Auto-disturbance rejection control method and system for four-port magnetic network electric energy router

Abstract

The invention discloses an active-disturbance-rejection control method and system for a four-port magnetic network electric energy router, and belongs to the technical field of isolated power electronic converters. The method is based on a proportional-integral control method of a decoupling matrix, and is combined with an adaptive disturbance suppression state observer to be used in the magnetic network electric energy router, so that the active disturbance rejection of the system is improved, and particularly, the common problem of parameter mismatching in a traditional decoupling control method is solved. The method comprises the following steps: step 1, establishing a simple and effective power decoupling matrix, thereby realizing efficient power decoupling among a plurality of ports, effectively reducing mutual interference among the ports, and ensuring that control of each port can be independent and stable; and 2, introducing an adaptive disturbance suppression state observer into a feedback system, so that the system can estimate and compensate errors caused by parameter uncertainty or noise interference in real time, and the active disturbance rejection of the system under dynamic and complex working conditions is greatly improved.

Description

Technical Field

[0001] The present invention belongs to the field of isolated power electronic converters, and in particular relates to an auto-disturbance rejection control strategy for a magnetic network power router. Background Art

[0002] The Magnetic Network Power Router is a device or system used to manage and optimize the flow of electrical energy. It monitors power supply and demand in real time and, based on this data, rationally allocates energy resources, achieving efficient utilization and energy balance through intelligent scheduling algorithms. Furthermore, the router can be combined with energy storage devices such as batteries and supercapacitors to enhance the reliability and stability of power systems. Magnetic Network Power Routers are widely used in smart grids, microgrids, and power management systems. By optimizing power flow and improving utilization efficiency, they contribute significantly to the sustainable development and transformation of power systems.

[0003] This router uses magnetic coupling technology to transmit energy. Key components include leakage inductance and capacitance. Efficient control of its output power is a key metric for device operation. Traditional output power control methods typically rely on linear feedback control or model predictive control, which require accurate leakage inductance and capacitance parameters. However, in actual operation, these parameters can experience errors of up to 50% due to temperature fluctuations, hardware aging, and varying operating conditions. This leads to inaccurate steady-state performance and slow dynamic response of power control. To address this issue, researchers have proposed various power control methods based on parameter identification. However, before implementing these methods, an accurate system model must be established to clarify the relationship between the system identification variables and the input and output variables. In addition, existing parameter identification methods often ignore the influence of parasitic parameters, resulting in output power performance being affected even in the presence of identification errors. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the deficiencies of the above-mentioned background technology and provide an auto-disturbance rejection control strategy for a magnetic network power router. By combining the feedforward decoupling matrix with an adaptive disturbance suppression state observer, auto-disturbance rejection control is achieved, solving the technical problem of the influence of traditional leakage inductance and capacitance parameter changes on traditional control, and achieving the invention purpose of auto-disturbance rejection, fast and accurate power control.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The present invention proposes an active disturbance rejection control method for a four-port magnetic network power router. The power router includes four ports and a bidirectional power flow control unit therebetween. The four ports are interconnected via a high-frequency transformer. The active disturbance rejection control method includes the following steps:

[0007] Step S1: Establish an equivalent admittance matrix between the ports of the magnetic network power router, apply it to the power router circuit model, establish the power transmission expression of the power router based on it, and calculate the reference power value of each port;

[0008] Step S2: Calculate the steady-state control phase shift angle and transient phase shift angle of each bridge in the power router based on the reference power value of each port in step S1, and linearly superimpose the transient phase shift angle with the steady-state phase shift angle to obtain the final phase shift angle to achieve power flow control and dynamic load distribution for each port;

[0009] Step S3: Use an adaptive disturbance suppression state observer to estimate the state quantity of the power router in real time, eliminating the influence of measurement noise and parameter uncertainty on the calculation of the final phase shift angle.

[0010] Among them, the equivalent admittance matrix constructed in step S1 is as follows:

[0011]

[0012] Among them, L i is the self-inductance of winding i, which should be placed on the AC side of port i. ij and k ij They represent the admittance and coupling coefficient between winding i and winding j in the triangle equivalent circuit, respectively. In the triangle equivalent circuit, every two power router ports are connected through an equivalent inductor and an ideal transformer.

[0013] Furthermore, in step S1 of the present invention, a power transmission expression of the power router is established to achieve power flow control, specifically:

[0014]

[0015] Where f is the control frequency of the magnetic network power router; V i 、V j Represent the voltage at port i and port j respectively, is the phase shift angle of the i-th and j-th ports of the magnetic network power router, which ranges from [-0.5 to 0.5]; L ij The equivalent leakage inductance of the transformer port of the magnetic network power router;

[0016] According to the reference power of each DC power supply, the steady-state control phase shift angle of each bridge in the power router is calculated and linearly superimposed with the transient phase shift angle to obtain the final phase shift angle to achieve power flow control and dynamic load distribution for each port.

[0017] Furthermore, in step S2 of the present invention, the steady-state control phase shift angle is calculated by the Newton-Raphson iterative method, as follows:

[0018]

[0019] Among them, P i * Indicates the set power value, V i 、V j Represent the voltage at port i and port j respectively, N i 、N j are the turns of the coupled inductance at port i and port j respectively, is the steady-state phase shift angle of port i.

[0020] Furthermore, in step S2 of the present invention, the transient phase shift angle is calculated as follows:

[0021]

[0022] Among them, K p , K i are the corresponding proportional coefficient and integral coefficient in the proportional-integral controller,

[0023] By comparing the power value P i With the set power value P i * The difference between them is then processed by a proportional-integral PI controller, and power regulation is achieved through power closed-loop control, where the calculated result of the difference serves as the input of the PI controller to adjust the output of the power control system to achieve the desired power value.

[0024] Furthermore, in step S2 of the present invention, the final phase shift angle is calculated as follows:

[0025]

[0026] Among them, the decoupling matrix A is:

[0027]

[0028] in, Represents the output phase shift angle of each bridge circuit respectively, and the phase shift angle is calculated by The 50% duty cycle square wave voltage on the AC side of each full-bridge converter is controlled to achieve target power control of the magnetic network power router system.

[0029] Furthermore, the auto-disturbance rejection observer in step S3 of the present invention is as follows:

[0030] z a [r]=H a x a [r]+v[r],

[0031] where x a =[v4].za [r] is the measured quantity, v is the measurement noise of the external measurement system,

[0032] The state equation of the active disturbance rejection observer is:

[0033]

[0034] in, is the estimated value of the ADRO, w is the calculation error of the controller, and the input control vector u a is restructured to reflect the effect of phase shift angle on output voltage;

[0035] A a =1, H a =1

[0036] Based on this assumption, the complete recursive estimation algorithm of the adaptive disturbance rejection observer is,

[0037]

[0038] in, is an intermediate variable that reflects the influence of the control variable on the controller.

[0039] In step S3, a control signal is generated according to the state estimation result of the adaptive disturbance rejection state observer to dynamically adjust the working state of each switch.

[0040] Ultimately, the estimated state in this invention serves as the data input for the proposed decoupling control method, rather than directly using traditional measurements. This improvement replaces the raw sensor measurements with the precise state information estimated by the adaptive disturbance rejection state observer, thereby improving the system's self-disturbance rejection and accuracy in the presence of noise or parameter mismatch.

[0041] On the other hand, the present invention further provides a computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to execute the method steps described in the present invention.

[0042] At the same time, the present invention also proposes an electronic system, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can perform the method steps of the present invention.

[0043] The present invention adopts the above technical solution and has the following beneficial effects:

[0044] (1) The present invention proposes a self-interference rejection control strategy for a magnetic network power router with efficient energy transmission: Due to the use of a decoupling control matrix and a precise state feedback mechanism, the power flow distribution of each port can be optimized under multi-port working conditions, thus avoiding energy waste and unnecessary power loss.

[0045] (2) The self-disturbance rejection control strategy of the magnetic network power router proposed in the present invention can achieve enhanced system stability and self-disturbance rejection: the adaptive disturbance suppression state observer effectively reduces the impact of noise on the measurement results, and at the same time, the decoupling control matrix can adjust the control input in real time when facing system disturbances to ensure that the system is always in a stable state.

[0046] (3) The proposed self-interference rejection control strategy for a magnetic network power router can adapt to complex environmental changes: whether it is load changes, grid disturbances, or interference from other external factors, the self-interference rejection control method of the present invention can respond quickly and make appropriate adjustments to ensure continuous optimization of system performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is the device structure diagram of the magnetic network power router.

[0048] Figure 2 This is the circuit model diagram of the magnetic network power router.

[0049] Figure 3 This is a flow chart of the self-disturbance rejection control strategy of the magnetic network power router proposed by the present invention. DETAILED DESCRIPTION

[0050] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be interpreted as limiting the present invention.

[0051] This paper provides an auto-disturbance rejection control strategy for a magnetic network power router. By optimizing power flow and dynamic load distribution at each port, this strategy improves the system's energy transmission efficiency while enhancing its stability and auto-disturbance rejection under external disturbances. By utilizing a decoupling matrix, the proposed method achieves complete decoupling and effectively addresses the issue of degraded control performance caused by equivalent inductance mismatch in practical applications. The key advantage of this method is that it no longer relies on precise system model parameters and is therefore unaffected by specific operating points and parameter fluctuations, maintaining high control accuracy and stability under a wide range of operating conditions.

[0052] like Figure 1As shown, the control object of this embodiment is a four-port magnetic network power router structure, which includes a dual-magnetic plate press-fit four-winding transformer and four full-bridge converters. The transformer consists of first to fourth distributed magnetic core columns, power windings, leakage core columns, and magnetic plates. The power windings are tightly wound on the magnetic core columns. The upper end of each magnetic core column is connected to the first magnetic plate, and the lower end is connected to the second magnetic plate. All magnetic core columns and leakage core columns use the same soft magnetic material and have the same cross-sectional area and length. Air gaps are left between the leakage core columns.

[0053] The circuit model of the four-port energy router is as follows Figure 2 As shown, each full-bridge converter includes a reverse-conducting IGBT, a DC capacitor, and a DC source. The collectors of the first and third IGBTs are connected to the positive terminal of the DC power supply, while the emitters of the second and fourth IGBTs are connected to the negative terminal. The emitter of the first IGBT is connected to the collector of the second IGBT, and the emitter of the third IGBT is connected to the collector of the fourth IGBT. These connection points are connected to the upper and lower ends of the power winding, respectively.

[0054] This invention proposes an active disturbance rejection control strategy for a magnetic network power router. Based on the router's magnetic circuit structure, the circuit model and port admittance matrix are established to derive the equivalent mutual inductance between the ports. Furthermore, using the Newton-Raphson numerical iteration method, the phase shift angles of each port under steady-state conditions are calculated. Using a proportional-integral controller, this strategy enables real-time control under disturbances such as reference power, load conditions, and DC power supply. This strategy achieves active disturbance rejection and rapid power control for the magnetic network power router at varying parameter levels, improving the accuracy and reliability of power control.

[0055] like Figure 2 The figure shows the control block diagram of the adaptive data driven power control method proposed by the present invention in a magnetic network router. The specific steps of the proposed method are as follows: Figure 3 As shown, the following steps are included:

[0056] Step S1: Establish an electromagnetic coupling model of the magnetic network power router, establish an equivalent admittance matrix between its ports, obtain a circuit model of the power router, establish the relationship between the voltage of each port and the inductor current, and establish the power transmission expression of the power router accordingly.

[0057] In step S2, based on the reference power of each DC power supply, the steady-state control phase shift angle of each bridge in the power router is calculated by using the Newton-Raphson numerical iteration method. This method provides an effective iterative solution method to accurately calculate the phase shift angle to achieve optimal operation of the converter.

[0058] In step S3, the present invention proposes an adaptive disturbance observation suppressor design for estimating the output port voltage of the magnetic network power router. This design utilizes the observed data from the magnetic network power router to optimize the system state. By integrating the target's dynamic information with the observed results, the adaptive disturbance observation suppressor effectively suppresses the effects of noise, providing a more accurate target estimate and eliminating errors caused by parameter mismatch.

[0059] The structure of the magnetic network power router in step S1 is as follows: Figure 1 As shown. The transformer consists of the first to fourth distributed magnetic core columns, power windings, leakage core columns and magnetic plates. The upper end of each magnetic core column is connected to the first magnetic plate, and the lower end is connected to the second magnetic plate. All magnetic core columns and leakage core columns use the same soft magnetic material and have the same cross-sectional area and length. There is an air gap between the leakage core columns. The admittance between each port is determined by the excitation inductance and the coupling coefficient. The interconnected admittance matrix constructed by the port magnetic circuit is as follows:

[0060]

[0061] Among them, L i is the self-inductance of winding i, which should be placed on the AC side of port i, where a square wave voltage v is generated at port i i In the triangle equivalent circuit, Y ij and k ij Denote the admittance and coupling coefficient between winding i and winding j, respectively. In addition, in the triangle equivalent model, every two power router ports are connected through an equivalent inductor and an ideal transformer.

[0062] Furthermore, in the power router, bidirectional power flow between any two ports is primarily achieved by phase-shifting the square wave voltage on the AC side of each bridge circuit. The four full-bridge circuits contain 16 switches, and each switch is provided with a 50% duty cycle square wave pulse as a trigger signal to achieve power flow control:

[0063]

[0064] Wherein, f is the control frequency of the magnetic network power router; is the phase shift angle of the jth port of the magnetic network power router, which ranges from [-0.5 to 0.5]; L ij is the equivalent leakage inductance of the transformer port of the magnetic network power router.

[0065] As an optimization scheme for the active disturbance rejection control of a magnetic network power router, in a specific implementation, step S3 can be obtained by solving a nonlinear equation system. Specifically, numerical solutions such as Gauss-Seidel or Newton iteration can be used to further solve the steady-state phase shift angle of the decoupling control of the constructed magnetic network power router. The specific calculation formula is as follows:

[0066]

[0067] As an optimization scheme for the active disturbance rejection control of a magnetic network power router, the transient phase shift angle of the decoupling control of the magnetic network power router constructed in step S3 is calculated as follows:

[0068]

[0069] Among them, K p , K i The power control system compares the power value P i With the set power value P i * The difference between the two is then processed by a proportional-integral (PI) controller, and power regulation is achieved through power closed-loop control. The calculated difference serves as the input of the PI controller, which in turn adjusts the system output to achieve the desired power value.

[0070] As an optimization scheme for the active disturbance rejection control of a magnetic network power router, the final phase shift angle of the decoupling control of the magnetic network power router constructed in step S3 is calculated as follows. By combining the steady-state phase shift angle part and the transient phase shift angle part, the final phase shift angle of each port can be obtained. This calculation can also achieve decoupling between the ports and eliminate the influence between the ports:

[0071]

[0072] Among them, the decoupling matrix A is:

[0073]

[0074] Power router, phase shift angle of each full-bridge converter and Represents the output phase shift angle of each bridge circuit. By calculating the phase shift angle and The square wave voltage of 50% of the AC side in the power router is controlled, thereby ultimately achieving the target power control of the magnetic network power router system.

[0075] As an optimization scheme for the active disturbance rejection control of a magnetic network power router, the active disturbance rejection observer in step S3 is implemented as follows. First, the observation equation is constructed as follows, where v represents the sensor noise:

[0076] z a [k]=H a x a [k]+v[k],

[0077] The state variable can be set to the output voltage of the load port of the power router:

[0078] x a =[v4]

[0079] Furthermore, the state equation of the active disturbance rejection observer can be written as:

[0080]

[0081] Among them, the input control vector can be expressed as: Input control vector u a is restructured to reflect the effect of the phase shift angle on the output voltage.

[0082]

[0083] The coefficient matrix shown in the formula is derived from the system model as follows:

[0084]

[0085] According to the above analysis, the complete recursive estimation algorithm of the adaptive disturbance rejection observer is:

[0086]

[0087] Ultimately, the estimated state in this invention will be used as the system controller data input and applied to the proposed decoupling control method instead of directly using traditional sensor measurements.

[0088] Example 2:

[0089] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method of the present invention are implemented, which will not be described in detail here.

[0090] Example 3:

[0091] The present invention also proposes an electronic system, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method steps of the present invention.

[0092] It should be noted that the processing flow of Examples 2 and 3 corresponds to the specific steps of the method provided in the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not fully described in this embodiment, please refer to the method provided in the embodiment of the present invention.

[0093] The program code for implementing the methods of the present application can be written in any combination of one or more programming languages. Such program code can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the program code is executed by the processor or controller, the functions / operations specified in the flow charts and / or block diagrams are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0094] In the context of the present application, a machine-readable medium can be a tangible medium that can contain or store a program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0095] In summary, the present invention provides a new control strategy that can effectively solve the parameter mismatch problem existing when traditional decoupling control is applied in magnetic network power routers, and significantly improve the system's self-interference rejection and stability. It is suitable for various power electronic systems with high requirements for control accuracy and self-interference rejection.

[0096] The above embodiments are only for illustrating the technical idea of the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the present invention.

Claims

1. An auto-disturbance rejection control method for a four-port magnetic network power router, wherein the power router comprises four ports and a bidirectional power flow control unit therebetween, wherein the four ports are interconnected via a high-frequency transformer, and wherein: The active disturbance rejection control method includes the following steps: Step S1: Establish an equivalent admittance matrix between the ports of the magnetic network power router, apply it to the power router circuit model, establish the power transmission expression of the power router based on it, and calculate the reference power value of each port; Step S2: Calculate the steady-state control phase shift angle and transient phase shift angle of each bridge in the power router based on the reference power value of each port in step S1, and linearly superimpose the transient phase shift angle with the steady-state phase shift angle to obtain the final phase shift angle to achieve power flow control and dynamic load distribution for each port; Step S3: Use an adaptive disturbance suppression state observer to estimate the state quantity of the power router in real time, eliminating the influence of measurement noise and parameter uncertainty on the calculation of the final phase shift angle.

2. The method according to claim 1, characterized in that The equivalent admittance matrix constructed in step S1 is as follows: Among them, L i is the self-inductance of winding i, which should be placed on the AC side of port i. ij and k ij They represent the admittance and coupling coefficient between winding i and winding j in the triangle equivalent circuit, respectively. In the triangle equivalent circuit, every two power router ports are connected through an equivalent inductor and an ideal transformer.

3. The method according to claim 1, characterized in that Step S1 establishes the power transmission expression of the power router to achieve power flow control, specifically: Where f is the control frequency of the magnetic network power router; V i 、V j Represent the voltage at port i and port j respectively, is the phase shift angle of the i-th and j-th ports of the magnetic network power router, which ranges from [-0.5 to 0.5]; L ij The equivalent leakage inductance of the transformer port of the magnetic network power router; According to the reference power of each DC power supply, the steady-state control phase shift angle of each bridge in the power router is calculated and linearly superimposed with the transient phase shift angle to obtain the final phase shift angle to achieve power flow control and dynamic load distribution for each port.

4. The method according to claim 3, characterized in that In step S2, the steady-state control phase shift angle is calculated by the Newton-Raphson iterative method, as follows: in, Indicates the set power value, V i 、V j Represent the voltage at port i and port j respectively, N i 、N j They represent the number of turns of coupled inductance at port i and port j respectively, is the steady-state phase shift angle of port i.

5. The method according to claim 4, characterized in that In step S2, the transient phase shift angle is calculated as follows: Among them, K p , K i are the corresponding proportional coefficient and integral coefficient in the proportional-integral controller, By comparing the power value P i With the set power value The difference between them is then processed by a proportional-integral PI controller, and power regulation is achieved through power closed-loop control, where the calculated result of the difference serves as the input of the PI controller to adjust the output of the power control system to achieve the desired power value.

6. The method according to claim 4, characterized in that In step S2, the final phase shift angle is calculated as follows: Among them, the decoupling matrix A is: in, Represents the output phase shift angle of each bridge circuit respectively, and the phase shift angle is calculated by The 50% duty cycle square wave voltage on the AC side of each full-bridge converter is controlled to achieve target power control of the magnetic network power router system.

7. The method according to claim 6, characterized in that The auto-disturbance rejection observer in step S3 is as follows: z a [r]=H a x a [r]+v[r], where x a =[v4],z a [r] is the measured quantity, v is the measurement noise of the external measurement system, The state equation of the active disturbance rejection observer is: in, is the estimated value of the ADRO, w is the calculation error of the controller, and the input control vector u a is restructured to reflect the effect of phase shift angle on output voltage; H a =1 Based on this assumption, the complete recursive estimation algorithm of the adaptive disturbance rejection observer is, in, is an intermediate variable that reflects the influence of the control variable on the controller.

8. The method according to claim 1, characterized in that in, In step S3, a control signal is generated according to the state estimation result of the adaptive disturbance rejection state observer to dynamically adjust the working state of each switch.

9. A computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to enable the computer to execute the method according to any one of claims 1 to 8.

10. An electronic system comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, characterized in that the instructions are executed by the at least one processor so that the at least one processor can execute the method described in any one of claims 1-8.

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