Model-free feedforward observation control method and device

Abstract

The invention provides a model-free feedforward observation control method and device. The model-free feedforward observation control method comprises the following steps: determining an integral value of a primary and secondary side phase shift angle based on a given value of an input current and a value of the input current in a current power frequency period; based on the value of the output voltage of the previous power frequency period, the effective value of the input current of the previous power frequency period, the effective value of the phase shift angle in the bridge of the previous power frequency period, the value of the phase shift angle of the primary side and the secondary side of the previous power frequency period and the effective value of the input voltage of the previous power frequency period, determining a feedforward calculation value of the phase shift angle of the primary side and the secondary side; determining the value of the primary and secondary side phase shift angle of the current power frequency period based on the integral value of the primary and secondary side phase shift angle and the feedforward calculation value of the primary and secondary side phase shift angle; and controlling the controlled object based on the value of the in-bridge phase shift angle of the current power frequency period and the value of the primary and secondary side phase shift angles of the current power frequency period, so that the controlled object outputs parameters. In the mode, the integral value of the phase shift angle of the primary side and the secondary side can be compensated, so that the accuracy of feed-forward control calculation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of single-stage on-board charger (OBC) charging, and in particular to a model-free feedforward observation control method and device. Background Art

[0002] At present, the existing technical solutions for feedforward observation control based on single-stage OBC charging generally obtain the primary-secondary phase shift angle required for actual control by adding the primary-secondary phase shift angle of closed-loop control and the primary-secondary phase shift angle calculated by feedforward. In this way, the pressure on closed-loop control can be reduced. However, the calculation formula of the existing technical solutions contains resonant cavity capacitance and inductance parameters. In actual applications, due to the existence of device tolerance, the model parameters are not compatible with the actual circuit, which makes the feedforward control calculation inaccurate. Especially in mass production, the differences between different machines require the resonant cavity parameters to be measured separately for each machine. Summary of the Invention

[0003] In view of this, an object of the present invention is to provide a model-free feedforward observation control method and device to compensate for the integral value of the original secondary side phase shift angle, thereby improving the accuracy of the feedforward control calculation.

[0004] In the first aspect, an embodiment of the present invention provides a model-free feedforward observation control method, wherein the parameters output by the controlled object include: the value of the input current of the current power frequency cycle, the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the phase shift angle within the bridge of the previous power frequency cycle, the value of the primary-secondary phase shift angle of the previous power frequency cycle, and the effective value of the input voltage of the previous power frequency cycle; the method includes: obtaining a given value of the input current, determining the integral value of the primary-secondary phase shift angle based on the given value of the input current and the value of the input current of the current power frequency cycle; and calculating the integral value of the primary-secondary phase shift angle based on the input current of the previous power frequency cycle. The feedforward calculation value of the original secondary side phase shift angle is determined based on the value of the output voltage, the effective value of the input current of the previous power frequency cycle, the effective value of the bridge phase shift angle of the previous power frequency cycle, the value of the original secondary side phase shift angle of the previous power frequency cycle and the effective value of the input voltage of the previous power frequency cycle; the value of the original secondary side phase shift angle of the current power frequency cycle is determined based on the integral value of the original secondary side phase shift angle and the feedforward calculation value of the original secondary side phase shift angle; the value of the bridge phase shift angle of the current power frequency cycle is obtained, and the controlled object is controlled based on the value of the bridge phase shift angle of the current power frequency cycle and the value of the original secondary side phase shift angle of the current power frequency cycle, so that the controlled object outputs parameters.

[0005] In an optional embodiment of the present application, the above-mentioned step of determining the integral value of the original-secondary phase shift angle based on the given value of the input current and the value of the input current in the current power frequency cycle includes: determining the absolute value of the given value of the input current and the absolute value of the value of the input current in the current power frequency cycle; adding the absolute value of the given value of the input current and the absolute value of the value of the input current in the current power frequency cycle and performing an integration operation to obtain the integral value of the original-secondary phase shift angle.

[0006] In an optional embodiment of the present application, the above-mentioned step of determining the feedforward calculated value of the original-secondary side phase shift angle based on the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the phase shift angle within the bridge of the previous power frequency cycle, the value of the original-secondary side phase shift angle of the previous power frequency cycle and the effective value of the input voltage of the previous power frequency cycle includes: determining the value of the filter system model parameter based on the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the phase shift angle within the bridge of the previous power frequency cycle and the value of the original-secondary side phase shift angle of the previous power frequency cycle; determining the feedforward calculated value of the original-secondary side phase shift angle based on the value of the system model parameter, the effective value of the input voltage of the previous power frequency cycle and the effective value of the input current of the previous power frequency cycle.

[0007] In an optional embodiment of the present application, the step of determining the value of the filter system model parameter based on the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the phase shift angle within the bridge of the previous power frequency cycle, and the value of the primary-secondary side phase shift angle of the previous power frequency cycle includes: determining the value of the filter system model parameter by the following formula: Among them, K is the value of the filter system model parameter, t-1 is the previous power frequency cycle, V dc (t-1) is the output voltage value of the previous power frequency cycle, is the effective value of the phase shift angle in the bridge during the previous power frequency cycle, is the value of the original secondary side phase shift angle of the previous power frequency cycle, i acrms (t-1) is the effective value of the input current in the previous power frequency cycle.

[0008] In an optional embodiment of the present application, after the step of determining the value of the filter system model parameter based on the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the phase shift angle within the bridge of the previous power frequency cycle, and the value of the primary-secondary side phase shift angle of the previous power frequency cycle, the method further includes: performing RC filtering on the value of the filter system model parameter by the following formula: Where a is the filter coefficient of the filter system model parameter.

[0009] In an optional embodiment of the present application, the step of determining the feedforward calculated value of the original secondary side phase shift angle based on the value of the system model parameter, the effective value of the input voltage of the previous power frequency cycle, and the effective value of the input current of the previous power frequency cycle includes: determining the feedforward calculated value of the original secondary side phase shift angle by the following formula: in, is the feedforward calculation value of the primary-secondary phase shift angle, n is the primary-secondary ratio of the transformer, V acrms (t-1) is the effective value of the input voltage in the previous power frequency cycle.

[0010] In an optional embodiment of the present application, the above-mentioned step of determining the value of the original secondary side phase shift angle of the current power frequency cycle based on the integral value of the original secondary side phase shift angle and the feedforward calculated value of the original secondary side phase shift angle includes: adding the integral value of the original secondary side phase shift angle and the feedforward calculated value of the original secondary side phase shift angle and taking the value of the addition result within (0,2π) to obtain the value of the original secondary side phase shift angle of the current power frequency cycle.

[0011] In an optional embodiment of the present application, the controlled object includes: an interleaved parallel totem pole dual-source bridge circuit.

[0012] In an optional embodiment of the present application, the above-mentioned step of controlling the controlled object based on the value of the phase shift angle within the bridge of the current power frequency cycle and the value of the primary-secondary phase shift angle of the current power frequency cycle includes: adjusting the pulse width of the secondary resonant cavity output voltage of the staggered parallel totem pole type dual-source bridge circuit based on the value of the phase shift angle within the bridge of the current power frequency cycle; and adjusting the phase difference between the primary resonant cavity input voltage and the secondary resonant cavity output voltage of the staggered parallel totem pole type dual-source bridge circuit based on the value of the primary-secondary phase shift angle of the current power frequency cycle.

[0013] In a second aspect, an embodiment of the present invention further provides a model-free feedforward observation control device, wherein the parameters output by the controlled object include: the value of the input current of the current power frequency cycle, the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the phase shift angle in the bridge of the previous power frequency cycle, the value of the primary and secondary side phase shift angle of the previous power frequency cycle, and the effective value of the input voltage of the previous power frequency cycle; the device includes: an integral calculation module of the primary and secondary side phase shift angle, for obtaining a given value of the input current, and determining the integral value of the primary and secondary side phase shift angle based on the given value of the input current and the value of the input current of the current power frequency cycle; a feedforward calculation module of the primary and secondary side phase shift angle, for determining the integral value of the primary and secondary side phase shift angle based on the given value of the input current and the value of the input current of the current power frequency cycle; The feedforward calculated value of the original secondary side phase shift angle is determined based on the value of the output voltage of the previous power frequency period, the effective value of the input current of the previous power frequency period, the effective value of the bridge phase shift angle of the previous power frequency period, the value of the original secondary side phase shift angle of the previous power frequency period and the effective value of the input voltage of the previous power frequency period; the original secondary side phase shift angle value calculation module is used to determine the value of the original secondary side phase shift angle of the current power frequency period based on the integral value of the original secondary side phase shift angle and the feedforward calculated value of the original secondary side phase shift angle; the controlled object control module is used to obtain the value of the bridge phase shift angle of the current power frequency period, and control the controlled object based on the value of the bridge phase shift angle of the current power frequency period and the value of the original secondary side phase shift angle of the current power frequency period, so that the controlled object outputs parameters.

[0014] The embodiments of the present invention bring the following beneficial effects:

[0015] An embodiment of the present invention provides a model-free feedforward observation control method and device, which can make the resonant model parameters of the entire single-stage OBC equivalent to a coefficient model parameter. By inputting the control quantity and input and output variables into the observer, the system model parameters are observed, and they are iteratively put into the feedforward control to calculate the original secondary side phase shift angle, and the integral value of the original secondary side phase shift angle is compensated, thereby improving the accuracy of the feedforward control calculation.

[0016] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by practicing the above-mentioned technology of the present disclosure.

[0017] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are 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.

[0019] Figure 1 A schematic diagram of a model-free feedforward observation control method provided by an embodiment of the present invention;

[0020] Figure 2 A topological diagram of a staggered parallel totem pole DAB circuit provided in an embodiment of the present invention;

[0021] Figure 3 A flow chart of a model-free feedforward observation control method provided by an embodiment of the present invention;

[0022] Figure 4 A diagram showing the relationship between a modulation strategy and a phase shift angle provided by an embodiment of the present invention;

[0023] Figure 5 A flow chart of another model-free feedforward observation control method provided by an embodiment of the present invention;

[0024] Figure 6 A schematic structural diagram of a model-free feedforward observation control device provided by an embodiment of the present invention;

[0025] Figure 7 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0027] At present, the existing technical solutions for feedforward observation control based on single-stage OBC charging generally obtain the primary-secondary phase shift angle required for actual control by adding the primary-secondary phase shift angle of closed-loop control and the primary-secondary phase shift angle calculated by feedforward. In this way, the pressure on closed-loop control can be reduced. However, the calculation formula of the existing technical solutions contains resonant cavity capacitance and inductance parameters. In actual applications, due to the existence of device tolerance, the model parameters are not compatible with the actual circuit, which makes the feedforward control calculation inaccurate. Especially in mass production, the differences between different machines require the resonant cavity parameters to be measured separately for each machine.

[0028] Based on this, an embodiment of the present invention provides a model-free feedforward observation control method and device, specifically providing a model-free feedforward observation control strategy based on single-stage OBC charging, which can compensate for the integral value of the original secondary side phase shift angle, thereby improving the accuracy of the feedforward control calculation. An embodiment of the present invention provides a model-free feedforward observation control method, which can simplify the model by inputting and output variables and current control quantity information. The simplified formula completely eliminates hardware-related parameters, solving the problem of inaccurate feedforward control calculation.

[0029] To facilitate understanding of this embodiment, a model-free feedforward observation control method disclosed in an embodiment of the present invention is first introduced in detail.

[0030] Example 1:

[0031] An embodiment of the present invention provides a model-free feedforward observation control method, in which the parameters output by the controlled object include: the value of the input current of the current power frequency cycle, the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the phase shift angle within the bridge of the previous power frequency cycle, the value of the primary-secondary side phase shift angle of the previous power frequency cycle, and the effective value of the input voltage of the previous power frequency cycle.

[0032] See also Figure 1 The schematic diagram of a model-free feedforward observation control method is shown in FIG. 1 , where the controlled object can output the value of the input current i of the current power frequency cycle. ac (t), the output voltage value of the previous power frequency cycle V dc (t-1), the effective value of the input current of the previous power frequency cycle i acrms (t-1), the effective value of the phase shift angle in the bridge in the previous power frequency cycle The value of the original secondary side phase shift angle of the previous power frequency cycle and the effective value of the input voltage V in the previous power frequency cycle acrms (t-1). Where t is the current power frequency cycle, t-1 is the previous power frequency cycle, and rms represents the effective value.

[0033] In some embodiments, the controlled object includes: an interleaved parallel totem pole dual-source bridge circuit.

[0034] See also Figure 2 The topology diagram of a staggered parallel totem pole DAB (Dual Active Bridge) circuit is shown. S1, S2, S3, S4, S5, S6, S7, and S8 are switching tubes that operate at high frequency; N1 and N2 are synchronous rectifier tubes that operate at a low frequency of 50Hz according to the positive or negative AC (alternating current) voltage. ac Indicates the input AC voltage, i ac Indicates the input AC current, U ab Represents the primary resonant cavity input voltage, U cd Represents the output voltage of the secondary resonant cavity, V dc Indicates the DC output side voltage, L f1 With L f2 is the boost inductor, C f is the bus capacitance, C r is the resonant capacitor, L r is the resonant inductor, T1 is the ideal transformer, and n is the primary-to-secondary transformation ratio of the transformer.

[0035] Based on the above description, see Figure 3 The flow chart of a model-free feedforward observation control method is shown, and the model-free feedforward observation control method includes the following steps:

[0036] Step S302: obtaining a given value of the input current, and determining an integral value of the original secondary side phase shift angle based on the given value of the input current and the value of the input current in the current power frequency cycle.

[0037] like Figure 1 As shown, in this embodiment, the given value of the input current i can be obtained from the outside through the AC current loop control. acref , and the value of the input current of the current power frequency cycle output by the measured object i ac (t); based on the given value of input current i acref and the value of the input current i in the current power frequency cycle ac (t), determine the integral value of the original secondary side phase shift angle

[0038] Step S304, determining the feedforward calculated value of the primary-secondary phase shift angle based on the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the phase shift angle within the bridge of the previous power frequency cycle, the value of the primary-secondary phase shift angle of the previous power frequency cycle, and the effective value of the input voltage of the previous power frequency cycle.

[0039] like Figure 1As shown, in this embodiment, the model parameter observer of the model-free system and Feedforward calculator, based on the output voltage value V of the previous power frequency cycle dc (t-1), the effective value of the input current of the previous power frequency cycle i acrms (t-1), the effective value of the phase shift angle in the bridge in the previous power frequency cycle The value of the original secondary side phase shift angle of the previous power frequency cycle and the effective value of the input voltage V in the previous power frequency cycle acrms (t-1) Determine the feedforward calculation value of the original secondary side phase shift angle

[0040] Step S306 , determining the value of the original secondary side phase shift angle of the current power frequency cycle based on the integral value of the original secondary side phase shift angle and the feedforward calculated value of the original secondary side phase shift angle.

[0041] like Figure 1 As shown, in this embodiment, the integral value of the original secondary side phase shift angle can be used And the feedforward calculation value of the original secondary side phase shift angle Determine the value of the original secondary side phase shift angle of the current power frequency cycle

[0042] Step S308 , obtaining the value of the bridge internal phase shift angle of the current power frequency cycle, and controlling the controlled object based on the value of the bridge internal phase shift angle of the current power frequency cycle and the value of the original secondary side phase shift angle of the current power frequency cycle, so that the controlled object outputs parameters.

[0043] like Figure 1 As shown, the controlled object in this embodiment can obtain the value of the bridge internal phase shift angle of the current power frequency cycle from the outside. And the value of the original secondary side phase shift angle calculated above The value of the phase shift angle in the bridge based on the current power frequency cycle and the value of the original secondary side phase shift angle of the current power frequency cycle Control the controlled object.

[0044] In some embodiments, the pulse width of the secondary resonant cavity output voltage of the staggered parallel totem pole type dual-source bridge circuit can be adjusted based on the value of the phase shift angle within the bridge in the current power frequency cycle; the phase difference between the primary resonant cavity input voltage and the secondary resonant cavity output voltage of the staggered parallel totem pole type dual-source bridge circuit can be adjusted based on the value of the primary-secondary phase shift angle in the current power frequency cycle.

[0045] See also Figure 4 The relationship between a modulation strategy and the phase shift angle is shown in FIG. Figure 4 Shown is Figure 2 The relationship between the modulation strategy of the staggered parallel totem pole DAB and the phase shift angle is as follows: Figure 4 As shown, the driving of each bridge arm is complementary, by adjusting the phase shift angle of S5 and S8 (i.e. the phase shift angle within the bridge) The secondary side resonant cavity output voltage U can be adjusted cd The pulse width adjusts the primary and secondary side phase shift angle (also known as the bridge phase shift angle) The primary resonant cavity input voltage U can be adjusted ab and the secondary resonant cavity output voltage U cd The phase difference between them.

[0046] An embodiment of the present invention provides a model-free feedforward observation control method, which can make the resonant model parameters of the entire single-stage OBC equivalent to a coefficient model parameter. By inputting the control quantity and input and output variables into the observer, the system model parameters are observed, and they are iteratively put into the feedforward control to calculate the original secondary side phase shift angle, and the integral value of the original secondary side phase shift angle is compensated, thereby improving the accuracy of the feedforward control calculation.

[0047] Example 2:

[0048] This embodiment provides another model-free feedforward observation control method, which is implemented on the basis of the above embodiment, focusing on the specific calculation method of the model-free feedforward observation control. Figure 5 Flowchart of another model-free feedforward observation control method shown in FIG. , the model-free feedforward observation control method includes the following steps:

[0049] Step S502 : obtaining a given value of the input current, and determining an integral value of the original secondary side phase shift angle based on the given value of the input current and the value of the input current in the current power frequency cycle.

[0050] In some embodiments, the absolute value of the given value of the input current and the absolute value of the input current value of the current power frequency cycle can be determined; the absolute value of the given value of the input current and the absolute value of the input current value of the current power frequency cycle are added and integrated to obtain the integral value of the original secondary side phase shift angle.

[0051] like Figure 1 As shown, the absolute value can be obtained by the abs (absolute value) module of the AC current loop control, thereby determining the given value i based on the input current. acref The absolute value of the input current value i of the current power frequency cycle ac The absolute value of (t) is obtained by The module can add the absolute value of the given value of the input current and the absolute value of the input current value of the current power frequency cycle, and then obtain the integral value of the original secondary side phase shift angle through the PI (Proportional Integral) module.

[0052] Step S504, determining the values of the filter system model parameters based on the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the bridge internal phase shift angle of the previous power frequency cycle, and the value of the primary-secondary phase shift angle of the previous power frequency cycle.

[0053] like Figure 1 As shown, the model parameter observer of the model-free system can be based on the value of the output voltage V in the previous power frequency cycle. dc (t-1), the effective value of the input current of the previous power frequency cycle i acrms (t-1), the effective value of the phase shift angle in the bridge in the previous power frequency cycle The value of the original secondary side phase shift angle of the previous power frequency cycle Determine the value K of the filter system model parameter.

[0054] In some embodiments, the values of the filtering system model parameters can be determined by the following formula: Among them, K is the value of the filter system model parameter, t-1 is the previous power frequency cycle, V dc (t-1) is the output voltage value of the previous power frequency cycle, is the effective value of the phase shift angle in the bridge during the previous power frequency cycle, is the value of the original secondary side phase shift angle of the previous power frequency cycle, i acrms (t-1) is the effective value of the input current in the previous power frequency cycle.

[0055] according to Figure 4 The modulation strategy and input-output power characteristics shown in the figure can be used to derive the average current equation for a single switching cycle as follows:

[0056]

[0057] Among them, i ac (t) is the value of the input current of the current power frequency cycle, n is the primary-to-secondary ratio of the transformer, is the value of the phase shift angle in the bridge, is the value of the original secondary side phase shift angle, V dc is the output voltage value, f s is the switching frequency ( Figure 2 The frequency of all switches S1-S8 is f s ), Cr is the resonant capacitor, and Lr is the resonant inductor.

[0058] Define the system model parameter as K. By inverting the above formula, the system model parameter K can be defined as:

[0059]

[0060] Substituting K into the average current equation can simplify the DAB system model. The simplified average current equation is as follows:

[0061]

[0062] Since in this model, when the switching frequency f s When the system model parameter K is constant, the system model parameter K can be calculated by the input current and output voltage and the current control quantity (i.e. and ) calculated.

[0063] In the selection In closed-loop control, the phase shift angle within the bridge can be defined for:

[0064]

[0065] Among them, V ac (t) is the value of the input voltage of the current power frequency cycle. It can be achieved that within one power frequency cycle, when the staggered parallel totem pole DAB is running stably and When The system model parameter K can be simplified and calculated based on the input and output variables at this time, and the system model parameter is not required during the calculation process. The specific calculation formula is as follows:

[0066]

[0067] in, is the effective value of the phase shift angle in the bridge, i acrms is the effective value of the input current. with i acrms express with i ac According to the above formula (5), the actual value of K is related to the input current i ac , output voltage V dc , control quantity (i.e. and ), so a model-free observer can be designed to observe the system model parameter K based on the parameters of the previous power frequency cycle.

[0068] In some embodiments, RC filtering may be performed on the values of the filter system model parameters using the following formula: Where a is the filter coefficient of the filter system model parameter.

[0069] Under the strategic control of this embodiment, the K value remains basically unchanged under stable working conditions. The system model parameter K calculated in the model-free system model observer can be RC (capacitor, resistor) filtered, and the filtered K is output to in the feedforward calculation.

[0070] Where a is the filter coefficient of the filter system model parameter. The value of a can range from 0 to 1 and can be calculated based on the required RC filter time constant. For example, when selecting a filter with a time constant of 100ms, assuming the scheduling period of the model observer of the model-free system is 100us, then a = 0.999.

[0071] Step S506 , determining a feedforward calculation value of the original-secondary side phase shift angle based on the values of the system model parameters, the effective value of the input voltage in the previous power frequency cycle, and the effective value of the input current in the previous power frequency cycle.

[0072] like Figure 1 As shown, The feedforward calculator can calculate the value of the system model parameter K, the effective value of the input voltage V in the previous power frequency cycle, and the acrms (t-1) and the effective value of the input current of the previous power frequency cycle i acrms (t-1) Determine the feedforward calculation value of the original secondary side phase shift angle

[0073] In some embodiments, the feedforward calculated value of the original secondary side phase shift angle may also be determined by the following formula: in, is the feedforward calculation value of the primary-secondary phase shift angle, n is the primary-secondary ratio of the transformer, V acrms (t-1) is the effective value of the input voltage in the previous power frequency cycle.

[0074] After observing the system model parameter K based on the parameters of the previous power frequency cycle, K can also be brought into the calculation In the formula, The calculation formula is as follows:

[0075]

[0076] Among them, V acrms is the effective value of the input voltage. The above formula (6) can be used to calculate the Added to the loop output for feedforward control.

[0077] Step S508 : determining the value of the original secondary side phase shift angle of the current power frequency cycle based on the integral value of the original secondary side phase shift angle and the feedforward calculated value of the original secondary side phase shift angle.

[0078] In some embodiments, the integral value of the original secondary side phase shift angle and the feedforward calculated value of the original secondary side phase shift angle can be added and the value of the addition result within (0, 2π) can be taken to obtain the value of the original secondary side phase shift angle of the current power frequency cycle.

[0079] like Figure 1 As shown, through The module can convert the integral value of the original secondary side phase shift angle into And the feedforward calculation value of the original secondary side phase shift angle Add them together, and then take the value of the added result within (0,2π) to get the value of the original secondary side phase shift angle

[0080] Step S510: obtaining the value of the bridge internal phase shift angle of the current power frequency cycle, and controlling the controlled object based on the value of the bridge internal phase shift angle of the current power frequency cycle and the value of the original secondary side phase shift angle of the current power frequency cycle, so that the controlled object outputs parameters.

[0081] like Figure 1 As shown, the controlled object in this embodiment can obtain the value of the bridge internal phase shift angle of the current power frequency cycle from the outside. And the value of the original secondary side phase shift angle calculated above The value of the phase shift angle in the bridge based on the current power frequency cycle and the value of the original secondary side phase shift angle of the current power frequency cycle Control the controlled object and output parameters.

[0082] The above method provided by the embodiment of the present invention can make the resonant model parameters of the entire single-stage OBC equivalent to a coefficient model parameter. By inputting the control quantity and input and output variables into the observer, the system model parameters are observed, and they are iteratively placed in the feedforward control to calculate the original secondary side phase shift angle, and the integral value of the original secondary side phase shift angle is compensated, thereby improving the accuracy of the feedforward control calculation.

[0083] Example 3:

[0084] Corresponding to the above-mentioned method embodiment, an embodiment of the present invention provides a model-free feedforward observation control device, in which the parameters output by the controlled object include: the value of the input current of the current power frequency cycle, the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the phase shift angle within the bridge of the previous power frequency cycle, the value of the primary-secondary side phase shift angle of the previous power frequency cycle, and the effective value of the input voltage of the previous power frequency cycle.

[0085] Based on the above description, see Figure 6 The schematic diagram of the structure of a model-free feedforward observation control device is shown, and the model-free feedforward observation control device includes:

[0086] The integral calculation module 61 of the original secondary side phase shift angle is used to obtain a given value of the input current and determine the integral value of the original secondary side phase shift angle based on the given value of the input current and the value of the input current in the current power frequency cycle;

[0087] The feedforward calculation module 62 of the original secondary side phase shift angle is used to determine the feedforward calculation value of the original secondary side phase shift angle based on the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the phase shift angle within the bridge of the previous power frequency cycle, the value of the original secondary side phase shift angle of the previous power frequency cycle, and the effective value of the input voltage of the previous power frequency cycle;

[0088] The original secondary side phase shift angle value calculation module 63 is used to determine the value of the original secondary side phase shift angle of the current power frequency cycle based on the integral value of the original secondary side phase shift angle and the feedforward calculation value of the original secondary side phase shift angle;

[0089] The controlled object control module 64 is used to obtain the value of the bridge internal phase shift angle of the current power frequency cycle, and control the controlled object based on the value of the bridge internal phase shift angle of the current power frequency cycle and the value of the original secondary side phase shift angle of the current power frequency cycle, so that the controlled object outputs parameters.

[0090] An embodiment of the present invention provides a model-free feedforward observation control device, which can equate the resonant model parameters of the entire single-stage OBC to a coefficient model parameter. By inputting the control quantity and input and output variables into the observer, the system model parameters are observed, and they are iteratively put into the feedforward control to calculate the original secondary side phase shift angle, and the integral value of the original secondary side phase shift angle is compensated, thereby improving the accuracy of the feedforward control calculation.

[0091] The above-mentioned integral calculation module of the original secondary side phase shift angle is used to determine the absolute value of the given value of the input current and the absolute value of the input current value of the current power frequency cycle; the absolute value of the given value of the input current and the absolute value of the input current value of the current power frequency cycle are added and integrated to obtain the integral value of the original secondary side phase shift angle.

[0092] The above-mentioned feedforward calculation module of the primary-secondary side phase shift angle is used to determine the value of the filtering system model parameter based on the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the phase shift angle within the bridge of the previous power frequency cycle and the value of the primary-secondary side phase shift angle of the previous power frequency cycle; and determine the feedforward calculation value of the primary-secondary side phase shift angle based on the value of the system model parameter, the effective value of the input voltage of the previous power frequency cycle and the effective value of the input current of the previous power frequency cycle.

[0093] The feedforward calculation module of the original and secondary side phase shift angle is used to determine the values of the filter system model parameters through the following formula: Among them, K is the value of the filter system model parameter, t-1 is the previous power frequency cycle, V dc (t-1) is the output voltage value of the previous power frequency cycle, is the effective value of the phase shift angle in the bridge during the previous power frequency cycle, is the value of the original secondary side phase shift angle of the previous power frequency cycle, i acrms(t-1) is the effective value of the input current in the previous power frequency cycle.

[0094] The feedforward calculation module of the original secondary side phase shift angle is also used to perform RC filtering on the values of the filter system model parameters using the following formula: Where a is the filter coefficient of the filter system model parameter.

[0095] The feedforward calculation module of the original-secondary side phase shift angle is used to determine the feedforward calculation value of the original-secondary side phase shift angle by the following formula: in, is the feedforward calculation value of the primary-secondary phase shift angle, n is the primary-secondary ratio of the transformer, V acrms (t-1) is the effective value of the input voltage in the previous power frequency cycle.

[0096] The above-mentioned original secondary side phase shift angle value calculation module is used to add the integral value of the original secondary side phase shift angle and the feedforward calculated value of the original secondary side phase shift angle and take the value of the addition result within (0, 2π) to obtain the value of the original secondary side phase shift angle of the current power frequency cycle.

[0097] The controlled object includes: an interleaved parallel totem pole type dual-source bridge circuit.

[0098] The above-mentioned controlled object control module is used to adjust the pulse width of the secondary resonant cavity output voltage of the staggered parallel totem pole type dual-source bridge circuit based on the value of the bridge internal phase shift angle of the current power frequency cycle; and adjust the phase difference between the primary resonant cavity input voltage and the secondary resonant cavity output voltage of the staggered parallel totem pole type dual-source bridge circuit based on the value of the primary-secondary phase shift angle of the current power frequency cycle.

[0099] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the model-free feedforward observation control device described above can refer to the corresponding process in the aforementioned embodiment of the model-free feedforward observation control method, and will not be repeated here.

[0100] Example 4:

[0101] The embodiment of the present invention further provides an electronic device for executing the above-mentioned model-free feedforward observation control method; Figure 7 A structural schematic diagram of an electronic device is shown, which includes a memory 100 and a processor 101, wherein the memory 100 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 101 to implement the above-mentioned model-free feedforward observation control method.

[0102] Further, Figure 7 The electronic device shown further includes a bus 102 and a communication interface 103 , and the processor 101 , the communication interface 103 and the memory 100 are connected via the bus 102 .

[0103] The memory 100 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is achieved through at least one communication interface 103 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 102 may be an ISA bus, a PCI bus, or an EISA bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0104] The processor 101 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in the processor 101 or by software instructions. The above processor 101 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present invention can be directly implemented as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as a random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or register. The storage medium is located in the memory 100, and the processor 101 reads the information in the memory 100 and, in conjunction with its hardware, completes the steps of the method of the aforementioned embodiment.

[0105] An embodiment of the present invention also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the above-mentioned model-free feedforward observation control method. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0106] The computer program product of the model-free feedforward observation control method and device provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method in the previous method embodiment. The specific implementation can be found in the method embodiment and will not be repeated here.

[0107] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working process of the system and / or device described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0108] In addition, in the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0109] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0110] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0111] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A model-free feedforward observation control method, characterized in that: The parameters output by the controlled object include: the value of the input current of the current power frequency cycle, the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the phase shift angle within the bridge of the previous power frequency cycle, the value of the primary-secondary side phase shift angle of the previous power frequency cycle, and the effective value of the input voltage of the previous power frequency cycle; the method includes: Obtaining a given value of the input current, and determining an integral value of the original secondary side phase shift angle based on the given value of the input current and the value of the input current in the current power frequency cycle; Determine a feedforward calculation value of the primary-secondary phase shift angle based on the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the phase shift angle within the bridge of the previous power frequency cycle, the value of the primary-secondary phase shift angle of the previous power frequency cycle, and the effective value of the input voltage of the previous power frequency cycle; Determining the value of the original secondary side phase shift angle of the current power frequency cycle based on the integral value of the original secondary side phase shift angle and the feedforward calculated value of the original secondary side phase shift angle; The value of the bridge internal phase shift angle of the current power frequency cycle is obtained, and the controlled object is controlled based on the value of the bridge internal phase shift angle of the current power frequency cycle and the value of the primary-secondary phase shift angle of the current power frequency cycle, so that the controlled object outputs the parameter.

2. The method according to claim 1, characterized in that The step of determining the integral value of the original secondary side phase shift angle based on the given value of the input current and the value of the input current of the current power frequency cycle includes: Determining the absolute value of the given value of the input current and the absolute value of the input current of the current power frequency cycle; The absolute value of the given value of the input current and the absolute value of the input current value of the current power frequency cycle are added together and integrated to obtain the integral value of the original secondary side phase shift angle.

3. The method according to claim 1, characterized in that The step of determining a feedforward calculated value of the primary-secondary phase shift angle based on the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the phase shift angle within the bridge of the previous power frequency cycle, the value of the primary-secondary phase shift angle of the previous power frequency cycle, and the effective value of the input voltage of the previous power frequency cycle comprises: Determine the values of the filter system model parameters based on the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the bridge internal phase shift angle of the previous power frequency cycle, and the value of the primary-secondary phase shift angle of the previous power frequency cycle; The feedforward calculation value of the primary-secondary side phase shift angle is determined based on the value of the system model parameter, the effective value of the input voltage in the previous power frequency cycle, and the effective value of the input current in the previous power frequency cycle.

4. The method according to claim 3, characterized in that The step of determining the values of the filtering system model parameters based on the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the bridge internal phase shift angle of the previous power frequency cycle, and the value of the primary-secondary side phase shift angle of the previous power frequency cycle includes: The values of the filtering system model parameters are determined by the following formula: Wherein, K is the value of the filter system model parameter, t-1 is the previous power frequency cycle, V dc (t-1) is the value of the output voltage of the previous power frequency cycle, is the effective value of the phase shift angle in the bridge during the previous power frequency cycle, is the value of the original secondary side phase shift angle of the previous power frequency cycle, i acrms (t-1) is the effective value of the input current of the previous power frequency cycle.

5. The method according to claim 4, characterized in that After the step of determining the values of the filtering system model parameters based on the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the bridge internal phase shift angle of the previous power frequency cycle, and the value of the primary-secondary phase shift angle of the previous power frequency cycle, the method further includes: The values of the filter system model parameters are subjected to RC filtering using the following formula: Wherein, a is the filtering coefficient of the filtering system model parameter.

6. The method according to claim 4, characterized in that The step of determining the feedforward calculated value of the primary-secondary side phase shift angle based on the value of the system model parameter, the effective value of the input voltage of the previous power frequency cycle, and the effective value of the input current of the previous power frequency cycle includes: The feedforward calculation value of the original secondary side phase shift angle is determined by the following formula: in, is the feedforward calculation value of the primary-secondary phase shift angle, n is the primary-secondary ratio of the transformer, V acrms (t-1) is the effective value of the input voltage of the previous power frequency cycle.

7. The method according to claim 1, characterized in that The step of determining the value of the original secondary side phase shift angle of the current power frequency cycle based on the integral value of the original secondary side phase shift angle and the feedforward calculated value of the original secondary side phase shift angle comprises: The integral value of the original secondary side phase shift angle and the feedforward calculated value of the original secondary side phase shift angle are added and the value of the addition result within (0, 2π) is taken to obtain the value of the original secondary side phase shift angle of the current power frequency cycle.

8. The method according to any one of claims 1 to 7, characterized in that The controlled object includes: an interleaved parallel totem pole type dual-source bridge circuit.

9. The method according to claim 8, characterized in that The step of controlling the controlled object based on the value of the bridge internal phase shift angle of the current power frequency cycle and the value of the original secondary side phase shift angle of the current power frequency cycle includes: Adjusting the pulse width of the secondary resonant cavity output voltage of the staggered parallel totem pole dual-source bridge circuit based on the value of the bridge internal phase shift angle of the current power frequency cycle; The phase difference between the primary resonant cavity input voltage and the secondary resonant cavity output voltage of the staggered parallel totem pole type dual-source bridge circuit is adjusted based on the value of the primary-secondary phase shift angle of the current power frequency cycle.

10. A model-free feedforward observation control device, characterized in that: The parameters output by the controlled object include: the value of the input current of the current power frequency cycle, the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the phase shift angle within the bridge of the previous power frequency cycle, the value of the primary and secondary side phase shift angles of the previous power frequency cycle, and the effective value of the input voltage of the previous power frequency cycle; the device includes: The integral calculation module of the original secondary side phase shift angle is used to obtain a given value of the input current and determine the integral value of the original secondary side phase shift angle based on the given value of the input current and the value of the input current of the current power frequency cycle; a feedforward calculation module for the primary-secondary phase shift angle, configured to determine a feedforward calculation value of the primary-secondary phase shift angle based on the value of the output voltage of the previous power frequency cycle, the effective value of the input current of the previous power frequency cycle, the effective value of the phase shift angle within the bridge of the previous power frequency cycle, the value of the primary-secondary phase shift angle of the previous power frequency cycle, and the effective value of the input voltage of the previous power frequency cycle; a primary-secondary phase shift angle value calculation module, configured to determine a value of the primary-secondary phase shift angle of a current power frequency cycle based on an integral value of the primary-secondary phase shift angle and a feedforward calculation value of the primary-secondary phase shift angle; The controlled object control module is used to obtain the value of the bridge internal phase shift angle of the current power frequency cycle, and control the controlled object based on the value of the bridge internal phase shift angle of the current power frequency cycle and the value of the primary-secondary side phase shift angle of the current power frequency cycle, so that the controlled object outputs the parameter.

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