ; and have the same value, both of which are ; and have the same value, both of which are ; According to the dynamic model of the two-phase interleaved boost converter, the dynamic model of the two-phase interleaved boost converter operating in continuous conduction mode is: (2) In the formula, is the dynamic value of the input voltage of the two-phase interleaved boost converter, is the dynamic value of the output voltage of the two-phase interleaved boost converter, is the current flowing through the first inductor in the circuit topology of the two-phase interleaved boost converter, is the current flowing through the second inductor in the circuit topology of the two-phase interleaved boost converter, is the standard capacitance value of the capacitor , is the resistance value of the equivalent load resistor , is the running time; The static model of the two-phase interleaved boost converter in continuous conduction mode is: (3) In the formula, is the static parameter of the output voltage of the two-phase interleaved boost converter, The input voltage of the two-phase interleaved boost converter The static parameters, D is the static parameter of the duty cycle of the two-phase interleaved boost converter; The first inductor flows through the circuit topology of the two-phase interleaved boost converter. current static parameters, The second inductor flows through the circuit topology of the two-phase interleaved boost converter. current Static parameters; Step 2: Based on the dynamic and static models of the two-phase interleaved boost converter, construct the two-phase interleaved boost converter controller, use the PI algorithm to measure the inductor current error, and obtain the inner loop closed-loop transfer function in the time domain. The two-phase interleaved boost converter controller uses a dual-loop cascaded control framework. The controller includes an inner loop and an outer loop; the inner loop is a current control loop, and the outer loop is a voltage control loop; the outer loop provides the inductor reference current to the inner loop. ; The inner loop obtains controller parameters by measuring the current error of the inductor using a PI control algorithm; the controller parameters include the first high-frequency switching transistor. duty cycle Second high-frequency switching transistor duty cycle First controller parameters Second controller parameters Third controller parameters b and fourth controller parameters The controller parameters are updated in real time based on the measured parameters of the circuit during operation using a model compensation method; the parameters of the circuit operation include the standard capacitance value of the capacitors. Duty cycle of the first and second high-frequency switching transistors The current flowing through the first inductor and the current flowing through the second inductor The first PWM control signal for the first high-frequency switching transistor is generated using a pulse width modulation method. The second PWM control signal of the second high-frequency switching transistor ; like Figure 2 As shown, to achieve continuous output voltage, constant switching frequency, and current balance between modules, a dual-loop cascaded control framework is adopted. The inner loop is a current control loop, and the outer loop is a voltage control loop. The outer voltage loop provides the inductor reference current for the inner current loop control. The current inner-loop control uses a PI control algorithm to measure the inductor current error and then generate the duty cycle. , ; first controller parameter , second controller parameter , third controller parameter b and fourth controller parameter are updated in real time according to the model compensation method. Finally, the pulse width modulation technique generates corresponding signals for the power switches, where is a first PWM control signal, is a second PWM control signal; The bandwidth of the inner loop is greater than that of the outer loop, so the inner loop response is in an ideal state, and a PI control algorithm is used for control to obtain a function of the inductor current error with respect to time and a function of the inner loop control law with respect to time : (4) (5) wherein, is a proportional coefficient of the inner loop, is an integral time of the inner loop, is a function of the inductor current error with respect to time; is a function of the inner loop control law with respect to time, is a standard value of the current flowing through the first inductor and the second inductor, is time; Simplifying the function , taking the integral term in the formula as , and moving the polynomial to the right side to obtain the integral coefficient of the inner loop controller : (6) According to formula (2) and formula (4), respectively, integrate and and bring them into formula (2) to obtain the dynamic equation of the inner loop current control in an ideal state: (7) Taking the parameters in formula (7) as time-invariant parameters, that is, and are equal to the reference current , then the equilibrium point of the circuit working in an ideal state is: (8) Linearizing formula (7) at the equilibrium point to obtain formula (9): (9) wherein, is a small signal disturbance of the output voltage, Small-signal disturbances to the inductor reference current For small signal disturbances in the input voltage; since the control frequency of the two-phase interleaved boost converter controller is usually at... Since the accuracy is in units or even higher, the simplified inner-loop transfer function after first-order linearization can fully meet the accuracy requirements. Performing a bilinear transform on equation (9) yields the closed-loop transfer function in the frequency domain. for: (10) in, ; For frequency domain variables; make The closed-loop transfer function in the time domain is obtained as follows: (11) In the formula, For total disturbance; for The derivative with respect to time; Step 3: Estimate the first controller parameter and the third controller parameter using the controller parameters. b The estimated value; In the two-phase interleaved boost converter controller, the inner-loop closed-loop transfer function (10) in the frequency domain is approximately obtained through the dynamic equation (7) of the inner-loop current control under ideal conditions, so it can only describe the operating characteristics near the equilibrium point. First controller parameters Second controller parameters Third controller parameters b Fourth controller parameters The value will continuously change with the operating state of the two-phase interleaved boost converter; at the same time, the first controller parameter coefficients Second controller parameter coefficients The scope of work is also constantly changing, among which ; Obtain the time-invariant feedback control law from (11), and through the first controller parameters and third controller parameters b The control gain is obtained through calculation; to ensure the stable operation of the two-phase interleaved boost converter controller under external disturbances, the first controller parameters are estimated by using the inner loop current and the duty cycle of the pulse width modulation module. and third controller parameters b The actual value; In an ideal state, according to equation (3), the current flowing through the inductor and the voltage across the capacitor affect the equivalent load resistance. Perform calculations, that is ; According to the calculation of , the first controller parameter and the third controller parameter b are estimated: (12) (13) wherein, is the estimated value of the first controller parameter a, is the estimated value of the third controller parameter b ; Step four, construct an extended state observer to estimate the output voltage and total disturbance of the two-phase interleaved boost converter controller, and obtain the estimated value of the output voltage and the estimated value of the total disturbance ; The structure of the extended state observer is constructed as: (14) wherein, is the estimated value of the output voltage of the extended state observer, is the estimated value of the derivative of the estimated value of the output voltage y with respect to time ; is the estimated value of the total disturbance of the extended state observer, is the estimated value of the derivative of the estimated value of the total disturbance f with respect to time, is the first observer parameter, is the second observer parameter; Step five, design an active disturbance rejection control law based on a model compensation mechanism according to the inner loop closed-loop transfer function in the time domain; The active disturbance rejection control law is: (15) At this time, formula (11) is simplified into an integral unit, and since the total disturbance is estimated by , it is calculated by a proportional unit; (16) (17) wherein, is a controller gain, is a control system bandwidth, and ; is the initial value of the active disturbance rejection control law in the ideal undisturbed state.

[0014] By extending the standard double-loop PI control framework (inner current loop PI) to an ADRC structure (outer voltage loop ADRC), the dynamic performance of the two-phase interleaved boost converter is significantly improved. It estimates and responds to the changes in system parameters and operating points online through the model compensation mechanism, and estimates and compensates the "total disturbance" inside and outside the system in real time through the extended state observer. The active disturbance rejection control law based on model compensation and extended observer dynamically adjusts the control action, significantly improving the robustness, stability and dynamic performance of the system in a complex disturbance environment, while not requiring excessive controller computation burden. This method effectively solves the impact of modeling inaccuracies, parameter variations and unknown disturbances on the performance of the control system.

[0015] As shown in Figure 3 The two-phase interleaved boost converter controller proposed in this paper can make the two-phase interleaved boost converter track the output reference value within 20ms and the voltage overshoot is 8.3%, and the current flowing through the two inductors reaches a stable value within 15ms. After the output voltage stabilizes, the second controller parameter a_0 stabilizes around 80, and the fourth controller parameter b_0 stabilizes around 2100.

[0016] As shown in Figure 4 The two-way interleaved boost converter occurs at 0.2s single-sided bridge arm circuit fault, Figure 4 (a) can be seen, the output in the 30ms between the 72V stable output, the highest voltage drop 6.4V. The inductor current flowing through the normal working bridge arm increases to twice the original current within 25ms, and the inductor current flowing through the fault bridge arm drops to 0A, and the Figure 4 (b) can be seen, the second controller parameter a_0 only in 0.2s around 10ms after the shock returns to the original value, the fourth controller parameter b_0 drops to 0.5 times the original value.

[0017] Figure 5The control effect of the bidirectional interleaved converter with the output voltage reference changing is shown. The output voltage reference rises to 56V at 0.25s and suddenly changes to 48V at 0.35s. It can be seen that the output voltage completes the tracking of the changed output voltage value in 20ms, and there is no voltage overshoot. The current flowing through the inductor rises from 5A to 7A in 15ms after 0.25s and returns to 5A in 20ms after 0.35s. The second controller parameter a_0 only oscillates after 10ms when the output voltage reference changes at 0.25s and 0.35s, and then returns to the original value. The fourth controller parameter b_0 changes from the stable oscillation of 2100 to the stable oscillation of 1700 in 10ms when the output voltage reference changes from 48V to 56V, and returns to the stable oscillation of 2100 in 10ms when the output voltage reference changes from 56V to 48V.

[0018] By Figure 6 It can be seen that when the equivalent load resistance changes periodically between 9.6Ω and 5.8Ω with an interval of 0.1s from 0.25s to 0.55s, the circuit output voltage can complete stable voltage tracking in 30ms, and the absolute value of the maximum overshoot is <14.58%. The inductor current can complete stable tracking in 25ms. The second controller parameter a_0 changes periodically between 80 and 160 with the equivalent load resistance. The fourth controller parameter b_0 only appears a sharp spike when the resistance value changes, and maintains the original value after the output voltage stabilizes.

Claims

1. A method for active disturbance rejection control in closed loop form for two-phase interleaved boost converter, characterized in that: The method comprises the following steps: Step one, constructing a dynamic model and a static model of the two-phase interleaved boost converter in continuous conduction mode; Step 2: Based on the dynamic and static models of the two-phase interleaved boost converter in continuous conduction mode, a two-phase interleaved boost converter controller is constructed. The two-phase interleaved boost converter controller is a dual-loop cascaded control framework. The controller includes an inner loop and an outer loop. The inner loop obtains controller parameters by measuring the current error of the inductor using a PI control algorithm. The controller parameters include the first high-frequency switching transistor... duty cycle Second high-frequency switching transistor duty cycle First controller parameters Second controller parameters Third controller parameters b and fourth controller parameters The PI algorithm is used to measure the inductor current error, and the inner-loop closed-loop transfer function in the time domain is obtained. Step three, estimating the controller parameters to obtain an estimated value of the first controller parameter and an estimated value of the third controller parameter; Step four, constructing the extended state observer, the output voltage and total disturbance of the two-phase interleaved boost converter controller are estimated respectively, and the estimated value of the output voltage and the estimated value of the total disturbance are obtained Step five, constructing an active disturbance rejection control law based on a model compensation mechanism according to the inner loop closed-loop transfer function in the time domain.

2. The active disturbance rejection control method for a closed-loop two-phase interleaved boost converter according to claim 1, wherein, The step of constructing a dynamic model and a static model of the two-phase interleaved boost converter in continuous conduction mode is: The dynamic model and the static model of the two-phase interleaved boost converter in continuous conduction mode are based on the following assumptions: Assumption one: ignoring the power loss caused by the switching tube during the operation of the circuit; Assumption two: the element parameters in the two bridge arms of the two-phase interleaved boost converter have the same value, that is: (1) wherein is the inductance value of the first inductor ; is the inductance value of the second inductor ; is the duty cycle of the first high-frequency switching transistor ; is the duty cycle of the second high-frequency switching transistor ; and have the same value and are each ; and have the same value and are each ; According to the dynamic model of the two-phase interleaved boost converter, the dynamic model of the two-phase interleaved boost converter in continuous conduction mode is established as: (2) wherein is the dynamic value of the input voltage of the two-phase interleaved boost converter is the dynamic value of the output voltage of the two-phase interleaved boost converter is the dynamic value of the output voltage of the two-phase interleaved boost converter is the dynamic value of the output voltage of the two-phase interleaved boost converter is the current flowing through the first inductor in the circuit topology of the two-phase interleaved boost converter is the current flowing through the second inductor in the circuit topology of the two-phase interleaved boost converter is the current flowing through the second inductor in the circuit topology of the two-phase interleaved boost converter is the standard capacitance value of the capacitor is the standard capacitance value of the capacitor is the resistance value of the equivalent load resistance is the resistance value of the equivalent load resistance is the resistance value of the equivalent load resistance is the running time; The static model of the two-phase interleaved boost converter in continuous conduction mode is: (3) wherein is a static parameter of the output voltage of the two-phase interleaved boost converter, is a static parameter of the input voltage of the two-phase interleaved boost converter, D is a static parameter of the duty cycle of the two-phase interleaved boost converter; is a static parameter of the current flowing through the first inductor in the circuit topology of the two-phase interleaved boost converter, is a static parameter of the current flowing through the second inductor in the circuit topology of the two-phase interleaved boost converter, D is a static parameter of the duty cycle of the two-phase interleaved boost converter; 3. The active disturbance rejection control method for a closed-loop two-phase interleaved boost converter according to claim 1, wherein, The inner loop is a current control loop, and the outer loop is a voltage control loop; the outer loop provides an inductance reference current for the inner loop ; the inner loop obtains controller parameters by measuring current errors of the inductor through a PI control algorithm; the controller parameters are updated according to real-time measurement of parameters in circuit operation through a model compensation method; the parameters in circuit operation include a standard capacitance value of a capacitor , duty cycles of control signals of the first high-frequency switch tube and the second high-frequency switch tube , a current flowing through the first inductor , and a current flowing through the second inductor ; the first high-frequency switch tube is generated by using a pulse width modulation method to generate a first PWM control signal , and the second high-frequency switch tube is generated by using a pulse width modulation method to generate a second PWM control signal .

4. The active disturbance rejection control method for a closed-loop two-phase interleaved boost converter according to claim 1, wherein, The step of measuring the inductor current error by using a PI algorithm to obtain the inner loop closed-loop transfer function in the time domain is: Control is performed using a PI control algorithm, obtaining a function of the inductor current error over time and a function of the inner loop control law over time : (4) (5) wherein is a proportional gain of the inner loop, is an integral time of the inner loop, is a function of the inductor current error over time; is a function of the inner loop control law over time, is a standard value of the current flowing through the first and second inductors, is time; The function is simplified by taking the integral term as and moving the polynomial to the right side to obtain the integral coefficient of the inner loop controller : (6) According to formula (2) and formula (4), after integrating and into formula (2), the dynamic equation of the inner loop current control under the ideal state is obtained: (7) The parameters in equation (7) are considered as time-invariant parameters, i.e. and are equal to the reference current The equilibrium point of the circuit operation in the ideal state is: (8) Linearizing equation (7) at the equilibrium point to obtain equation (9): (9) wherein is a small signal perturbation of the output voltage, is a small signal perturbation of the inductor reference current, is a small signal perturbation of the input voltage; since the control frequency of a two-phase interleaved boost converter controller is usually even higher than 1 kHz, the use of a first order linearized simplified inner loop closed loop transfer function is fully sufficient in terms of accuracy. A bilinear transformation is performed on equation (9) to obtain the inner loop closed loop transfer function in the frequency domain is: (10) wherein ; is a frequency domain variable; Let the inner loop closed-loop transfer function in the time domain: (11) wherein is the total disturbance; is derivative with respect to time.

5. The active disturbance rejection control method for a closed-loop two-phase interleaved boost converter according to claim 1, wherein, The estimation of the first controller parameter and the third controller parameter is performed by estimating the controller parameters, obtaining an estimated value of the first controller parameter and an estimated value of the third controller parameter b The specific steps for estimating the first controller parameter and the third controller parameter are: In the ideal case, according to equation (3), the equivalent load resistance RLis given by the ratio of the current flowing through the inductance and the voltage across the capacitance is calculated, i.e. ; Based on the calculations of the parameters of the first controller and the parameters b of the third controller, estimates are made of the parameters of the second controller (12) (13) wherein is an estimate of the first controller parameter a, is an estimate of the third controller parameter b a.

6. The active disturbance rejection control method for a closed-loop two-phase interleaved boost converter according to claim 1, wherein, The extended state observer is constructed to estimate the state variables and total disturbance of the two-phase interleaved boost converter controller, thereby obtaining the extended state observer's view on the output voltage. The estimated value and total disturbance The steps for estimating the value are as follows: The structure of the extended state observer is constructed as: (14) In the formula, For the extended state observer to the output voltage The estimated value, The derivative of the estimated output voltage y with respect to time for the extended state observer. The estimated value; For the extended state observer to the total disturbance The estimated value, This is the time derivative of the estimate of the total disturbance f by the extended state observer. These are the parameters of the first observer. These are the parameters for the second observer.

7. The active disturbance rejection control method for a closed-loop two-phase interleaved boost converter according to claim 1, wherein, The step of designing the active disturbance rejection control law based on the model compensation mechanism according to the inner loop closed-loop transfer function in the time domain is: Disturbance rejection rate is: (15) At this point, the equation (11) is simplified to an integral unit, while, due to the fact that the derivative of the function f (x) is zero, the equation (12) is simplified to a constant value. The total disturbance is estimated, by means of a proportional unit. (16) (17) wherein Kc is the controller gain, Ks is the control system bandwidth, and ; Ks is the control system bandwidth, and Ks is the control system bandwidth, and