A fault-tolerant control method for bumpless switching of DC-DC boost converters

Abstract

The present invention belongs to the technical field of fault-tolerant control of DC-DC boost converters, and specifically discloses a method for disturbance-free switching fault-tolerant control of DC-DC boost converters. The method of the present invention comprises the following steps: pre-building a DC-DC boost converter system, and establishing a corresponding mathematical model based on the switching characteristics of the DC-DC boost converter; designing a segmented transition-dependent fault-tolerant controller, and applying a given disturbance-free switching performance constraint to achieve disturbance-free switching fault-tolerant control of the DC-DC boost converter; providing a new average residence time constraint and sufficient conditions for the existence of disturbance-free switching fault-tolerant control in the system, so that the DC-DC boost converter can still maintain stable and safe operation within the required range and suppress transient turbulence when subjected to voltage source failure and external disturbances. The method of the present invention effectively solves the problem that traditional methods cannot achieve disturbance-free switching fault-tolerant control of DC-DC boost converters.

Description

Technical Field

[0001] The present invention belongs to the technical field of fault-tolerant control of DC-DC boost converters, and in particular relates to a disturbance-free switching fault-tolerant control method for DC-DC boost converters. Background Art

[0002] As a key component of switching power supplies, the DC-DC boost converter plays a vital role in maintaining the stable operation of power electronics. A fault in this converter can have a devastating impact on the performance of power electronics, manifesting as functional failure and inability to continue normal operation. Therefore, efficient fault diagnosis and fault-tolerant control of DC-DC boost converters are crucial. Fault-tolerant control, or the system's ability to tolerate faults, means that even in the event of a fault, the system can maintain safe operation according to predetermined performance standards or with slightly degraded performance.

[0003] However, in the current DC-DC boost converter and switching power supply market, although there are some technologies that can perform fault diagnosis, there are still very few fault-tolerant control technologies when faults occur.

[0004] For example, Patent Document 1 provides a DC-DC converter and a fault-tolerant circuit. A DC-DC converter fault-tolerant module is provided in the circuit of Patent Document 1, and the DC-DC converter can be fault-tolerantly controlled by the module.

[0005] However, in switching control systems, the switching dynamics, whether occurring within the controlled plant itself or between multiple performance-oriented controllers, often lead to jerky control inputs, which are unacceptable variations in the actuator. This is generally undesirable during operation. Furthermore, voltage source failures in DC-DC boost converters can lead to large variations in control signals within the subsystem activation interval, making the study of transient performance crucial.

[0006] However, the DC-DC converter and fault-tolerant circuit described in Patent Document 1 can only achieve fault-tolerant control of the DC-DC converter, but cannot achieve fault-tolerant control and suppress the turbulence of the control input, and therefore need further improvement.

[0007] References

[0008] Patent document 1 Chinese invention patent application publication number: CN114221531A, publication date: 2022.03.22. Summary of the Invention

[0009] In response to the above-mentioned technical problems in the prior art, the present invention proposes a disturbance-free switching fault-tolerant control method for a DC-DC boost converter. This method can implement disturbance-free switching fault-tolerant control for a DC-DC boost converter, so that when a fault occurs, the DC-DC boost converter can still maintain safe operation as required and suppress the bumpy phenomenon of the control input.

[0010] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0011] A method for controlling a DC-DC boost converter by non-disruptive switching fault tolerance includes the following steps:

[0012] Step 1. Pre-build a DC-DC boost converter system and establish a corresponding mathematical model based on its switching characteristics, so that when the DC-DC boost converter system is simultaneously subject to a voltage source fault and an external disturbance, the DC-DC boost converter system with switching characteristics is considered a switching system with time-dependent switching properties;

[0013] Step 2. Design a segmented transition dependency fault-tolerant controller for the DC-DC boost converter system and impose a given bumpless switching performance constraint to achieve bumpless switching fault-tolerant control of the DC-DC boost converter system;

[0014] Step 3. Use multiple Lyapunov functions to perform controller gain analysis on the closed-loop system formed by the DC-DC boost converter system, give new average residence time constraints and sufficient conditions for the system to have disturbance-free switching fault-tolerant control, and obtain the controller gain matrix, so that the DC-DC boost converter can still maintain stable and safe operation within the required range and suppress transient turbulence when suffering from voltage source failure and external disturbances.

[0015] In addition, based on the above-mentioned DC-DC boost converter bumpless switching fault-tolerant control method, the present invention also proposes a corresponding DC-DC boost converter bumpless switching fault-tolerant control system, which adopts the following technical solutions:

[0016] A DC-DC boost converter non-disruptive switching fault-tolerant control system includes the following modules:

[0017] A model building module is used to build a DC-DC boost converter system and establish a corresponding mathematical model based on its switching characteristics, so that when the DC-DC boost converter system has a voltage source fault and an external disturbance at the same time, the DC-DC boost converter system with switching characteristics is considered as a switching system with time-dependent switching properties;

[0018] A bumpless switching fault-tolerant control module is used to design a segmented transition dependency fault-tolerant controller for a DC-DC boost converter system and impose given bumpless switching performance constraints to achieve bumpless switching fault-tolerant control of the DC-DC boost converter system.

[0019] And a gain analysis module, which is used to perform controller gain analysis on the closed-loop system formed by the DC-DC boost converter system using multiple Lyapunov functions, give new average residence time constraints and sufficient conditions for the system to have disturbance-free switching fault-tolerant control, and obtain the controller gain matrix, so that the DC-DC boost converter can still maintain stable and safe operation within the required range and suppress transient turbulence when suffering from voltage source failure and external disturbances.

[0020] In addition, based on the above-mentioned DC-DC boost converter bumpless switching fault-tolerant control method, the present invention also proposes a computer device, which includes a memory and one or more processors.

[0021] The memory stores executable codes, which, when executed by the processor, are used to implement the above-mentioned DC-DC boost converter non-disruptive switching fault-tolerant control method.

[0022] In addition, based on the above-mentioned DC-DC boost converter bumpless switching fault-tolerant control method, the present invention further proposes a computer-readable storage medium on which a program is stored.

[0023] When the program is executed by a processor, it is used to implement the above-mentioned DC-DC boost converter non-disruptive switching fault-tolerant control method.

[0024] The present invention has the following advantages:

[0025] As described above, the present invention discloses a method for bumpless switching fault-tolerant control of a DC-DC boost converter. This method addresses the problem of the prior art being unable to implement bumpless switching fault-tolerant control for a DC-DC boost converter. By designing a segmented transition-dependent fault-tolerant controller and imposing given bumpless performance constraints, bumpless switching fault-tolerant control of the DC-DC boost converter is implemented, considering the presence of voltage source faults and external disturbances in the DC-DC boost converter. This method enables the DC-DC boost converter system to maintain stable and safe operation within the required range and suppress control input fluctuations, even in the presence of voltage source faults and external disturbances. Compared with the prior art, the method of the present invention effectively avoids the situation in which a DC-DC boost converter failure directly causes the power electronic equipment to fail to operate normally, suppresses control input fluctuations, thereby reducing the negative impact of a DC-DC boost converter failure on the entire production system and improving system performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Flowchart of a bumpless switching fault-tolerant control method for a DC-DC boost converter according to an embodiment of the present invention;

[0027] Figure 2 2 is a circuit diagram of a buck-boost DC-DC converter according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0029] Example 1

[0030] like Figure 1 As shown, the bumpless switching fault-tolerant control method for the DC-DC boost converter in this embodiment includes the following steps:

[0031] Step 1. Pre-build a DC-DC boost converter system and establish a corresponding mathematical model based on its switching characteristics, so that when the DC-DC boost converter system simultaneously has a voltage source fault and an external disturbance, the DC-DC boost converter system with switching characteristics can be considered as a switching system with time-dependent switching properties.

[0032] Specifically, based on Kirchhoff's voltage law and current law, a state space model of the DC-DC boost converter system is established. Due to the affine characteristics of the state space model, and considering that the DC-DC boost converter system has both voltage source faults and external disturbances, the DC-DC boost converter system with switching characteristics is considered as a time-dependent switching problem, thereby obtaining a switching affine system mathematical model. The expression of the switching affine system mathematical model is as follows:

[0033]

[0034] in, Indicates the status of the DC-DC boost converter system; represents the control input; Indicates the measurement output; is an affine term; represents a disturbance and belongs to represents the infinite norm; switching signal σ(t): Select from K available subsystems; A σ(t) 、B σ(t) , C and D σ(t) represents the system constant matrix.

[0035] like Figure 2 The circuit diagram of the buck-boost DC-DC converter is shown. L represents resistance, C represents capacitance, Vin Indicates the voltage source input, L m represents inductance, r represents internal resistance, represents the total voltage source input, and u(t) represents the control input.

[0036] By Kirchhoff's voltage law, Figure 2 The circuit dynamic model shown can be described, the switching signal Choose between the two available subsystems. Different values ​​of σ(t) correspond to different subsystems. For example, in subsystem 1, the matrix A1, vector b1, and matrix C1 are used, while in subsystem 2, the matrix A2, b2, and C2 are used.

[0037] The state space model of the circuit is then described as a switched affine system with the system state being Where V0 represents the capacitor voltage, i m represents the inductor current.

[0038] In this embodiment, the value of K is 2, for example, Figure 2 There are 2 subsystems shown, and the coefficient matrix is:

[0039]

[0040] C2=[1 0].

[0041] Matrix A1 represents the subsystem matrix when the switching signal σ(t) takes the value of 1, vector b1 represents the affine term when the switching signal σ(t) takes the value of 1, and matrix C1 represents the system output matrix when the switching signal σ(t) takes the value of 1.

[0042] Matrix A2 represents the subsystem matrix when the switching signal σ(t) takes a value of 2, vector b2 represents the affine term when the switching signal σ(t) takes a value of 2, and matrix C2 represents the system output matrix when the switching signal σ(t) takes a value of 2.

[0043] The following common model is used to characterize actuator (voltage source) faults:

[0044]

[0045] Among them, Φ σ(t) represents the fault distribution matrix, u σ(t) (t) represents the control input; define Φ k =diag{φ k1 ,φ k2 ,...,φ km}, is satisfied The fault distribution matrix.

[0046] in, φ kj and Respectively represent φ kj The lower and upper bounds of φ kj and Given in advance, φ kj Denotes the fault distribution matrix Φ k The value j here represents an integer ranging from 1, 2, ..., m, j = 1, ..., m.

[0047] If φ kj = 1, it means that the jth actuator of the kth subsystem is normal. kj ≠1, it means that the j-th actuator of the k-th subsystem is partially or completely faulty.

[0048] definition Φ k =diag{ φ k1 , φ k2 ,..., φ km}, and

[0049] The actuator fails Φ k can be restated as: Φ k =Φ 0k +Φ 1k Ψ k .

[0050] Among them, k =diag{ψ k1 ,...,ψ km}, -1≤ψ kj ≤1.

[0051] Without loss of generality, assume that any desired equilibrium point of the system is x r , define a variable Therefore, the balance point x of the DC-DC boost converter system is r Translate to the origin and get the following equivalent system:

[0052]

[0053] Among them, y e (t) represents the new measurement output, and is a new affine term, d(t) satisfies: ||d(t)||≤κ2; where κ2>0, κ2 is a constant.

[0054] Step 2. Design a segmented transition dependency fault-tolerant controller for the DC-DC boost converter system and impose given bumpless switching performance constraints to achieve bumpless switching fault-tolerant control of the DC-DC boost converter system.

[0055] In general, e (t) can cause control jerkiness, which is undesirable during operation. Furthermore, actuator failures can cause large changes in the control signal within the activation interval. In practice, a smoother transition is preferred.

[0056] In order to deal with the problem of bumpless switching fault-tolerant control, the present invention proposes a segmented transition dependency fault-tolerant controller, the formula is as follows:

[0057]

[0058] where t k is the switching moment, G σ(t) is the transition controller to be designed, Γ represents the running time of the transition controller, K σ(t) It is a pre-designed stabilizing controller used to ensure that each subsystem is stable when d(t)≡0.

[0059] In step 2, the expression for the given bumpless switching performance constraint is as follows:

[0060] At the switching time t ij , the closed-loop system switches from mode i to mode j, and the jerkiness at the switching moment is suppressed by the following disturbance-free switching constraint, as shown in the following formula:

[0061] Where, ∈1 represents the level of undisturbed switching performance, ∈1>0, represents the control input, represents the control input, represents the switching time t ij The right limit of represents the switching time t ij The left limit of .

[0062] At the switching time t m , the transition controller switches to the stabilizing controller, which is used to suppress the disturbance-free switching constraint caused by the transition controller switching to the stabilizing controller. The formula is as follows:

[0063] Among them, ∈2 is called the disturbance-free switching performance level, ∈2>0, represents the control input, represents the control input, Indicates time t m The right limit of Indicates time tm The left limit of .

[0064] By designing a segmented transition-dependent fault-tolerant controller and imposing disturbance-free performance constraints, the system can maintain stable and safe operation within the required range and suppress transient turbulence even when subjected to voltage source failure and external disturbances.

[0065] Step 3. Use multiple Lyapunov functions to perform controller gain analysis on the closed-loop system formed by the DC-DC boost converter system, give new average residence time constraints and sufficient conditions for the system to have disturbance-free switching fault-tolerant control, and obtain the controller gain matrix, so that the DC-DC boost converter can still maintain stable and safe operation within the required range and suppress transient turbulence when suffering from voltage source failure and external disturbances.

[0066] Consider the continuous-time switched affine system:

[0067]

[0068] Let 0<α<1, β>0, μ≥1, and Γ>0 are given constant values.

[0069] Assume that there exists a function V i and two categories Functions κ1 and κ2 such that:

[0070] κ1(||x(t)||)≤V i ≤κ2(||x(t)||),V i (x(t))-μV j (x(t))≤0 and Established, of which:

[0071]

[0072] in Denotes a given constant, then the switching affine system is actually exponentially stable, and the convergence region The definition is as follows:

[0073]

[0074] Among them, λ min (P j ) represents the matrix P j The minimum eigenvalue of γ, γ represents a constant, γ=(lnμ-(α-β)Γ) / τ a -β.

[0075] The average dwell time switching signal that satisfies the following constraints is:

[0076]

[0077] Among them, τ a represents the average dwell time switching signal, and α, β, Γ, and μ are given constants.

[0078] The sufficient conditions for the existence of bumpless switching fault-tolerant control in the system are as follows:

[0079] Consider a continuous-time switching affine system, let 0<α<1, β>0, μ≥1, Γ>0, a1>0, a2>0, b1>0, b2>0 and k>0 be given constants, for i, Represents a non-negative integer, given the state feedback gain matrix K i and K j , suppose there exists a matrix P j >0, matrix G i , G j 、Y j , scalars ρ>0, δ>0, c0>0 and c1>0 and Lyapunov function V σ(t) , such that:

[0080]

[0081] and i≠j,V i (x(t))≤μV j (x(t)) holds.

[0082] Among them, σ(t - ) represents the switching signal, t - represents the left limit of time t; V i (x(t)) represents the Lyapunov function of the ith subsystem, V j (x(t)) represents the Lyapunov function of the j-th subsystem.

[0083]

[0084]

[0085] Then for d(t)≡0, the closed-loop system is actually exponentially stable under the switching law constrained by the average residence time.

[0086] Among them, He{P j B j K j +P j A j} means (P j B j K j +P j A j)+(P j B j K j +P j A j ) T ,He{A j P j +B j Y j} means (A j P j +B j Y j )+(A j P j +B j Y j ) T , P j represents the Lyapunov matrix, B j represents the control input matrix, K j represents the gain matrix of the stabilizing controller, A j represents the system matrix, D j represents a constant matrix, Y j represents the matrix to be solved, l j represents the new affine term, c0 represents the scalar to be calculated, c1 represents the scalar to be calculated, a1 represents the given positive scalar, b1 represents the given positive scalar, Φ 0k represents a constant matrix given in advance, Φ 1k Represents a constant matrix given in advance, Ψ k represents a diagonal matrix, K i Represents the gain matrix of the stabilizing controller, a2 represents a given positive scalar, and b2 represents a given positive scalar.

[0087] Next is to ask Gain, given by The definition of gain, and then solving the sufficient conditions for disturbanceless switching fault-tolerant control can be obtained and Thus we get The key parameter in gain is obtained Gain.

[0088] Gain Satisfaction Make

[0089] in and And the closed-loop system satisfies the disturbance-free switching performance constraint, and the transition controller gain matrix is ​​obtained by calculate;

[0090] Among them, inf{} represents the maximum lower bound of the {} set, λmax (P j ) represents the matrix P j The minimum eigenvalue of represents a constant value, k represents a given normal value, express The initial value of Indicates a constant value.

[0091] The method of the present invention uses multiple Lyapunov functions to perform stability analysis on the closed-loop system formed by the DC-DC boost converter system, and gives a new average residence time switching constraint to obtain the conditions for ensuring the stable operation of the DC-DC boost converter system. At the same time, the steady-state performance and transient performance of the DC-DC boost converter operation are taken into account, ensuring that the closed-loop system is actually exponentially stable under the average residence time constraint switching law and has undisturbed switching constraints and Gain.

[0092] Example 2

[0093] This embodiment 2 describes a DC-DC boost converter bumpless switching fault-tolerant control system, which is based on the same inventive concept as the DC-DC boost converter bumpless switching fault-tolerant control method described in the above embodiment 1.

[0094] A DC-DC boost converter non-disruptive switching fault-tolerant control system includes the following modules:

[0095] A model building module is used to build a DC-DC boost converter system and establish a corresponding mathematical model based on its switching characteristics, so that when the DC-DC boost converter system has a voltage source fault and an external disturbance at the same time, the DC-DC boost converter system with switching characteristics is considered as a switching system with time-dependent switching properties;

[0096] A bumpless switching fault-tolerant control module is used to design a segmented transition dependency fault-tolerant controller for a DC-DC boost converter system and impose given bumpless switching performance constraints to achieve bumpless switching fault-tolerant control of the DC-DC boost converter system.

[0097] And a gain analysis module, which is used to perform controller gain analysis on the closed-loop system formed by the DC-DC boost converter system using multiple Lyapunov functions, give new average residence time constraints and sufficient conditions for the system to have disturbance-free switching fault-tolerant control, and obtain the controller gain matrix, so that the DC-DC boost converter can still maintain stable and safe operation within the required range and suppress transient turbulence when suffering from voltage source failure and external disturbances.

[0098] It should be noted that, in the DC-DC boost converter disturbanceless switching fault-tolerant control system in this embodiment 2, the implementation process of the functions and effects of each functional module is detailed in the implementation process of the corresponding steps of the method in the above embodiment 1, and will not be repeated here.

[0099] Example 3

[0100] This embodiment 3 describes a computer device comprising a memory and one or more processors. The memory stores executable code. When the processor executes the executable code, the steps of the bumpless switching fault-tolerant control method for a DC-DC boost converter described in embodiment 1 above are implemented.

[0101] In this embodiment, the computer device is any device or apparatus with data processing capability, which will not be described in detail here.

[0102] Example 4

[0103] This embodiment 4 describes a computer-readable storage medium having a program stored thereon. When the program is executed by a processor, it is used to implement the steps of the bumpless switching fault-tolerant control method for a DC-DC boost converter in the above embodiment 1.

[0104] The computer-readable storage medium can be an internal storage unit of any device or apparatus with data processing capabilities, such as a hard disk or memory, or an external storage device of any device with data processing capabilities, such as a plug-in hard disk, smart media card (SMC), SD card, flash card, etc. equipped on the device.

[0105] Of course, the above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above-mentioned embodiments. It should be noted that all equivalent substitutions and obvious deformation forms made by any technician familiar with this field under the guidance of this specification fall within the substantive scope of this specification and should be protected by the present invention.

Claims

1. A method for controlling a DC-DC boost converter without causing a disturbance, characterized in that: The steps include: Step 1. Pre-build a DC-DC boost converter system and establish a corresponding mathematical model based on its switching characteristics. This model ensures that when the DC-DC boost converter system is subject to both a voltage source fault and an external disturbance, the DC-DC boost converter system with switching characteristics is considered a switching system with time-dependent switching properties. Step 2. Design a segmented transition dependency fault-tolerant controller for the DC-DC boost converter system and impose given bumpless switching performance constraints to achieve bumpless switching fault-tolerant control of the DC-DC boost converter system. Step 3. Use multiple Lyapunov functions to analyze the controller gain of the closed-loop system formed by the DC-DC boost converter system. New average dwell time constraints and sufficient conditions for bumpless switching fault-tolerant control are given. The controller gain matrix is ​​then calculated, ensuring that the DC-DC boost converter maintains stable and safe operation within the required range and suppresses transient turbulence in the event of voltage source failures and external disturbances. In step 1, a state space model of the DC-DC boost converter system is established according to Kirchhoff's voltage law and current law. The state space model has an affine characteristic. When the DC-DC boost converter system is subjected to both a voltage source fault and an external disturbance, the DC-DC boost converter system with a switching characteristic is considered as a time-dependent switching problem, thereby obtaining a switching affine system mathematical model. The expression of the switching affine system mathematical model is as follows: ； in, Indicates the status of the DC-DC boost converter system; represents the control input; Indicates the measurement output; is an affine term; represents a disturbance and belongs to , Represents the infinity norm; switching signal ,exist Choose from the available subsystems; 、 、 and represents the system constant matrix; In step 1, the following model is used to characterize the voltage source fault: ； in, represents the fault distribution matrix, Represents control input; definition is satisfied Fault distribution matrix; and Respectively The lower and upper bounds of and Given in advance, Represents the fault distribution matrix The value inside, ; definition , , and ; The actuator fails Redescribed as: ; in, , ; Assume that any desired equilibrium point of the system is , define a variable ; Therefore, the balance point of the DC-DC boost converter system is Translate to the origin and get the following equivalent system: ； in, represents the new measurement output, and ; is a new affine term, satisfy: ;in , is a constant value; In step 2, the expression for applying the given bumpless switching performance constraint is as follows: At the switching moment , the closed-loop system is in slave mode Switch to mode , then the jerking phenomenon at the switching instant is suppressed by the following disturbanceless switching constraint, as shown in the following formula: ; in, Indicates the level of bumpless switching performance, , represents the control input, represents the control input, Indicates the switching time The right limit of Indicates the switching time The left limit of At the switching moment , the transition controller switches to the stabilizing controller, which is used to suppress the disturbance-free switching constraint caused by the transition controller switching to the stabilizing controller. The formula is as follows: ; in, It is called the bumpless switching performance level. , represents the control input, represents the control input, Indicates time The right limit of Indicates time The left limit of In step 3, the expression of the new average residence time constraint is as follows: ； in, represents the average dwell time of the switching signal, 、 、 and is a given constant value; The sufficient conditions for the existence of bumpless switching fault-tolerant control in the system are as follows: Consider a continuous-time switched affine system, let , , , , , , , and For a given constant value, , given the state feedback gain matrix and , assuming there is a matrix ,matrix 、 、 , scalar , , and and the Lyapunov function , such that: ； ； ； ； ； and , Established; Then for , the closed-loop system is practically exponentially stable under the switching law constrained by the average residence time; in, Indicates the switching signal, Indicates time The left limit of 、 denote the Lyapunov functions of the i-th and j-th subsystems respectively, Represents a non-negative integer.

2. The method for controlling the DC-DC boost converter without disturbance switching according to claim 1, wherein: In step 2, the expression of the segmented transition dependent fault-tolerant controller is as follows: ； in It's switching time. is the transition controller to be designed, represents the running time of the transition controller, It is a pre-designed stabilization controller used to ensure that each subsystem When is stable.

3. The method for controlling the DC-DC boost converter without disturbance switching according to claim 1, wherein: ； ； ； ； ； ； ； ； ； ； ； in, express , express ; represents the Lyapunov matrix, represents the control input matrix, represents the system matrix, represents a constant matrix, represents the matrix to be solved, represents the new affine term, 、 represents the scalar quantity to be sought, 、 、 、 represents a given positive scalar, Represents the identity matrix.

4. The method for controlling the DC-DC boost converter without disturbance switching according to claim 3, wherein: In step 3, the continuous-time switching affine system is considered as follows: ， ； make , , , and is a given constant value; Assume there is a function and two categories function and , such that: and Established, of which: ； in Denotes a given constant, then the switching affine system is actually exponentially stable, and the convergence region The definition is as follows: ； in, Representation matrix The minimum eigenvalue of represents a constant value, .

5. The method for controlling the DC-DC boost converter without disturbance switching according to claim 4, wherein: Gain satisfaction: ; in and And the closed-loop system satisfies the undisturbed switching performance constraint, and the transition controller gain matrix is ​​obtained by calculate; Among them, inf{} represents the maximum lower bound of the {} set, Representation matrix The minimum eigenvalue of represents a constant value, represents a given normal value, express The initial value of Indicates a constant value.

6. A DC-DC boost converter bumpless switching fault-tolerant control system for implementing the DC-DC boost converter bumpless switching fault-tolerant control method according to claim 1, characterized in that: The DC-DC boost converter non-disruptive switching fault-tolerant control system includes the following modules: A model building module is used to build a DC-DC boost converter system and establish a corresponding mathematical model based on its switching characteristics, so that when the DC-DC boost converter system has a voltage source fault and an external disturbance at the same time, the DC-DC boost converter system with switching characteristics is considered as a switching system with time-dependent switching properties; A bumpless switching fault-tolerant control module is used to design a segmented transition dependency fault-tolerant controller for a DC-DC boost converter system and impose given bumpless switching performance constraints to achieve bumpless switching fault-tolerant control of the DC-DC boost converter system. And a gain analysis module, which is used to perform controller gain analysis on the closed-loop system formed by the DC-DC boost converter system using multiple Lyapunov functions, give new average residence time constraints and sufficient conditions for the system to have disturbance-free switching fault-tolerant control, and obtain the controller gain matrix, so that the DC-DC boost converter can still maintain stable and safe operation within the required range and suppress transient turbulence when suffering from voltage source failure and external disturbances.

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