Wide-range active-disturbance-rejection control method of bidirectional wireless charging system

Abstract

The invention provides a wide-range active-disturbance-rejection control method for a bidirectional wireless charging system. The wide-range active-disturbance-rejection control method is used for solving the technical problems that an existing BWPT system is poor in transmission stability and low in transmission efficiency under the wide-range working condition. The method comprises the following specific steps: setting a system reference power angle; acquiring real-time output current and voltage signals of the electric energy receiving end circuit during the nth sampling, and calculating a system power angle; whether the calculated system power angle is equal to the system reference power angle or not is judged, if yes, active-disturbance-rejection control is completed, and if not, the difference value between the system power angle and the system reference power angle is calculated and input into an LADRC controller; the LADRC controller estimates a state variable and total disturbance, compensates the state variable and the total disturbance, outputs a control signal, limits the amplitude of the control signal, acts on the PWM generator, and controls a switching tube of a full-bridge inverter of the electric energy receiving end circuit after passing through the driving circuit. According to the invention, constant current output of the system is realized. The control process does not need communication between the primary side and the secondary side, and has the advantages of fast dynamic response and strong anti-interference performance.

Description

Technical Field

[0001] The present invention relates to the field of wireless power transmission, and in particular to a wide range auto-anti-disturbance control method for a bidirectional wireless charging system. Background Art

[0002] In recent years, with the development of science and technology and the progress of society, wireless power transmission (WPT) technology is gradually integrating into people's lives. WPT technology refers to the technology that comprehensively applies electrical theory, power electronics technology, and control theory, and uses magnetic fields, electric fields, microwaves and other carriers to transmit electric energy from the power grid or battery to electrical equipment in a non-electrical contact manner. This technology realizes convenient use and safe access to power, and gets rid of the problems of limited equipment flexibility and safety hazards caused by traditional wired power supply methods. Its application scope covers various fields such as electric vehicles, biomedicine and underwater equipment.

[0003] With the rapid growth of the number of electric vehicles (EVs), the surge in charging load is a severe test for the power grid, which is likely to cause a tight load on the distribution network and even cause stability problems in the power grid. EVs grid-connected technology can realize two-way wireless energy flow between the power grid and EVs. Electric energy can flow from the power grid to electric vehicles (G2V) or from electric vehicles to the power grid (V2G). The energy of the on-board power battery is used to participate in the "peak shaving and valley filling" dispatching operation of the power grid. That is, when the load of the power grid is too high, the energy stored in EVs is fed to the power grid to relieve the power supply pressure of the power grid; when the load of the power grid is too low, the excess power in the power grid is used to power EVs to avoid energy waste. V2G technology based on bidirectional wireless power transmission (BWPT) helps to improve the convenience of EVs charging, reduce the burden on the power grid, improve the quality of the power grid and enhance the stability of the power grid. Due to the characteristics of wireless energy interaction of BWPT technology, in addition to V2G, related technologies such as V2V, V2H and B2B have also been derived to realize the charging and discharging energy interaction of different power-consuming devices. Therefore, flexible, efficient and convenient BWPT technology is of great significance for the energy interaction of wireless charging devices.

[0004] During the dynamic wireless charging process of the BWPT system of electric vehicles, the relative positions of the primary and secondary sides are not fixed, and the mutual inductance coupling coefficient and circuit equivalent parameters vary over a wide range. How to ensure stable and efficient transmission of the system under a wide range of working conditions is a key issue that needs to be solved urgently. Summary of the invention

[0005] The purpose of the present invention is to provide a wide range anti-disturbance control method for a bidirectional wireless charging system, which is used to solve the technical problems that the relative positions of the primary and secondary sides of the existing BWPT system are not fixed during the dynamic wireless charging process, the mutual inductance coupling coefficient and the circuit equivalent parameters vary over a wide range, and the transmission stability is poor under a wide range of working conditions and the transmission efficiency is low.

[0006] A wide range auto-disturbance rejection control method for a bidirectional wireless charging system, the bidirectional wireless charging system comprises a primary circuit and a secondary circuit, the primary circuit and the secondary circuit respectively comprise a primary full-bridge inverter and a secondary full-bridge inverter, the auto-disturbance rejection control method comprises the following specific steps:

[0007] S1: Set the system reference power angle;

[0008] S2: Collect the real-time output current and output voltage signals of the power receiving end circuit at the nth sampling, where n is a positive integer;

[0009] S3: Calculate the active power and reactive power of the power receiving end circuit through the real-time output current and output voltage, and calculate the system power angle through the active power and reactive power;

[0010] S4: Determine whether the calculated system power angle is equal to the system reference power angle. If they are equal, the automatic disturbance rejection control is completed. If they are not equal, the difference between the system power angle and the system reference power angle is calculated and input into the LADRC controller.

[0011] S5: The LADRC controller estimates the state variables and the total disturbance and compensates for the output control signal. The control signal is limited and applied to the PWM generator. After passing through the driving circuit, the switch tube of the full-bridge inverter of the power receiving circuit is controlled, and n=n+1 is set, and the process returns to step S2.

[0012] Optionally, when the primary side supplies power to the secondary side, the power receiving end circuit is a secondary side circuit, and the full-bridge inverter of the power receiving end circuit is a secondary side full-bridge inverter;

[0013] When the secondary side supplies power to the primary side, the power receiving end circuit is a primary side circuit, and the full-bridge inverter of the power receiving end circuit is a primary side full-bridge inverter.

[0014] Optionally, a specific method for calculating the active power and reactive power of the power receiving end circuit through the real-time output current and output voltage is:

[0015] S3.1: construct a fundamental wave approximate model of the system, and obtain the fundamental wave voltage and current of the full-bridge output of the power receiving end circuit by collecting the real-time output current and output voltage signals of the power receiving end circuit;

[0016] S3.2: Calculate the total power of the power receiving end circuit, where the total power of the power receiving end circuit is equal to the product of the fundamental voltage and current output by the full bridge of the power receiving end circuit;

[0017] The real part of the total power of the power receiving end circuit is the active power of the power receiving end circuit, and the imaginary part of the total power of the power receiving end circuit is the reactive power of the power receiving end circuit.

[0018] Optionally, the specific method for calculating the system power angle through active power and reactive power is:

[0019] Calculate the RMS of active power and reactive power, and then calculate the arc cosine function of the quotient of active power and RMS to obtain the system power angle.

[0020] Optionally, the LADRC controller includes a linear state error feedback rate controller LSEF and a linear extended state observer LESO.

[0021] Optionally, the output of the LADRC controller in the linear state error feedback rate controller LSEF is equal to the second-order differential of the output, which is equal to the product of the control gain and the system input and then summed with the total disturbance of the system;

[0022] Optionally, the three outputs of the linear extended state observer LESO are respectively an estimated value of the output current, an estimated value of the output differential signal and an estimated value of the total disturbance of the system.

[0023] Optionally, system parameters in the linear state error feedback rate controller LSEF and the linear extended state observer LESO are adjusted based on the bandwidth method.

[0024] Due to the adoption of the above technical solution, the present invention has the following advantages:

[0025] 1. The LCC-lCC resonant bidirectional wireless charging system of the present application adopts the LADRC closed-loop control method for self-disturbance rejection control, thereby achieving a constant current output of the system.

[0026] 2. The control process of this application does not require communication between the primary and secondary sides, and its real-time performance is good, and the impact on the primary side system is small. Compared with the traditional PID controller, this application has the advantages of fast dynamic response, strong anti-interference performance, and low dependence on system models. It can be widely used in the fields of wireless battery charging such as automobiles, medical treatment, and industry.

[0027] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings of the present invention are as follows.

[0029] Figure 1 Schematic diagram of the circuit structure of the bidirectional wireless charging system of the present invention.

[0030] Figure 2 It is a flow chart of the active disturbance rejection control method of the present invention.

[0031] Figure 3 This is a circuit diagram of a fundamental wave approximation model of the bidirectional wireless charging system of the present invention.

[0032] Figure 4 It is the phasor diagram of the fundamental wave approximation model of the present invention.

[0033] Figure 5 It is a waveform diagram of the mutual inductance coupling coefficient K12 of the present invention.

[0034] Figure 6 It is a waveform diagram of the mutual inductance coupling coefficient K13 of the present invention.

[0035] Figure 7 It is a waveform diagram of the mutual inductance coupling coefficient K23 of the present invention.

[0036] Figure 8 It is a waveform diagram of the external phase shift angle δ of the system of the present invention.

[0037] Fig. 9 It is a waveform diagram of the phase shift angle Bs in the system of the present invention.

[0038] Fig.10 It is the bias curve of the intensity modulator MZM of the present invention.

[0039] Fig.11 It is the overall waveform diagram of the comparative simulation of ADRC control and PID control of the present invention.

[0040] Fig.12 It is the response phase waveform diagram of the comparative simulation of ADRC control and PID control of the present invention.

[0041] Fig.13 It is the steady-state stage waveform diagram of the comparative simulation of ADRC control and PID control of the present invention.

[0042] Fig.14 This is a diagram showing the effect of current control when mutual inductance drops in the comparative simulation of ADRC control and PID control of the present invention. DETAILED DESCRIPTION

[0043] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0044] Embodiment 1:

[0045] like Figure 1 A bidirectional wireless charging system shown in FIG. 1 includes a primary circuit and a secondary circuit, wherein the primary circuit includes a primary DC power supply, a primary full-bridge inverter circuit, a primary compensation circuit and a primary coil L connected in sequence. p The secondary circuit includes a secondary coil L connected in sequence s , secondary side compensation circuit, secondary side full-bridge inverter circuit and secondary side DC power supply.

[0046] In this embodiment, if Figure 1 As shown, the primary full-bridge inverter circuit is composed of S 1 -S 4 A total of 4 high-frequency power semiconductor power tubes are used. The secondary full-bridge inverter circuit is composed of T 1 -T 4 A total of 4 high-frequency power semiconductor power tubes are formed, the primary compensation circuit and the secondary compensation circuit are symmetrically arranged LCC topology structures, and the primary compensation circuit includes a primary compensation inductor L p1 , primary compensation capacitor C p1 And the primary compensation capacitor C p2 The secondary compensation circuit includes a primary compensation inductor L s1 , primary compensation capacitor C s1 And the primary compensation capacitor C s2 . Secondary coil L s With the primary coil L p In this embodiment, the primary DC power supply is a grid power supply, and the secondary DC power supply is a battery power supply of the electric vehicle. Figure 1 In the figure, M is the secondary coil L s With the primary coil L p The mutual inductance between in and I in are the primary DC voltage and input current respectively, U o and I o are the secondary DC voltage and output current, u p and i p are the output voltage and output current of the primary full-bridge inverter circuit, u s and i s They are the output voltage and output current of the secondary side full-bridge inverter circuit respectively.

[0047] Embodiment 2:

[0048] like Figure 2 A wide range anti-disturbance control method for a bidirectional wireless charging system is shown, which is used to perform anti-disturbance control on the bidirectional wireless charging system described in Example 1. When the primary side supplies power to the secondary side, the secondary side circuit power receiving end circuit, the secondary side full-bridge inverter is a power receiving end circuit full-bridge inverter; when the secondary side supplies power to the primary side, the primary side circuit power receiving end circuit, the primary side full-bridge inverter is a power receiving end circuit full-bridge inverter. The specific steps are:

[0049] S1: Set the system reference power angle θ c-ref ;

[0050] S2: Collect the real-time output current and output voltage signals of the power receiving end circuit at the nth sampling, where n is a positive integer;

[0051] S3: Calculate the active power and reactive power of the power receiving circuit through the real-time output current and output voltage, and calculate the system power angle through the active power and reactive power. The specific method is as follows:

[0052] S3.1: construct a fundamental wave approximate model of the system, and obtain the fundamental wave voltage and current of the full-bridge output of the power receiving end circuit by collecting the real-time output current and output voltage signals of the power receiving end circuit;

[0053] S3.2: Calculate the total power of the power receiving end circuit, where the total power of the power receiving end circuit is equal to the product of the fundamental voltage and current output by the full bridge of the power receiving end circuit;

[0054] The real part of the total power of the power receiving end circuit is the active power of the power receiving end circuit, and the imaginary part of the total power of the power receiving end circuit is the reactive power of the power receiving end circuit.

[0055] In this embodiment, taking the transmission of electric energy from the primary side to the secondary side as an example, for the bilateral LCC compensation WPT system, ignoring the loss, the fundamental wave approximate model of the system is constructed as follows: Figure 3 As shown, Figure 3 Middle,U p,1 and U s,1 They are the fundamental voltages of the original secondary full-bridge outputs:

[0056]

[0057]

[0058] In the formula, β p is the phase shift angle of the primary full-bridge converter, β s is the phase shift angle of the secondary full-bridge converter, δ is the phase angle of the secondary full-bridge output fundamental voltage lagging the primary full-bridge fundamental voltage, V dp is the primary DC voltage, V ds is the secondary DC voltage.

[0059] U ps and U sp They are the induced open-circuit voltages of the primary and secondary coils respectively:

[0060]

[0061]

[0062] The characteristic impedances of the primary and secondary sides are defined as:

[0063]

[0064]

[0065] In the formula, X p is the primary impedance, X s is the secondary side impedance.

[0066] Define the inductance ratio α of the primary coil inductance and the compensation inductance p for:

[0067]

[0068] Similarly, define the ratio of the secondary coil inductance to the compensation inductance α s for:

[0069]

[0070] At this time, the apparent power of the system secondary sideband is:

[0071] S=U s,1 I * Lrs =P s +jQ s

[0072] Where P s and Q s are the active power and reactive power of the secondary circuit respectively, which can be expressed as

[0073]

[0074]

[0075] S3.3: Calculate the root mean square of active power and reactive power, and then calculate the arc cosine function of the quotient of active power and root mean square to obtain the system power angle.

[0076] In this embodiment, Figure 4 is the phasor diagram of the fundamental wave approximate model. From the above analysis, we can see that when 0 o <δ<180 o , the system transmits power from the primary side to the secondary side, when -180 o <δ<0 o , the system secondary side transmits power to the primary side. In order to further describe the power transmission characteristics of the secondary side, the power angle of the system is defined as:

[0077]

[0078] Simplifying the above formula, we can get:

[0079] θ=cos -1 (-sinδ)

[0080] The above formula describes the relationship between the system power angle θ and the relative phase angle δ of the primary and secondary sides under ideal parameters. For example, when the relative phase angle δ of the primary and secondary sides is +90o or -90o, the corresponding system power angle θ is 180 o or 0o. When -180 o ≤θ≤-90o or 90o≤θ<180 o , the system transmits power from the primary side to the secondary side, when -90 o ≤θ<90o, the system secondary side transmits power to the primary side. Therefore, the relative phase angle between the primary and secondary sides can be indirectly controlled by controlling the system power angle, thereby achieving the regulation of power transmission direction and magnitude.

[0081] S4: Determine whether the calculated system power angle is equal to the system reference power angle. If they are equal, the automatic disturbance rejection control is completed. If they are not equal, the difference between the system power angle and the system reference power angle is calculated and input into the LADRC controller.

[0082] In this embodiment, the system is modeled and analyzed using the two-port network theory and the transformer leakage inductance equivalent model, and the transmission parameter matrix of the primary side compensation network is defined as A P , the transmission parameter matrix of the loosely coupled transformer is A T , the transmission parameter matrix of the secondary side compensation network is A S , then A P , A T and A S They are:

[0083]

[0084] In the formula, ωL is defined as α =ωL p1 -1 / ωC p2 ,ωL β =ωL s1 -1 / ωC s2 .

[0085] In order to improve the transmission efficiency of the system, the inductor and capacitor components in the compensation circuit are generally designed to work at the resonant frequency ω 0 At this time, the component parameters in the compensation network satisfy:

[0086]

[0087] According to the two-port network theory, we can calculate:

[0088]

[0089] Wherein, jX is the average impedance value of the left and right bridge arms of the three bridge arms of the resonant compensation network.

[0090] It can be seen from the above formula that the output current of the LCC resonant compensation network is only related to the input voltage and circuit parameters, but has nothing to do with the load resistance, indicating that the LCC resonant compensation network has the characteristics of constant current source and load independence. The total disturbance of the system under resonance is mainly caused by the mutual inductance M. In practical applications, power electronic devices are not in an ideal state. Some parasitic parameters include power supply internal resistance, line inductance, IGBT parasitic capacitance, etc., which can be used as system internal disturbances and compensated by LADRC.

[0091] S5: The LADRC controller estimates the state variables and the total disturbance and compensates for the output control signal. The control signal is limited and applied to the PWM generator. After passing through the driving circuit, the switch tube of the full-bridge inverter of the power receiving circuit is controlled, and n=n+1 is set, and the process returns to step S2.

[0092] In this embodiment, if Figure 3 As shown, the LADRC controller includes a linear state error feedback rate controller LSEF and a linear extended state observer LESO. The second-order differential of the output of the LADRC controller in the linear state error feedback rate controller LSEF is It is equal to the product of control gain b and system input (system power angle difference) u and the sum of total disturbance of the system, that is:

[0093]

[0094] Rewrite the above equation into state space form:

[0095]

[0096] The three outputs of the linear extended state observer LESO are the estimated value of the output current z 1 , the estimated value of the output differential signal z 2 and the estimated value of the total disturbance of the system z 3 :

[0097]

[0098] In the formula, β 1 , β 2 , β 3 is the observer gain.

[0099] The control rate of the controller is:

[0100]

[0101] In the formula, l 1 and l 2 These are the parameters of the linear state error feedback rate controller LSEF.

[0102] Substituting the above formula into the linear extended state observer LESO, we can get:

[0103]

[0104] In this embodiment, the system parameters in the linear state error feedback rate controller LSEF and the linear extended state observer LESO are adjusted based on the bandwidth method. For the second-order LADRC, the linear extended state observer LESO bandwidth ω is introduced 0 , select parameters as follows:

[0105]

[0106] The control gain b is determined by the controlled object. If the accurate b value cannot be obtained in practical applications, an approximate estimated value can be used instead, and LESO can treat the unknown part as a disturbance.

[0107] S6 simulation verification:

[0108] S6.1 System parameter setting, in order to verify the feasibility of the LADRC constant current control BWPT system closed-loop control method, and compare it with the traditional PID controller, according to Figure 1 The LCC-LCC BWPT simulation model is built with the structure of the LCC-LCC type, and the LADRC controller part is set to perform self-disturbance control on the parameters. The parameters are shown in Table 1. The primary side of the system is powered by 620V DC, and the secondary side resonance compensation part integrates the inductor in the coupling mechanism to improve the power density. The constant current of 66A is output in advance, and the mutual inductance curve is fitted according to the COMSOL simulation results. This is to simulate the fluctuation of mutual inductance during the driving process of the car.

[0109] Table 1 LCC-LCC BWPT system parameters

[0110]

[0111] S6.2 Control simulation: Through the above parameters, the inverter output current and voltage waveforms when the system is working are as follows: Figure 5 As shown, from Figure 5 It can be seen that U in and I in The phase angle is basically kept at zero, and the system is basically completely resonant, which meets the charging conditions of the WPT system.

[0112] In order to simulate the fluctuation of mutual inductance during driving, the mutual inductance change waveform is fitted according to the COMSOL simulation results. Figure 6 , Figure 7 and Figure 8 shown. Figure 6 The primary coil L p With the secondary coil L sThe curve diagram of the mutual inductance coupling coefficient K12, Figure 7 The primary coil L p With the secondary compensation coil L s1 The curve diagram of the mutual inductance coupling coefficient K13, Figure 7 The primary compensation coil L p1 With the secondary coil L s Curve graph of the mutual inductance coupling coefficient K23.

[0113] The secondary side synchronous rectification method adopts the PQ method to keep the external phase angle δ at -90°, such as Fig. 9 As shown. The internal phase shift angle Bs waveform of the system is obtained by the LADRC control algorithm as shown Fig.10 As shown. Fig. 9 and Fig.10 It can be seen that the self-disturbance rejection control method of the present application realizes the constant current output of the system.

[0114] S6.3 Comparative simulation: Set the secondary DC power supply to a 620V DC power supply, set the system output current to 66A, and obtain the system LADRC control and PID control waveforms in the process of changing with the mutual inductance. Fig.11 , Fig.12 , Fig.13 and Fig.14 shown. Fig.11 , Fig.12 , Fig.13 and Fig.14 The green line in the middle is the current waveform of PID control, and the blue line is the waveform of LADRC control in this application.

[0115] Since the load is a power supply, the control waveform will fluctuate around the set value. Fig.11 , Fig.12 , Fig.13 and Fig.14 It can be seen that in the whole stage, the control effect of LADRC is better than that of PID; in the response stage, the overshoot of LADRC is lower than that of PID, and the response time is shorter; in the steady-state stage and the mutual inductance drop stage, LADRC has stronger anti-interference ability than PID, and the change amplitude is smaller. By comparison, it can be seen that the anti-interference performance of LADRC is better than that of PID.

[0116] In summary, the LCC-lCC resonant bidirectional wireless charging system of the present application adopts the LADRC closed-loop control method for self-anti-disturbance control, realizing the constant current output of the system. The control process does not require communication between the primary and secondary sides, has good real-time performance, and has little impact on the primary side system. Compared with the traditional PID controller, the present application has the advantages of fast dynamic response, strong anti-interference performance, and low dependence on the system model, and can be widely used in the fields of battery wireless charging such as automobiles, medical treatment, and industry.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A wide range anti-disturbance control method for a bidirectional wireless charging system, wherein the bidirectional wireless charging system comprises a primary circuit and a secondary circuit, wherein the primary circuit and the secondary circuit respectively comprise a primary full-bridge inverter and a secondary full-bridge inverter, wherein: The specific steps of the active disturbance rejection control method are as follows: S1: Set the system reference power angle; S2: Collect the real-time output current and output voltage signals of the power receiving end circuit at the nth sampling, where n is a positive integer; S3: Calculate the active power and reactive power of the power receiving end circuit through the real-time output current and output voltage, and calculate the system power angle through the active power and reactive power; S4: Determine whether the calculated system power angle is equal to the system reference power angle. If they are equal, the automatic disturbance rejection control is completed. If they are not equal, the difference between the system power angle and the system reference power angle is calculated and input into the LADRC controller. S5: The LADRC controller estimates the state variables and the total disturbance and compensates for the output control signal. The control signal is limited and applied to the PWM generator. After passing through the driving circuit, the switch tube of the full-bridge inverter of the power receiving circuit is controlled, and n=n+1 is set, and the process returns to step S2.

2. The wide range auto-disturbance rejection control method of a bidirectional wireless charging system according to claim 1, characterized in that: When the primary side supplies power to the secondary side, the power receiving end circuit is a secondary side circuit, and the full-bridge inverter of the power receiving end circuit is a secondary side full-bridge inverter; When the secondary side supplies power to the primary side, the power receiving end circuit is a primary side circuit, and the full-bridge inverter of the power receiving end circuit is a primary side full-bridge inverter.

3. The wide range auto-disturbance rejection control method of a bidirectional wireless charging system according to claim 1, characterized in that: The specific method for calculating the active power and reactive power of the power receiving circuit through the real-time output current and output voltage is: S3.1: construct a fundamental wave approximate model of the system, and obtain the fundamental wave voltage and current of the full-bridge output of the power receiving end circuit by collecting the real-time output current and output voltage signals of the power receiving end circuit; S3.2: Calculate the total power of the power receiving end circuit, where the total power of the power receiving end circuit is equal to the product of the fundamental voltage and current output by the full bridge of the power receiving end circuit; The real part of the total power of the power receiving end circuit is the active power of the power receiving end circuit, and the imaginary part of the total power of the power receiving end circuit is the reactive power of the power receiving end circuit.

4. The wide range auto-disturbance rejection control method of a bidirectional wireless charging system according to claim 3, characterized in that: The specific method for calculating the system power angle through active power and reactive power is: Calculate the RMS of active power and reactive power, and then calculate the arc cosine function of the quotient of active power and RMS to obtain the system power angle.

5. The wide range auto-disturbance rejection control method of a bidirectional wireless charging system according to claim 1, characterized in that: The LADRC controller includes a linear state error feedback rate controller LSEF and a linear extended state observer LESO.

6. The wide range auto-disturbance rejection control method of a bidirectional wireless charging system according to claim 5, characterized in that: The output of the LADRC controller in the linear state error feedback rate controller LSEF is equal to the second-order differential of the output, which is equal to the product of the control gain and the system input and the sum of the total disturbance of the system; The output of the LADRC controller is a current modulation wave, and the input of the LADRC controller is a system power angle.

7. The wide range auto-disturbance rejection control method of a bidirectional wireless charging system according to claim 6, characterized in that: The three outputs of the linear extended state observer LESO are respectively an estimated value of the output current, an estimated value of the output differential signal and an estimated value of the total disturbance of the system.

8. The wide range auto-disturbance rejection control method of a bidirectional wireless charging system according to claim 7, characterized in that: The system parameters in the linear state error feedback rate controller LSEF and the linear extended state observer LESO are adjusted based on the bandwidth method.

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