Adaptive control method of direct current converter and terminal device

Abstract

The application is suitable for the field of power electronics, and provides a kind of adaptive control method and terminal equipment of DC converter, comprising: according to DC converter electric parameter, establish state space model;According to the state space model of DC converter, establish integral controller, LQR controller, state observer and adaptive compensation controller;The error voltage obtained by subtracting the actual output voltage from the given voltage of DC converter is input into the integral controller to obtain the integral value;According to the state observer, the estimated value of the output voltage of DC converter is obtained, and the residual voltage obtained by subtracting the estimated value from the actual voltage output value of DC converter is input into the adaptive compensation controller to obtain the compensation voltage;The sum of the integral value and the compensation voltage is input into the LQR controller to obtain the control amount of DC converter, and the DC converter is controlled according to the control amount of DC converter.The application can improve the adaptability of DC converter control, and make the adjustment process of DC converter simpler.

Description

Technical Field

[0001] The present invention belongs to the technical field of power systems, and in particular relates to an adaptive control method for a DC converter and a terminal device. Background Art

[0002] While the microgrid is operating stably, the switching DC converter will inevitably be subject to some known or unknown disturbances. When a disturbance occurs in the system, a controller needs to be applied to the system to offset the impact of the disturbance in order to ensure the stable operation of the system.

[0003] The PID control method is widely used in practical engineering due to its simplicity, high stability, and high reliability. However, the traditional PID control parameter tuning process relies heavily on engineering experience, has poor adaptability, and is complex to adjust. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide an adaptive control method and terminal device for a DC converter to solve the problems of poor control adaptability and complex adjustment process of DC converters in the prior art.

[0005] A first aspect of an embodiment of the present invention provides a DC converter adaptive control method, comprising:

[0006] According to the electrical parameters of the DC converter, a state space model of the DC converter is established;

[0007] According to the state space model of the DC converter, the integral controller, LQR controller, state observer and adaptive compensation controller are established;

[0008] Subtract the actual output voltage from the given voltage of the DC converter to obtain the error voltage, and input the error voltage into the integral controller to obtain the integral value;

[0009] Obtaining an estimated value of the DC converter output voltage according to the state observer, subtracting the estimated value of the DC converter output voltage from the actual voltage output value of the DC converter to obtain a residual voltage; and inputting the residual voltage into an adaptive compensation controller to obtain a compensation voltage;

[0010] The sum of the integral value and the compensation voltage is input into the LQR controller to obtain the DC converter control quantity, and the DC converter is controlled according to the DC converter control quantity.

[0011] The second aspect of an embodiment of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the DC converter adaptive control method provided in the first aspect of the embodiment of the present invention are implemented.

[0012] A third aspect of an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the DC converter adaptive control method provided in the first aspect of the embodiment of the present invention.

[0013] An embodiment of the present invention provides an adaptive control method and terminal device for a DC converter. The method includes: first establishing a state-space model of the DC converter; then establishing an integral controller, an LQR controller, a state observer, and an adaptive compensation controller based on the state-space model. The state observer subtracts the actual DC converter output voltage from the estimated voltage to obtain a residual voltage, which is fed to the adaptive compensation controller. The adaptive compensation controller outputs a compensation voltage. The sum of the integral value and the compensation voltage is fed to the LQR controller to obtain a DC converter control variable, and the DC converter is controlled based on the DC converter control variable. This method achieves adaptive control of the DC converter, improves the adaptability of the DC converter control, and simplifies the adjustment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0015] Figure 1 This is a schematic diagram of an implementation flow of a DC converter adaptive control method provided by an embodiment of the present invention;

[0016] Figure 2 Schematic diagram of the network structure of a Buck type DC converter provided by an embodiment of the present invention;

[0017] Figure 3 1 is a schematic diagram of a network structure of a Boost type DC converter provided by an embodiment of the present invention;

[0018] Figure 4 1 is a schematic diagram of a system structure of a DC converter control based on LQR provided in an embodiment of the present invention;

[0019] Figure 5 1 is a schematic diagram of a system structure of a DC converter adaptive control based on residual voltage regulation provided by an embodiment of the present invention;

[0020] Figure 6 is a schematic diagram of an equivalent system of adaptive control provided by an example of the present invention;

[0021] Figure 7Schematic diagram of the solution structure of the Buck type DC converter adaptive compensation controller provided by the embodiment of the present invention;

[0022] Figure 8 Schematic diagram of the solution structure of the Boost type DC converter adaptive compensation controller provided by an example of the present invention;

[0023] Figure 9 Schematic diagram of the adaptive control structure of a Buck type DC converter provided by an example of the present invention;

[0024] Figure 10 Schematic diagram of the adaptive control structure of the Boost type DC converter provided by an example of the present invention;

[0025] Figure 11 1 is a schematic structural diagram of a DC converter adaptive control device provided by an embodiment of the present invention;

[0026] Figure 12 It is a schematic diagram of a terminal device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In the following description, specific details such as particular system structures and techniques are provided for purposes of illustration, not limitation, to facilitate a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0028] In order to illustrate the technical solution of the present invention, specific embodiments are provided below.

[0029] refer to Figure 1 , an embodiment of the present invention provides a DC converter adaptive control method, comprising:

[0030] S101: Establishing a state space model of the DC converter according to the electrical parameters of the DC converter.

[0031] S102: establishing an integral controller, an LQR controller, a state observer, and an adaptive compensation controller according to a state space model of the DC converter;

[0032] S103: Subtracting the actual output voltage from the given voltage of the DC converter to obtain an error voltage, and inputting the error voltage into an integral controller to obtain an integral value;

[0033] S104: obtaining an estimated value of the DC converter output voltage according to the state observer, subtracting the estimated value of the DC converter output voltage from the actual voltage output value of the DC converter to obtain a residual voltage; and inputting the residual voltage into the adaptive compensation controller to obtain a compensation voltage;

[0034] S105: Inputting the sum of the integral value and the compensation voltage into the LQR controller to obtain a DC converter control variable, and controlling the DC converter according to the DC converter control variable.

[0035] refer to Figure 2 , a schematic diagram of the network structure of a Buck type DC converter provided by an embodiment of the present invention, the spatial state equation of the Buck type DC converter is obtained as follows:

[0036]

[0037] u=[V r ]; y = [U C ]; x = [U C I L ];

[0038]

[0039] C = [1 0];

[0040] Wherein, A is the system matrix of the Buck DC converter; B is the input matrix of the Buck DC converter; E is the disturbance input matrix of the Buck DC converter; C is the output matrix of the Buck DC converter; x is the state variable of the Buck DC converter; is the differential of the state variable of the Buck type DC converter; y is the output matrix of the Buck type DC converter; u is the input matrix of the Buck type DC converter; w is the interference current that affects the normal output of the Buck type DC converter; r is the resistance value of the Buck type DC converter; L is the inductance value of the Buck type DC converter; C f is the capacitance value of the Buck DC converter; U C is the output voltage of the Buck DC converter; I L is the inductor current of the Buck DC converter; V r is the switching modulation wave voltage amplitude of the Buck type DC converter.

[0041] refer to Figure 3 , a schematic diagram of the network structure of the Boost type DC converter provided by an embodiment of the present invention, the spatial state equation of the Boost type DC converter is obtained as follows:

[0042]

[0043] u = [d - d0]; y = [U L -U O0 ] ; w = [I O -I O0 ] ;

[0044] x = [U C -U C0 I L -I L0 ] ;

[0045]

[0046] C = [1 0] ;

[0047] Wherein, A is the system matrix of the Boost type direct current converter; B is the input matrix of the Boost type direct current converter; E is the human disturbance input matrix of the Boost type direct current converter; C is the output matrix of the Boost type direct current converter; x is the state matrix of the Boost type direct current converter; is the differential of the state matrix of the Boost type direct current converter; y is the output matrix of the Boost type direct current converter; u is the input matrix of the direct current converter, w is the interference current affecting the normal output of the Boost type direct current converter; r is the resistance value of the Boost type direct current converter; L is the inductance value of the Boost type direct current converter; C f is the capacitance value of the Boost type direct current converter; U C is the output voltage of the Boost type direct current converter; I L is the inductance current of the Boost type direct current converter; I O is the output current of the Boost type direct current converter; d is the duty ratio of the switch driving voltage of the Boost type direct current converter; U C0 is the output voltage of the Boost type direct current converter when it is in steady state; I L0 is the inductance current of the Boost type direct current converter when it is in steady state; I O0 is the load current of the Boost type direct current converter when it is in steady state; d0 is the duty ratio of the switch driving voltage of the Boost type direct current converter when it is in steady state.

[0048] In some embodiments, S102 can include:

[0049] S1021: determining the state variable of the LQR controller according to the differential of the actual output voltage of the direct current converter, the differential of the inductance current of the direct current converter and the error voltage;

[0050] S1022: Determine the control variable of the LQR controller according to the state variable of the LQR controller, and establish the LQR controller according to the control variable;

[0051] S1023: Establish a state observer according to the state space model of the DC converter;

[0052] S1024: Establish an adaptive compensation controller according to the state space model of the DC converter.

[0053] By establishing the LQR controller, the closed-loop control of the DC converter is completed, which can achieve the effect of minimizing the power consumption and making the dynamic response speed of the DC converter fastest.

[0054] LQR can achieve the purpose of minimizing the power consumption and making the dynamic response speed of the system fastest. The traditional LQR objective function is:

[0055]

[0056] Where J(u) is the objective function value; x T is the transpose matrix of the linear system state variable; u(t) is the linear system control variable matrix; Q is a semi-positive definite real symmetric matrix, which is the weighted matrix of the target requirement; R is a positive definite real symmetric matrix, which is the weighted matrix of the control signal term.

[0057] When the objective function value is minimum, LQR realizes the purpose of minimizing the power consumption and making the dynamic response speed of the system fastest, and the sufficient and necessary condition for the objective function at this time is:

[0058] -R -1 (t)B T (t)P(t)x(t)=-Kx(t)

[0059] Where K is the feedback gain matrix; R -1 (t) is the inverse matrix of the positive definite real symmetric matrix; B T (t) is the transpose matrix of the system input matrix; P(t) is a constant positive definite matrix, and must satisfy the Riccati algebraic equation:

[0060] PA+A T P-PBR -1 BP+Q=0

[0061] A is the system matrix of the linear system; B is the input matrix of the linear system; R -1 is the inverse matrix of the positive definite real symmetric matrix.

[0062] The feedback gain matrix of LQR is obtained by solving the Riccati equation.

[0063] In order to realize the simultaneous control of state feedback parameters and integrator parameters by LQR, the traditional LQR is improved.

[0064] The improved LQR system state equation can be written as:

[0065]

[0066]

[0067] Where v is the control variable of the LQR controller; is the state variable of the LQR controller; is the actual output voltage differential of the DC converter; is the differential of the inductor current of the DC converter; e is the error voltage obtained by subtracting the actual output voltage from the given voltage of the DC converter; A * is the system matrix of the LQR controller; B * is the input matrix of the LQR controller; C * is the output matrix of the LQR controller; D * is a zero matrix.

[0068] The system state space expression of the LQR controller is:

[0069]

[0070] C * =[C 0],D * =D

[0071] Among them, A is the system matrix of the DC converter; B is the input matrix of the DC converter; C is the output matrix of the DC converter; and D is the zero matrix.

[0072] According to the system state space expression of the LQR controller, we can get Figure 4 The schematic diagram of the system structure of the LQR-based DC converter control provided by the embodiment of the present invention is shown, wherein S represents differential control; Indicates integral control; e represents the error voltage obtained by subtracting the output voltage from the given voltage of the DC converter; represents the differential form of the control variable of the LQR controller after transformation; represents the differential form of the DC converter state variable; x represents the state variable of the DC converter; k1 represents the feedback coefficient of the actual output voltage of the DC converter; k2 represents the feedback coefficient of the inductor current in the DC converter; k3 represents the control coefficient of the integral controller; A represents the system matrix of the DC converter; B represents the input matrix of the DC converter; C represents the output matrix of the DC converter; u0 represents the output voltage of the DC converter.

[0073] In some embodiments, the expression of the control variable of the LQR controller can be:

[0074]

[0075] in, is the controlled variable of the LQR controller; is the state variable of the LQR controller; K is the feedback matrix of the LQR controller, K = [k1 k2 k3], k1 is the feedback coefficient of the actual output voltage of the DC converter; k2 is the feedback coefficient of the inductor current in the DC converter; k3 is the control coefficient of the integral controller.

[0076] refer to Figure 4 , a schematic diagram of the system structure of the LQR-based DC converter control provided by an embodiment of the present invention, wherein the objective function of the LQR controller is determined as:

[0077]

[0078]

[0079] in, h is the weighted coefficient of the DC converter output voltage; Q is the weighted matrix of the DC converter state variables; R * is a constant 1; v is the control variable of the LQR controller; is the controlled variable of the transformed LQR controller; is the state variable of the LQR controller.

[0080] The weighted matrix of the DC converter output voltage is determined according to the weighted coefficient of the DC converter output voltage; the weighted matrix of the DC converter output voltage is substituted into the Riccati algebraic equation to obtain a constant positive definite matrix; the constant positive definite matrix is ​​substituted into the necessary and sufficient conditions corresponding to the minimum value of the objective function to obtain the feedback matrix of the LQR controller; and an LQR controller is established according to the feedback matrix of the LQR controller.

[0081] In some embodiments, S1023 may include:

[0082] 1. According to the state space model of the DC converter, the state feedback matrix of the state observer is obtained by the pole placement method, and the state observer is established based on the state feedback matrix.

[0083] While the microgrid is operating stably, the switching DC converter will inevitably be subject to some known or unknown disturbances. In order to ensure the stable operation of the DC converter, a state observer is established for the DC converter to detect the influence of the interference voltage received by the DC converter.

[0084] In order to ensure the stable operation of a system, a state observer is established for the system to obtain residual error information of a disturbance voltage of the system. According to a state space model of a DC converter, a state observer is established by using a pole placement method to calculate a gain matrix based on a Luenberger state observer, and an expression of the state observer is:

[0085]

[0086] wherein A is a system matrix of the DC converter; C is an output matrix of the DC converter; E is an interference voltage input matrix of the DC converter; f(s) is a state quantity of the state observer; f'(s) is a differential of f(s); r(s) is a residual error voltage; x(s) is an actual value of a state quantity of the DC converter; is an estimated value of the state quantity of the DC converter by the state observer; L is a feedback gain matrix of the state observer, L = [l1 l2], and l1 and l2 are state feedback coefficients of the state observer.

[0087] In some embodiments, the state space model of the DC converter can be a state space model of a Buck-type DC converter or a state space model of a Boost-type DC converter.

[0088] In some embodiments, the state space model of the DC converter can be a state space model of a Buck-type DC converter; S1024 can include:

[0089] 1. Refer to Figure 9 According to the state space model of the Buck-type DC converter, a closed-loop transfer function 5 of the LQR controller combined with the Buck-type DC converter is established:

[0090]

[0091] wherein r is a resistance value in the Buck-type DC converter; L is an inductance value in the Buck-type DC converter; C f is a capacitance value in the Buck-type DC converter; k1 is a feedback coefficient of an actual output voltage of the Buck-type DC converter; k2 is a feedback coefficient of an inductance current in the Buck-type DC converter; s is a Laplace variable; G pwm is a switch control function of the Buck-type DC converter;

[0092] 2. According to the state space model of the Buck-type DC converter, a transfer function of the state observer is established:

[0093]

[0094] wherein r is a resistance value in the Buck-type DC converter; L is an inductance value in the Buck-type DC converter; C fis the capacitance value in the Buck DC converter; l1 and l2 are the state feedback coefficients of the state observer; s is the Laplace transform complex variable;

[0095] 3. Based on the closed-loop transfer function of the LQR controller combined with the Buck DC converter and the state observer transfer function, the adaptive compensation controller transfer function is established:

[0096]

[0097] The matrix elements are:

[0098]

[0099]

[0100]

[0101] Where r is the resistance value in the Buck type DC converter; L is the inductance value in the Buck type DC converter; C f is the capacitance value in the Buck type DC converter; k2 is the feedback coefficient of the inductor current in the Buck type DC converter; s is the Laplace variable; G pwm is the Buck DC converter switch control function; l1 and l2 are the state feedback coefficients of the state observer; G δ To introduce the second-order link, δ is a constant.

[0102] 4. Establish an adaptive compensation controller according to the transfer function of the adaptive compensation controller; wherein the adaptive compensation controller is a Buck type adaptive compensation controller.

[0103] In some embodiments, the DC converter state space model may be a Boost DC converter state space model; S1024 may include:

[0104] 1. Based on the state space model of the Boost DC converter, the closed-loop transfer function of the LQR controller combined with the Boost DC converter is established:

[0105]

[0106] Where r is the resistance value in the Boost type DC converter; L is the inductance value in the Boost type DC converter; C f is the capacitance value in the Boost DC converter; k1 is the feedback coefficient of the actual output voltage of the Boost DC converter; k2 is the feedback coefficient of the inductor current in the Boost DC converter; s is the Laplace variable; G pwm is the switch control function of the Boost type DC converter; Uc * is the output voltage of the Boost DC converter in steady state operation; d * is the duty cycle of the switch driving voltage in the steady-state operation of the Boost type DC converter;

[0107] 2. According to the state space model of the Boost DC converter, the transfer function of the state observer is obtained:

[0108]

[0109] Where r is the resistance value in the Boost type DC converter; L is the inductance value in the Boost type DC converter; C f is the capacitance value in the Boost DC converter; l1 and l2 are the state feedback coefficients of the state observer; s is the Laplace transformation complex variable;

[0110] 3. Based on the closed-loop transfer function of the LQR controller combined with the Boost DC converter and the state observer transfer function, the adaptive compensation controller transfer function is established:

[0111]

[0112] The matrix elements are:

[0113]

[0114]

[0115]

[0116] Where r is the resistance value in the Boost type DC converter; L is the inductance value in the Boost type DC converter; C f is the capacitance value in the Boost type DC converter; k1 is the feedback coefficient of the actual output voltage of the Boost type DC converter; s is the Laplace change complex variable; G pwm is the Boost type DC converter switch equivalent module; l1 and l2 are the state feedback coefficients of the state observer; G δ To introduce the second-order link, δ is a constant.

[0117] 4. Establish an adaptive compensation controller according to the transfer function of the adaptive compensation controller; wherein the adaptive compensation controller is a Boost type adaptive compensation controller.

[0118] refer to Figure 6 , the system equivalent schematic diagram of the adaptive control provided by the embodiment of the present invention can be obtained:

[0119] z(s)=G T(s)Q(s)G rw (s)w(s)-w(s)=0

[0120] Where z(s) is the difference between the output value after the adaptive control structure adjusts the interference voltage and the interference voltage; G rw (s) is the transfer function of the state observer; w(s) is the disturbance voltage; Q(s) is the transfer function of the adaptive compensation controller; G T (s) is the closed-loop transfer function of the LQR controller combined with the DC converter.

[0121] According to the above formula, the transfer function of the adaptive compensation controller can be obtained:

[0122]

[0123] The transfer function of the adaptive compensation controller is obtained through the closed-loop transfer function of the LQR controller combined with the DC converter and the transfer function of the state observer, which simplifies the solution process of the adaptive compensation controller and makes the DC converter adjustment process simpler.

[0124] refer to Figure 6 , we can get Figure 7 The schematic diagram of the solution structure of the Buck type DC converter adaptive compensation controller shown in FIG. Figure 8 The schematic diagram of the solution structure of the Boost type DC converter adaptive compensation controller is shown in Figure 1. Considering the physical feasibility of the adaptive compensation controller, a second-order link is introduced to obtain the transfer function of the Buck or Boost type DC converter adaptive compensation controller.

[0125] The switching control function of the Buck DC converter can be:

[0126]

[0127] Among them, K pwm is the equivalent gain of the Buck DC converter switch drive voltage; T is the pulse period of the Buck DC converter switch drive voltage; s is the Laplace transformation complex variable; G pwm Equivalent to 1;

[0128] The switch control function of the Boost DC converter can be:

[0129]

[0130] Among them, K pwm is the equivalent gain of the switch driving voltage of the Boost type DC converter; T is the pulse period of the switch driving voltage of the Boost type DC converter; s is the Laplace change complex variable; G pwm Equivalent to 1.

[0131] Buck and Boost DC converters are both type 0 systems, that is, when the input is a step signal, a steady-state error will occur in the output voltage of the DC converter.

[0132] The actual output voltage of the DC converter is fed back to a given voltage. The given voltage is subtracted from the actual output voltage of the DC converter to generate an error voltage. The error voltage is input into an integral controller. The error voltage is amplified by the integral action of the integral controller. The amplified error voltage enables the Buck or Boost DC converter in this example to form a drive output, thereby eliminating steady-state error.

[0133] When an interference voltage is input into a DC converter, it affects the converter's normal output. The state observer estimates the DC converter's output voltage after the interference voltage is applied. The estimated DC converter output voltage is subtracted from the actual DC converter output voltage to obtain a residual voltage. This residual voltage reflects the extent of the interference voltage and the DC converter's fault on the DC converter. The residual voltage is used to determine the DC converter's operating status. When the residual voltage is not zero, there is a deviation between the actual DC converter output voltage and the estimated output voltage, indicating that the DC converter has received an interference voltage or that the DC converter has experienced a fault. Conversely, when the residual voltage is zero, it indicates that the DC converter has not received an interference voltage and that the DC converter is not faulty.

[0134] Using robust doubly coprime decomposition and Euler parameter stabilized controller theory:

[0135] u(s)=u0(s)+Q(s)r(s)

[0136] Among them, u(s) is the input value of the controlled object; u0(s) is the output of the original controller; Q(s) is the adaptive compensation controller.

[0137] According to the robust double coprime decomposition and Euler parameter stabilized controller theory, the Figure 5 Schematic diagram of the system structure of the adaptive control of the DC converter based on residual voltage regulation provided by an embodiment of the present invention, wherein u*(s) represents the given voltage of the DC converter; K1(s) represents the transfer function of the integral controller; K2(s) represents the transfer function of the LQR controller; controlled object 1 represents the equivalent module of the DC converter before the interference voltage action point; controlled object 2 represents the equivalent module of the DC converter after the interference voltage action point; Q(s) represents the transfer function of the adaptive compensation controller; u r (s) represents the compensation voltage output by the adaptive compensation controller; r(s) represents the residual voltage; w(s) represents the interference voltage.

[0138] When interference voltage occurs, the adaptive compensation controller will quickly output the compensation voltage according to the residual information obtained by the state observer, and perform adaptive control through the LQR controller. Figure 5 The expression of the adaptive control transfer function of the DC converter based on residual voltage regulation is obtained:

[0139]

[0140] Where y1(s) is the function value of the equivalent module output voltage of the DC converter before the interference voltage action point; u k (s) is the integral value output by the integral controller; G rw (s) is the transfer function of the state observer; w(s) is the disturbance voltage; Q(s) is the transfer function of the adaptive compensation controller; G T (s) is the closed-loop transfer function of the LQR controller and the DC converter; K2(s) is the transfer function of the LQR controller; G1(s) is the transfer function of the equivalent module of the DC converter before the interference voltage action point; G2(s) is the transfer function of the equivalent module of the DC converter after the interference voltage action point; y(s) is the actual output voltage of the DC converter.

[0141] The compensation voltage output by the adaptive compensation controller is not directly superimposed on the output of the DC converter dual closed-loop controller. Instead, the signal action point of the adaptive compensation controller is adjusted to the input side of the LQR controller and superimposed on the output signal of the integral controller. After LQR regulation, adaptive control of the DC converter is achieved.

[0142] An embodiment of the present invention provides an adaptive control method for a DC converter. First, a state space model of the DC converter is established based on the electrical parameters of the DC converter. Then, an integral controller, an LQR controller, a state observer, and an adaptive compensation controller are established based on the DC converter state space model. Then, an error voltage obtained by subtracting a given voltage from the actual output voltage of the DC converter is input into the integral controller to obtain an integral value, and an estimated value of the DC converter output voltage is obtained based on the state observer. Then, a residual voltage obtained by subtracting the estimated value of the DC converter output voltage from the actual voltage output value of the DC converter is input into the adaptive compensation controller to obtain a compensation voltage. Finally, the sum of the integral value and the compensation voltage is input into the LQR controller to obtain a DC converter control quantity. The DC converter is controlled based on the DC converter control quantity, which can improve the adaptability of the DC converter control and make the DC converter adjustment process simpler.

[0143] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0144] Corresponding to the adaptive control method of a DC converter in the above embodiment, an embodiment of the present invention provides a DC converter adaptive control device 20, comprising:

[0145] The system model building module 21 is used to build a state space model of the DC converter according to the electrical parameters of the DC converter;

[0146] A controller establishment module 22 is used to establish an integral controller, an LQR controller, a state observer and an adaptive compensation controller according to a state space model of a DC converter;

[0147] An integral value determination module 23 is configured to subtract a given voltage from the actual output voltage of the DC converter to obtain an error voltage, and input the error voltage into an integral controller to obtain an integral value;

[0148] a residual voltage determination module 24 for obtaining an estimated value of the DC converter output voltage based on the state observer and subtracting the estimated value of the DC converter output voltage from the actual voltage output value of the DC converter to obtain a residual voltage; and

[0149] A compensation voltage determination module 25 is configured to input the residual voltage into an adaptive compensation controller to obtain a compensation voltage;

[0150] The LQR control module 26 is used to input the sum of the integral value and the compensation voltage into the LQR controller to obtain the DC converter control quantity, and control the DC converter according to the DC converter control quantity.

[0151] In some embodiments, the controller establishment module 22 may include:

[0152] A state variable determination unit 221 is used to determine the state variable of the LQR controller according to the actual output voltage differential of the DC converter, the inductor current differential of the DC converter, and the error voltage differential;

[0153] An LQR controller establishing unit 222 is configured to determine a control variable of the LQR controller according to a state variable of the LQR controller, and establish the LQR controller according to the control variable;

[0154] A state observer establishing unit 223, configured to establish a state observer according to a DC converter state space model;

[0155] The adaptive compensation controller establishing unit 224 is configured to establish an adaptive compensation controller according to the DC converter state space model.

[0156] In some embodiments, the expression of the control variable of the LQR controller can be:

[0157]

[0158] in, is the controlled variable of the LQR controller; X * is the state variable of the LQR controller; K is the feedback matrix of the LQR controller, K = [k1 k2 k3], k1 is the feedback coefficient of the actual output voltage of the DC converter; k2 is the feedback coefficient of the inductor current in the DC converter; k3 is the control coefficient of the integral controller.

[0159] In some embodiments, the state observer establishing unit 223 is specifically configured to obtain a state feedback matrix of the state observer by a pole placement method according to the state space model of the DC converter, and establish the state observer according to the state feedback matrix.

[0160] In some embodiments, the DC converter state-space model may be a Buck DC converter state-space model or a Boost DC converter state-space model.

[0161] In some embodiments, the DC converter state space model is a Buck type DC converter state space model; the adaptive compensation controller establishing unit 224 may be specifically configured to:

[0162] 1. Based on the state space model of the Buck DC converter, the closed-loop transfer function of the LQR controller combined with the Buck DC converter is established:

[0163]

[0164] Where r is the resistance value in the Buck type DC converter; L is the inductance value in the Buck type DC converter; C f is the capacitance value in the Buck DC converter; k1 is the feedback coefficient of the actual output voltage of the Buck DC converter; k2 is the feedback coefficient of the inductor current in the Buck DC converter; s is the Laplace variable; G pwm is the switch control function of Buck type DC converter;

[0165] 2. According to the state space model of Buck DC converter, the transfer function of the state observer is established:

[0166]

[0167] Where r is the resistance value in the Buck type DC converter; L is the inductance value in the Buck type DC converter; C f is the capacitance value in the Buck DC converter; l1 and l2 are the state feedback coefficients of the state observer; s is the Laplace transform complex variable;

[0168] 3. According to the closed-loop transfer function of the LQR controller combined with the Buck-type DC converter and the state observer transfer function, the adaptive compensation controller transfer function is established:

[0169]

[0170] wherein each matrix element is:

[0171]

[0172]

[0173]

[0174] wherein r is the resistance value in the Buck-type DC converter; L is the inductance value in the Buck-type DC converter; C f is the capacitance value in the Buck-type DC converter; k2 is the feedback coefficient of the inductance current in the Buck-type DC converter; s is the Laplace variable; G pwm is the switch control function of the Buck-type DC converter; l1 and l2 are the state feedback coefficients of the state observer; G δ is the second-order element introduced, and δ is a constant.

[0175] 4. An adaptive compensation controller is established according to the adaptive compensation controller transfer function; wherein the adaptive compensation controller is a Buck-type adaptive compensation controller.

[0176] In some embodiments, the DC converter state space model is a Boost-type DC converter state space model; the adaptive compensation controller establishing unit 224 can be specifically used for:

[0177] 1. According to the Boost-type DC converter state space model, the closed-loop transfer function of the LQR controller combined with the Boost-type DC converter is established:

[0178]

[0179] wherein r is the resistance value in the Boost-type DC converter; L is the inductance value in the Boost-type DC converter; C f is the capacitance value in the Boost-type DC converter; k1 is the feedback coefficient of the actual output voltage of the Boost-type DC converter; k2 is the feedback coefficient of the inductance current in the Boost-type DC converter; s is the Laplace variable; G pwm is the switch control function of the Boost-type DC converter; U c * is the output voltage under the steady state of the Boost-type DC converter; d *is the duty cycle of the switch driving voltage in the steady-state operation of the Boost type DC converter;

[0180] 2. According to the state space model of the Boost DC converter, the transfer function of the state observer is obtained:

[0181]

[0182] Where r is the resistance value in the Boost type DC converter; L is the inductance value in the Boost type DC converter; C f is the capacitance value in the Boost DC converter; l1 and l2 are the state feedback coefficients of the state observer; s is the Laplace transformation complex variable;

[0183] 3. Based on the closed-loop transfer function of the LQR controller combined with the Boost DC converter and the state observer transfer function, the adaptive compensation controller transfer function is established:

[0184]

[0185] The matrix elements are:

[0186]

[0187]

[0188]

[0189] Where r is the resistance value in the Boost type DC converter; L is the inductance value in the Boost type DC converter; C f is the capacitance value in the Boost type DC converter; k1 is the feedback coefficient of the actual output voltage of the Boost type DC converter; s is the Laplace change complex variable; G pwm is the Boost type DC converter switch equivalent module; l1 and l2 are the state feedback coefficients of the state observer; G δ To introduce the second-order link, δ is a constant.

[0190] 4. Establish an adaptive compensation controller according to the transfer function of the adaptive compensation controller; wherein the adaptive compensation controller is a Boost type adaptive compensation controller.

[0191] In some examples, the Buck DC converter switch control function may be:

[0192]

[0193] Among them, K pwmis the equivalent gain of the Buck DC converter switch drive voltage; T is the pulse period of the Buck DC converter switch drive voltage; s is the Laplace transform complex variable; G pwm Equivalent to 1;

[0194] The switch control function of the Boost DC converter can be:

[0195]

[0196] Among them, K pwm is the equivalent gain of the switch driving voltage of the Boost type DC converter; T is the pulse period of the switch driving voltage of the Boost type DC converter; s is the Laplace change complex variable; G pwm Equivalent to 1.

[0197] Figure 12 FIG. 1 is a schematic block diagram of a terminal device provided by an embodiment of the present invention. Figure 12 As shown, the terminal device 400 of this embodiment includes: one or more processors 401, a memory 402, and a computer program 403 stored in the memory 402 and executable on the processor 401. When the processor 401 executes the computer program 402, the steps in the embodiment of the DC converter adaptive control method are implemented, such as Figure 1 In steps S101 to S105 shown, the processor 401 implements the functions of each module in the embodiment of the above-mentioned DC converter adaptive control method when executing the computer program 403.

[0198] Exemplarily, the computer program 403 may be divided into one or more modules, one or more of which are stored in the memory 402 and executed by the processor 401 to complete the present application. The one or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 403 in the terminal device 400. For example, the computer program 403 may be divided into a state-space model establishment module, an integral controller and LQR controller establishment module, and a state observer and adaptive compensation controller establishment module.

[0199] A system model building module is used to build a state space model of the DC converter according to the electrical parameters of the DC converter;

[0200] A controller establishment module is used to establish an integral controller, an LQR controller, a state observer and an adaptive compensation controller according to a state space model of a DC converter;

[0201] An integral value determination module is used to subtract a given voltage from the actual output voltage of the DC converter to obtain an error voltage, and input the error voltage into an integral controller to obtain an integral value;

[0202] a residual voltage determination module, configured to obtain an estimated value of the DC converter output voltage based on the state observer, and to subtract the estimated value of the DC converter output voltage from the actual voltage output value of the DC converter to obtain a residual voltage; and a compensation voltage determination module, configured to input the residual voltage into the adaptive compensation controller to obtain a compensation voltage;

[0203] The LQR control module is used to input the sum of the integral value and the compensation voltage into the LQR controller to obtain the DC converter control quantity, and control the DC converter according to the DC converter control quantity.

[0204] The terminal device 400 includes but is not limited to a processor 401 and a memory 402. Those skilled in the art will understand that Figure 12 It is only an example of a terminal device and does not constitute a limitation on the terminal device 400. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device 400 may also include an input device, an output device, a network access device, a bus, etc.

[0205] The processor 401 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (CPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0206] Memory 402 may be an internal storage unit of terminal device 400, such as a hard drive or memory of the terminal device. Memory 402 may also be an external storage device of the terminal device, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. equipped with the terminal device. Furthermore, memory 402 may include both an internal storage unit of the terminal device and an external storage device. Memory 402 is used to store computer program 403 and other programs and data required by the terminal device. Memory 402 may also be used to temporarily store data that has been output or is about to be output.

[0207] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the terminal device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned device can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0208] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0209] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0210] In the embodiments provided in this application, it should be understood that the disclosed terminal devices and methods can be implemented in other ways. For example, the terminal device embodiments described above are merely illustrative. For example, the division of modules or units is merely 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. In addition, 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.

[0211] 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.

[0212] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0213] If the integrated module or 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 present application implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media does not include electric carrier signals and telecommunication signals.

[0214] 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. 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 various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. An adaptive control method for a DC converter, characterized in that: include: Establishing a state space model of the DC converter according to the electrical parameters of the DC converter; According to the state space model of the DC converter, an integral controller, an LQR controller and a state observer are established; establishing an adaptive compensation controller according to the DC converter state space model; Subtracting the actual output voltage from the given voltage of the DC converter to obtain an error voltage, and inputting the error voltage into the integral controller to obtain an integral value; obtaining an estimated value of the DC converter output voltage according to the state observer, subtracting the estimated value of the DC converter output voltage from the actual voltage output value of the DC converter to obtain a residual voltage; and inputting the residual voltage into the adaptive compensation controller to obtain a compensation voltage; Inputting the sum of the integral value and the compensation voltage into the LQR controller to obtain the DC converter control variable, and controlling the DC converter according to the DC converter control variable; The DC converter state space model is a Buck type DC converter state space model. An adaptive compensation controller is established based on the DC converter state space model, including: Establishing a closed-loop transfer function combining the LQR controller and the Buck-type DC converter according to the state-space model of the Buck-type DC converter; Establishing a transfer function of the state observer according to the state space model of the Buck type DC converter; establishing an adaptive compensation controller transfer function based on a closed-loop transfer function of the LQR controller combined with the DC converter and the state observer transfer function; Establishing an adaptive compensation controller according to the adaptive compensation controller transfer function; wherein the adaptive compensation controller is a Buck type adaptive compensator; The transfer function of the adaptive compensation controller is: The matrix elements are: Wherein, r is the resistance value of the Buck type DC converter; L is the inductance value of the Buck type DC converter; C f is the capacitance value in the Buck type DC converter; k2 is the feedback coefficient of the inductor current in the Buck type DC converter; s is the Laplace variable; G pwm is the Buck type DC converter switch control function; l1 and l2 are the state feedback coefficients of the state observer; G δ To introduce the second-order link, δ is a constant.

2. The adaptive control method for a DC converter according to claim 1, wherein: The method of establishing an integral controller, an LQR controller and a state observer according to the DC converter state space model includes: determining a state variable of the LQR controller according to an actual output voltage differential of the DC converter, an inductor current differential of the DC converter, and the error voltage; determining a control variable of the LQR controller according to a state variable of the LQR controller, and establishing the LQR controller according to the control variable; A state observer is established according to the DC converter state space model.

3. The adaptive control method for a DC converter according to claim 2, wherein: The expression of the control variable of the LQR controller is: in, is the control variable of the LQR controller; X * is the state variable of the LQR controller; K is the feedback matrix of the LQR controller, K = [k1k2k3], k1 is the feedback coefficient of the actual output voltage of the DC converter; k2 is the feedback coefficient of the inductor current in the DC converter; k3 is the control coefficient of the integral controller.

4. The adaptive control method for a DC converter according to claim 2, wherein: The step of establishing a state observer according to the DC converter state space model comprises: According to the state space model of the DC converter, a state feedback matrix of the state observer is obtained by a pole placement method, and a state observer is established according to the state feedback matrix.

5. The adaptive control method for a DC converter according to claim 1, wherein: The closed-loop transfer function of the LQR controller combined with the Buck DC converter is: Wherein, r is the resistance value of the Buck type DC converter; L is the inductance value of the Buck type DC converter; C f is the capacitance value in the Buck type DC converter; k1 is the feedback coefficient of the actual output voltage of the Buck type DC converter; k2 is the feedback coefficient of the inductor current in the Buck type DC converter; s is the Laplace change complex variable; G pwm is the Buck type DC converter switch control function; The transfer function of the state observer is: Wherein, r is the resistance value of the Buck type DC converter; L is the inductance value of the Buck type DC converter; C f is the capacitance value in the Buck type DC converter; l1 and l2 are the state feedback coefficients of the state observer; s is the Laplace transformation complex variable.

6. The adaptive control method for a DC converter according to claim 1 or claim 5, characterized in that: include: The Buck type DC converter switch control function is: Among them, K pwm is the equivalent gain of the Buck type DC converter switch driving voltage; T is the pulse period of the Buck type DC converter switch driving voltage; s is the Laplace transform complex variable; G pwm Equivalent to 1.

7. An adaptive control method for a DC converter, characterized in that: include: Establishing a state space model of the DC converter according to the electrical parameters of the DC converter; According to the state space model of the DC converter, an integral controller, an LQR controller and a state observer are established; establishing an adaptive compensation controller according to the DC converter state space model; Subtracting the actual output voltage from the given voltage of the DC converter to obtain an error voltage, and inputting the error voltage into the integral controller to obtain an integral value; obtaining an estimated value of the DC converter output voltage according to the state observer, subtracting the estimated value of the DC converter output voltage from the actual voltage output value of the DC converter to obtain a residual voltage; and inputting the residual voltage into the adaptive compensation controller to obtain a compensation voltage; Inputting the sum of the integral value and the compensation voltage into the LQR controller to obtain the DC converter control variable, and controlling the DC converter according to the DC converter control variable; The DC converter state space model is a Boost type DC converter state space model. An adaptive compensation controller is established based on the DC converter state space model, including: Establishing a closed-loop transfer function combining the LQR controller and the Boost type DC converter according to the state space model of the Boost type DC converter; Establishing a transfer function of the state observer according to the state space model of the Boost type DC converter; establishing an adaptive compensation controller transfer function based on a closed-loop transfer function of the LQR controller combined with the DC converter and the state observer transfer function; Establishing an adaptive compensation controller according to the adaptive compensation controller transfer function; wherein the adaptive compensation controller is a Boost type adaptive compensator; The transfer function of the adaptive compensation controller is: The matrix elements are: Wherein, r is the resistance value of the Boost type DC converter; L is the inductance value of the Boost type DC converter; C f is the capacitance value in the Boost type DC converter; k1 is the feedback coefficient of the actual output voltage of the Boost type DC converter; s is the Laplace change complex variable; G pwm is the Boost type DC converter switch equivalent module; l1 and l2 are the state feedback coefficients of the state observer; U c * is the output voltage of the Boost type DC converter in steady state operation; d * G is the duty cycle of the switch driving voltage when the Boost type DC converter is in steady state operation; δ To introduce the second-order link, δ is a constant.

8. The adaptive control method for a DC converter according to claim 7, wherein: The closed-loop transfer function of the LQR controller combined with the Boost DC converter is: Wherein, r is the resistance value of the Boost type DC converter; L is the inductance value of the Boost type DC converter; C f is the capacitance value in the Boost type DC converter; k1 is the feedback coefficient of the actual output voltage of the Boost type DC converter; k2 is the feedback coefficient of the inductor current in the Boost type DC converter; s is the Laplace change complex variable; G pwm is the Boost type DC converter switch control function; U c * is the output voltage of the Boost type DC converter in steady state operation; d * is the duty cycle of the switch driving voltage when the Boost type DC converter is in steady-state operation; The transfer function of the state observer is: Wherein, r is the resistance value of the Boost type DC converter; L is the inductance value of the Boost type DC converter; C f is the capacitance value in the Boost type DC converter; l1 and l2 are the state feedback coefficients of the state observer; s is the Laplace change complex variable.

9. The adaptive control method for a DC converter according to claim 7 or claim 8, characterized in that: include: The Boost type DC converter switch control function is: Among them, K pwm is the equivalent gain of the switch driving voltage of the Boost type DC converter; T is the pulse period of the switch driving voltage of the Boost type DC converter; s is the Laplace transform complex variable; G pwm Equivalent to 1.

10. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the processor implements the steps of the DC converter adaptive control method according to any one of claims 1 to 6, or the steps of the DC converter adaptive control method according to any one of claims 7 to 9.

11. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the computer program implements the steps of the DC converter adaptive control method according to any one of claims 1 to 6, or the steps of the DC converter adaptive control method according to any one of claims 7 to 9.

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