High-power magnet power supply system control method and device based on feedback decoupling disturbance compensation architecture

Abstract

The invention discloses a high-power magnet power supply system control method and device based on a feedback decoupling disturbance compensation architecture, and belongs to the technical field of power supply control. A coupling matrix representing the direct current coupling degree of the high-power magnet power supply system and a state space mathematical model of a coupling loop of the high-power magnet power supply system are simplified respectively, and a model normal form inner-layer feedback decoupling control structure based on input transformation and state feedback is introduced; effective estimation and accurate compensation of total disturbance in the control process are achieved through an outer disturbance compensation control mechanism, and optimization of the transient response process of the magnet power supply is achieved; wherein the outer disturbance compensation control mechanism comprises a third-order linear expansion state observer and a proportional differential controller. According to the invention, the improvement of model internal and external disturbance dual compensation linkage in magnet power supply multi-coupling control optimization is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of power supply control, and in particular relates to a high-power magnet power supply system control method and device based on a feedback decoupling disturbance compensation architecture. Background Art

[0002] Power supply systems undertake the crucial task of transforming and transmitting electricity, serving as the energy conversion hub for various devices, equipment, and complex power consumption systems. Controlling reference circuit signals for designated loads is crucial. Magnet power systems are responsible for supplying energy to magnets (such as electromagnetic coils and superconducting magnets). Their primary function is to generate a stable and reliable magnetic field through precise control of current and voltage parameters. They are widely used in high-magnetic field scientific devices, such as nuclear fusion devices, biomedical and medical equipment, as well as in aerospace and precision control. Limited by the design of the magnet coil circuits, coupling interference exists between the DC sides of multi-input converters. This necessitates the introduction of an optimized decoupling control architecture to mitigate and offset the adverse interactions between power sources and precisely control the transient response of the converter's command signals.

[0003] The industry typically employs a standard industrial solution, centered around the Proportional Integral (PI) controller, for complex multi-coupled control processes. This controller attributes coupling effects and other disturbances in the control process to tracking errors of the output signal relative to a reference signal. Optimal control is achieved through proportional-integral control of the difference between the reference and output signals. However, this error feedback control approach fails to proactively consider the target device's model information and key parameter constraints, as well as environmental disturbances and operational noise. This significantly reduces the benefits of decoupling control in specific scenarios (e.g., the low robustness of magnetic power converters), making it difficult to meet the requirements of precise control. To account for known parameter information, an inner-level feedback decoupling design based on state feedback and input transformation calculated from the state-space model of the controlled object can be introduced. However, decoupling controllers designed based on the model paradigm are often constrained by fixed modeling coupling parameters (such as inductor circuit parameters) and fail to account for time-varying model parameter perturbations. Furthermore, the controlled object's operation is often accompanied by operational noise and interference, making the model paradigm's decoupling benefits less robust. Therefore, it is necessary to carry out targeted decoupling and anti-disturbance control design for the transient optimization control method in the multi-coupled system of high-power magnetic power supply.

[0004] Linear Active Disturbance Rejection Control (LADRC) offers advantages such as strong anti-disturbance compensation and easy parameter tuning in complex industrial multi-coupling and multi-disturbance scenarios. However, there is still much work to be done to consider the linkage of multiple compensation mechanisms in the dynamic design of interactive effects within the model, especially in the joint design of feedback decoupling and anti-disturbance in multi-coupled magnet power supply loop systems. Summary of the Invention

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

[0006] A high-power magnet power system control method based on a feedback decoupling disturbance compensation architecture comprises:

[0007] According to the circuit relationship of the coupling loop of the high-power magnet power system, the coupling matrix representing the DC coupling degree of the high-power magnet power system and the state space mathematical model of the coupling loop of the high-power magnet power system are simplified respectively, and the inner feedback decoupling control structure based on the model paradigm of input transformation and state feedback is introduced;

[0008] The outer layer disturbance compensation control mechanism realizes effective estimation and precise compensation of the total disturbance of the control process to optimize the transient response process of the magnet power supply; wherein, the outer layer disturbance compensation control mechanism includes a third-order linear extended state observer and a proportional differential controller.

[0009] A high-power magnet power system control device based on a feedback decoupling disturbance compensation architecture comprises:

[0010] The inner feedback decoupling control structure acquisition module simplifies the coupling matrix representing the DC coupling degree of the high-power magnet power system and the state space mathematical model of the high-power magnet power system coupling loop according to the circuit relationship of the high-power magnet power system coupling loop, and introduces the inner feedback decoupling control structure based on the model paradigm of input transformation and state feedback;

[0011] The outer layer disturbance compensation control structure acquisition module realizes effective estimation and precise compensation of the total disturbance of the control process by the outer layer disturbance compensation control mechanism to optimize the transient response process of the magnet power supply; wherein, the outer layer disturbance compensation control mechanism includes a third-order linear extended state observer and a proportional differential controller.

[0012] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the high-power magnet power system control method based on a feedback decoupling disturbance compensation architecture are implemented.

[0013] A non-transitory computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the high-power magnet power system control method based on a feedback decoupling disturbance compensation architecture.

[0014] The present invention has the following beneficial effects:

[0015] In order to address the shortcomings of the above-mentioned existing technologies, the present invention proposes a high-power magnet power supply system control method based on a feedback decoupling disturbance compensation architecture, which can effectively reduce the adverse effects of coupling and operating interference and noise in the transient response regulation of the multi-coupled magnet coil power supply system and improve its control accuracy, thereby improving the transient response performance of the high-power rectifier magnet power supply system.

[0016] The present invention establishes a state-space mathematical model of the coupling loop of a high-power magnet power supply system, introduces decoupling control based on inner-layer feedback, and combines it with an outer-layer disturbance compensation control mechanism based on LADRC design to achieve precise decoupling with maximum utilization of known coupling information, and solves the problem of low robustness of the magnet power converter under the intervention of unmodeled residual coupling effects, environmental interference and operating noise.

[0017] The present invention achieves reliable estimation of the total disturbance composed of internal disturbances such as parameter perturbations and modeling differences of the actual nonlinear time-varying model and external disturbances of the environment by establishing a third-order linear extended state observer (ESO), and realizes compensation action by a simplified proportional differential (PD) error feedback control law. The external disturbance compensation control mechanism constructed by the two solves the problems of poor adaptability and weak anti-disturbance of the model paradigm decoupling controller in actual engineering applications.

[0018] The present invention integrates the key circuit parameter information of the coupling model and introduces a model-free constraint anti-disturbance compensation mechanism to design inner-layer feedback decoupling control and outer-layer disturbance compensation control, realizing an improved measure of the dual compensation linkage of internal and external disturbances of the model in the multi-coupling control optimization of the magnet power supply, so that the proposed feedback decoupling disturbance compensation architecture can better adapt to the stringent control requirements in the actual multi-disturbance environment of engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a control block diagram of the feedback decoupling and anti-disturbance compensation operation of the high-power magnet power supply system of the present invention;

[0020] Figure 2 Block diagrams of the inner layer feedback decoupling control based on known model coupling information and the outer layer disturbance compensation control based on the linear active disturbance rejection (LADRC) mechanism of the present invention; wherein (a) is a block diagram of the inner layer feedback decoupling control based on known model coupling information, and (b) is a block diagram of the outer layer disturbance compensation control based on improved disturbance rejection and robustness;

[0021] Figure 3 It is a control block diagram of a proportional-integral (PI) controller in the prior art;

[0022] Figure 4 A setting diagram of the reference currents of the first coupling loop and the second coupling loop under the electromagnetic transient simulation model of the present invention;

[0023] Figure 5 1 is a comparison diagram of the response effects of the output current of the first coupling loop of the electromagnetic transient simulation model of the present invention under the control of the PI controller and the outer layer disturbance compensation;

[0024] Figure 6 This is a comparison diagram of the decoupling effects of the second coupling loop under the PI controller and the outer layer disturbance compensation control in the electromagnetic transient simulation model of the present invention;

[0025] Figure 7 This is a comparison diagram of the decoupling effects of the second coupling loop under the electromagnetic transient simulation model of the present invention under the PI controller + inner layer feedback decoupling combined control and the outer layer disturbance compensation control only;

[0026] Figure 8 This is a comparison diagram of the decoupling effects of the second coupling loop under the electromagnetic transient simulation model of the present invention under the outer layer disturbance compensation control + inner layer feedback decoupling combined control and the outer layer disturbance compensation control only;

[0027] Figure 9 This is a comparison diagram of the decoupling effects of the second coupling loop in the electromagnetic transient simulation model of the present invention under the outer layer disturbance compensation + inner layer feedback decoupling combination control and the PI controller + inner layer feedback decoupling combination control. DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0029] The high-power magnet power system control method based on the feedback decoupling disturbance compensation architecture of the present invention includes:

[0030] Step 1: Based on the circuit relationship of the coupling loop of the high-power magnet power system, use equations (1) to (4) to simplify the coupling matrix representing the DC coupling degree of the high-power magnet power system. State space mathematical model of the coupling loop with the high-power magnet power system;

[0031] (1)

[0032] (2)

[0033] (3)

[0034] (4)

[0035] In formulas (1) to (3), , ,…… is the self-inductance coefficient in the coupling circuit of the high-power magnet power system, is the mutual inductance coefficient, is the coupling matrix including the self-inductance coefficient and the mutual inductance coefficient, and its dimension is , is the number of coupling loops. , , , is the voltage signal of each coupling loop, is the vector composed of the voltage signals of each coupling loop, , is the current output signal of each coupling loop, is the vector composed of the current output signals of each coupling loop; is the first-order derivative of the current signal of each coupled loop based on time, is a vector composed of the first-order derivatives of the current signals of each coupling loop based on time; , is the resistance parameter of each coupling loop, is the vector composed of the resistance parameters of each coupling loop; is a matrix The inverse of is a matrix The derivative matrix of the output current signal is composed of the first-order derivatives of each element of with respect to time; the state space mathematical model of the high-power magnet power supply system coupling loop represented by formula (4) is recorded as .

[0036] In formula (4), is the output signal of the high-power magnet power supply system, which is selected as , is the vector composed of the current output signals of each coupling loop; the state variable Also selected as , which is the vector composed of the current output signals of each coupling loop.

[0037] It is the first-order derivative of the vector composed of the current output signals of each coupling loop with respect to time; for The dimensional system matrix reflects the interaction and dynamic characteristics between the internal states of the high-power magnet power system, specifically ; for dimensional input matrix, describing how the input affects the state of the high-power magnet power system, specifically here is . for The dimensional system output matrix determines how the state vector is mapped to the output, specifically the identity matrix here; for The input vector of dimension 1 represents the control effect of the outside world on the high-power magnet power system, which is specifically the inner feedback decoupling control quantity. Or outer disturbance compensation control .

[0038] Step 2: Based on the known parameters of the magnet power converter circuit, all elements in equation (1), namely the self-inductance coefficient and the mutual inductance coefficient, are determined to determine the state space mathematical model of the coupling loop of the high-power magnet power system, namely equation (4).

[0039] Step 3: Based on the operating topology of the high-power magnet power supply system, clarify the parameter relationship between voltage and current control, and build a circuit model of equivalent coupled operation.

[0040] Step 4: Based on the state space mathematical model of the high-power magnet power system coupling loop established by equation (4), the inner feedback decoupling structure is designed according to the theorems that satisfy the feedback decoupling conditions shown in equations (5), (6), (7), and (8).

[0041] To discuss the feedback decoupling conditions, define the characteristic matrix of Equation (5) , the characteristic matrix of formula (6) as follows:

[0042] (5)

[0043] (6)

[0044] In formula (5) and formula (6), is a value that satisfies formula (7) and is between 0 and A minimum integer between -1 , The value is 1, 2, ..., n, , ,…, (Right now ) is the system output matrix in formula (4) Each row vector of satisfies the conditions of formula (7);

[0045] (7)

[0046] In formula (7), is the system output matrix in formula (4) No. Row vector , Subscript Indicates the number of rows in the vector.

[0047] Calculate formula (8):

[0048] (8)

[0049] In formula (8), for , for The real constant state feedback matrix, for , for .

[0050] According to the theorem: The necessary and sufficient condition for using inner feedback decoupling is that the matrix is a non-singular matrix.

[0051] Step 5: Pre-calculate the inner feedback decoupling control quantity shown in Equation (9) using a computer program:

[0052] (9)

[0053] In formula (9), For external input, depends on the specific outer controller ( What is depends on the specific outer controller; if the outer disturbance compensation control is selected, then , is the outer layer disturbance compensation control quantity); is the inner feedback decoupling control quantity.

[0054] Step 6: Determine the highest order of the high-power magnet power system based on the transient response process of the coupled loop current and voltage signal control of the high-power magnet power system, and finally determine the order of the linear active disturbance rejection controller (LADRC) based on current decoupling optimization and outer disturbance compensation control in combination with control complexity and feasibility.

[0055] Step 7: Select state variables , from Equations (10) and (11), we can derive the differential equation that characterizes the control system including the total disturbance:

[0056] (10)

[0057] (11)

[0058] In formulas (10) and (11), and They represent the estimated values ​​of the outer disturbance compensation control quantity and input gain of the high-power magnet power system respectively; is the total disturbance received by the control process of the high-power magnet power supply system; They represent the first-order derivative and second-order derivative of the output signal of the high-power magnet power supply system with respect to time t respectively.

[0059] Step 8: Design a third-order linear extended state observer (ESO) using Equation (12), and determine the ESO parameters to be tuned using the bandwidth parameter method of Equation (13):

[0060] (12)

[0061] In formula (12), are the position correction gain, velocity correction gain and disturbance correction gain of ESO; They are the output signals of the state variable high-power magnet power supply system , the first-order derivative of the output signal of the high-power magnet power supply system with respect to time , the total disturbance to the control process of the high-power magnet power system estimated value.

[0062] (13)

[0063] In formula (13), is the bandwidth parameter of ESO.

[0064] Step 9: The standard closed-loop system formula under the control of the outer disturbance compensation is obtained from equation (14), and the adjustable bandwidth parameter to be tuned of the linear active disturbance rejection controller in the outer disturbance compensation is obtained from equation (15): .

[0065] (14)

[0066] (15)

[0067] in, is the controller bandwidth, is the closed-loop transfer function of the magnet power supply coupling circuit after external disturbance compensation, is the differential operator.

[0068] Step 10: Introduce the proportional differential combination from equation (16) to obtain the virtual control quantity , and the outer layer disturbance compensation control quantity is obtained by formula (17): :

[0069] (16)

[0070] (17)

[0071] in, is the reference value of the output signal of the coupling loop of the high-power magnet power supply system in formula (2), are the proportional gain and differential gain in the outer disturbance compensation control law, is the virtual control quantity, is the outer disturbance compensation control quantity. When it is necessary to integrate the known coupling information in the model, let Substitute into formula (9).

[0072] Equation (9) constitutes the inner feedback decoupling control of the coupling loop of the high-power magnet power system; Equations (10), (12), (16), and (17) constitute the outer disturbance compensation control mechanism for real-time evaluation and compensation of the total disturbance of the control process. The two together constitute the feedback decoupling disturbance compensation control law.

[0073] The bandwidth parameter of the third-order linear extended state observer in equations (12) and (13) is and the controller bandwidth in Eqs. (14) and (15) , determine the virtual control quantity of formula (16) , combined with the estimated input gain , and finally determine the outer disturbance compensation control quantity of formula (17) , formula (17) Equal to formula (9) . That is, the estimated value of the input gain , controller bandwidth , bandwidth parameter of the third-order linear extended state observer Three parameters are used to determine equation (17); the control method of a high-power magnet power system based on a feedback decoupling disturbance compensation architecture is completed by combining equations (9) and (17).

[0074] In an embodiment, the high-power magnet power system control method based on the feedback decoupling disturbance compensation architecture of the present invention is a transient response optimization control strategy in a multi-variable, multi-coupling, strong disturbance, and strong impact load scenario for a high-power rectifier magnet power system. The high-power magnet power system control method based on the feedback decoupling disturbance compensation architecture of the present invention includes: according to the circuit relationship of the coupling loop of the high-power magnet power system, respectively simplifying the coupling matrix representing the DC coupling degree of the high-power magnet power system The state space mathematical model of the coupling loop of the high-power magnet power system is introduced based on the input transformation ( ) and status reverse ( ) model paradigm inner feedback decoupling control structure (step 1-step 5), and then the outer disturbance compensation control mechanism (ESO and PD) realizes effective estimation and precise compensation of the total disturbance of the control process, so as to realize the optimization of the transient response process of the magnet power supply (step 6-step 10). In addition, on the MATLAB / Simulink (MATLAB is a commercial mathematical software used for data analysis, deep learning, signal processing, control systems, etc.; Simulink is a visual simulation tool in MATLAB, a module diagram environment for multi-domain simulation and model-based design) platform, an equivalent electromagnetic transient model of the corresponding high-power rectifier magnet power supply (taking the phase-controlled converter as an example) multi-coupling loop is built. According to the method of the present invention, the main control law of the magnet power converter is changed, and corresponding simulation experiments and comparisons are carried out (step 3, step 5, step 9). The comparative simulation results verify the feasibility and effectiveness of the feedback decoupling disturbance compensation architecture of the present invention.

[0075] Among them, the design of high-power rectifier magnet power supply system mainly simulates the load power supply with multi-disturbance and multi-coupling characteristics such as nuclear fusion magnet power supply device, and applies the feedback decoupling disturbance compensation architecture proposed in this invention to achieve the performance improvement of transient response of multi-coupled magnet power supply system and the operation optimization control of mutual influence offset. The specific development framework is as follows Figure 1 As shown, and proceed as follows:

[0076] According to the method of the present invention, based on Figure 1The control block diagram shown in the figure is used to establish an equivalent electromagnetic transient simulation model of the decoupling optimization control of the coupling loop operation of the high-power magnet power supply system. The power supply network is a 66kV bus, and a 66kV / 1.05kV double-winding transformer is connected to multiple high-power rectifier thyristor converter units. The no-load DC voltage of the converter unit is 1.36kV, and the rated DC current is 55kA. The DC side of the converter is connected to a coupling inductor, which generates an interaction between the circuits. In the state space mathematical model of the coupling loop of the high-power magnet power supply system in Equations (1) to (4), the number of coupling loops is 2, marked as the first coupling loop and the second coupling loop, respectively. The resistance matrix R and the coupling matrix M are set as follows:

[0077] (Unit: Ohm);

[0078] (Unit: Hunter);

[0079] The decoupling control design of high-power magnet power supply system will adopt Figure 2 and Figure 3 The block diagram is designed and simulated and verified respectively. Figure 2 This is a block diagram of the inner layer feedback decoupling control based on known model coupling information and the outer layer disturbance compensation control based on the linear active disturbance rejection (LADRC) mechanism of the present invention; wherein, Figure 2 (a) is a block diagram of the inner feedback decoupling control based on known model coupling information. Figure 2 (b) is a block diagram of the outer layer disturbance compensation control based on improved disturbance rejection and robustness. Figure 3 is a control block diagram of a proportional integral (PI) controller in the prior art. The transfer function of the prior art PI controller is: , in, is the proportional gain, which determines the response speed of the system; is the integral gain, which determines the ability to eliminate static errors. The parameters of this embodiment are set as =100, =0.1. In the design of the inner decoupling structure controller, the inner feedback decoupling control quantity is obtained by referring to the above formula (9): .

[0080] The state feedback matrix and input transformation matrix of the inner feedback decoupling control are set as:

[0081] ;

[0082] The parameters of the outer layer disturbance compensation control are set as .

[0083] To simulate the coupling effect and verify different control effects, the first coupling loop is set to a sinusoidal current signal (1Hz, 1kA) and the second coupling loop signal is set to zero. This is to observe the output signal of the second coupling loop under different control strategies. The parameter tuning of the PI controller and the external disturbance compensation control is based on the consistent and good current control tracking performance of the first coupling loop under the same reference signal ( Figure 4 and Figure 5 ) is determined. The decoupling control of the coupling loop of the high-power magnet power system coupled by the two coupling loops (the first coupling loop and the second coupling loop) will adopt PI control, outer layer disturbance compensation control and their combination with the inner layer feedback decoupling control structure ( Figures 6 to 9 ).

[0084] The output signals of the second coupling loop of the high-power magnet power supply system under different control schemes are significantly different. Figures 6 to 9 The comparison diagram of the effects of PI control, outer layer disturbance compensation and their combined control with inner layer feedback decoupling under the electromagnetic transient simulation model is shown, and the output signal of the second coupling loop is used as the The degree of approaching zero is used as the evaluation index of decoupling effect. Figure 6 、 Figure 7 It shows that the decoupling control effect of the second coupling loop under the outer layer disturbance compensation is significantly better than PI control and its combined control with inner layer feedback decoupling, which is reflected by the reduced coupling output signal. Figure 8 It indicates that the decoupling effect of the outer layer disturbance compensation combined control after inner layer feedback decoupling is slightly better than that of the outer layer disturbance compensation control alone. Figure 9 It shows that after combining the inner layer feedback decoupling, the outer layer disturbance compensation control is still better than the decoupling effect of the PI controller in the prior art, which is reflected in the significantly reduced coupled output signal current value.

[0085] Due to the introduction of a third-order linear extended state observer that takes into account the actual model coupling and the total disturbance state, it estimates the deviation and coupling disturbance terms in the transient process of current control of the magnet power converter in real time and sends them to the error compensation end for proportional differential adjustment. The present invention can globally optimize the transient regulation characteristics of the converter; the present invention combines the known model decoupling inner layer decoupling control law under the active anti-disturbance compensation mechanism to achieve the effect of improving the anti-disturbance robustness of the magnet power system with strong coupling and high dynamic load.

[0086] In summary, this invention, starting from the perspective of closed-loop optimization of the transient performance and decoupling anti-interference compensation mechanism of a multi-coupled magnetic power converter system, has designed a new optimized control scheme for magnetic power converters in high-power rectifier magnetic power systems operating in a strongly coupled, multi-disturbance, and highly dynamic load environment. Experimental results have verified the excellent dynamic control performance of the high-power rectifier magnetic power system. When using a combined control method of linear self-anti-interference control and inner-layer feedback decoupling, it can effectively estimate the coupling interference and control disturbance error during the current signal control process, significantly reducing the interference constraints of the coupling loop from other loops, thereby enhancing the transient operating performance of the converter system.

[0087] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention may be implemented using various computer languages.

[0088] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0089] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0090] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0091] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0092] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

[0093] The above descriptions are merely embodiments of the present invention and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied to other related system fields, are also included in the scope of protection of the present invention.

[0094] The contents not described in detail in the specification of the present invention belong to the prior art known to those skilled in the art.

Claims

1. A high-power magnet power system control method based on a feedback decoupling disturbance compensation architecture, characterized in that: include: According to the circuit relationship of the coupling loop of the high-power magnet power system, the coupling matrix representing the DC coupling degree of the high-power magnet power system and the state space mathematical model of the coupling loop of the high-power magnet power system are simplified respectively, and the inner feedback decoupling control structure based on the model paradigm of input transformation and state feedback is introduced; The outer layer disturbance compensation control mechanism realizes effective estimation and precise compensation of the total disturbance of the control process to optimize the transient response process of the magnet power supply; wherein, the outer layer disturbance compensation control mechanism includes a third-order linear extended state observer and a proportional differential controller.

2. The high-power magnet power system control method based on the feedback decoupling disturbance compensation architecture according to claim 1 is characterized in that: According to the circuit relationship of the coupling loop of the high-power magnet power system, the coupling matrix representing the DC coupling degree of the high-power magnet power system is simplified. The state space mathematical model of the coupling loop of the high-power magnet power system is introduced, and the inner feedback decoupling control structure based on input transformation and state feedback is introduced, including: Step 1: Based on the circuit relationship of the high-power magnet power system coupling loop, simplify the coupling matrix that represents the DC coupling degree of the high-power magnet power system. State space mathematical model of the coupling loop with the high-power magnet power system; Step 2: Design the coupling matrix based on the known parameters of the magnet power converter circuit All elements of , thereby determining the state space mathematical model of the coupling loop of the high-power magnet power system; Step 3: Based on the operating topology of the high-power magnet power supply system, clarify the parameter relationship between voltage and current control, and build a circuit model for equivalent coupled operation; Step 4: Based on the state space mathematical model of the high-power magnet power system coupling loop and the theorem satisfying the feedback decoupling conditions, design the inner feedback decoupling control structure; Step 5: Pre-calculate the inner feedback decoupling control quantity through a computer program.

3. The high-power magnet power system control method based on feedback decoupling disturbance compensation architecture according to claim 2 is characterized in that: In step 1, the coupling matrix The state space mathematical model of the coupling loop with the high-power magnet power system is as follows: （1） （2） （3） （4） In formulas (1) to (3), , ,…… is the self-inductance coefficient in the coupling circuit of the high-power magnet power system, is the mutual inductance coefficient, is the coupling matrix including the self-inductance coefficient and the mutual inductance coefficient, and its dimension is , is the number of coupling loops; , , , is the voltage signal of each coupling loop, is the vector composed of the voltage signals of each coupling loop, , is the current output signal of each coupling loop, is the vector composed of the current output signals of each coupling loop; is the first-order derivative of the current signal of each coupled loop based on time, is a vector composed of the first-order derivatives of the current signals of each coupling loop based on time; , is the resistance parameter of each coupling loop, is the vector composed of the resistance parameters of each coupling loop; is a matrix The inverse of is a matrix The derivative matrix of the output current signal is composed of the first-order derivatives of each element with respect to time. The state space mathematical model of the coupling loop of the high-power magnet power supply system of formula (4) is recorded as ; In formula (4), is the output signal of the high-power magnet power supply system, which is selected as , is the vector composed of the current output signals of each coupling loop; the state variable Also selected as , is the vector composed of the current output signals of each coupling loop; It is the first-order derivative of the vector composed of the current output signals of each coupling loop with respect to time; for dimensional system matrix, ; for dimensional input matrix, ; for dimensional system output matrix; for dimensional input vector, specifically the inner feedback decoupling control quantity Or outer disturbance compensation control .

4. The high-power magnet power system control method based on feedback decoupling disturbance compensation architecture according to claim 3 is characterized in that: In step 4, based on the state space mathematical model of the high-power magnet power system coupling loop established by equation (4), the inner feedback decoupling structure is designed according to the theorems satisfying the feedback decoupling conditions shown in equations (5), (6), (7), and (8); The characteristic matrix of definition (5) , the characteristic matrix of formula (6) as follows: （5） （6） in, To satisfy formula (7) and between 0 and The smallest integer between -1 , The value is 1, 2, ..., n, , ,…, Right now is the system output matrix in formula (4) Each row vector of satisfies the conditions of formula (7); （7） in, is the system output matrix in formula (4) No. Row vector , Subscript Indicates the number of rows of the vector; Calculate formula (8): （8） in, for , for The real constant state feedback matrix, for , for ; The necessary and sufficient condition for achieving inner feedback decoupling control is that the matrix is a non-singular matrix.

5. The high-power magnet power system control method based on feedback decoupling disturbance compensation architecture according to claim 4 is characterized in that: In step 5, the inner feedback decoupling control quantity of formula (9) is obtained by precalculating through a computer program: （9） in, For external input, is the inner feedback decoupling control quantity.

6. The high-power magnet power system control method based on feedback decoupling disturbance compensation architecture according to claim 5 is characterized in that: The outer layer disturbance compensation control mechanism realizes effective estimation and precise compensation of the total disturbance of the control process to optimize the transient response process of the magnet power supply, including: Step 6: Determine the highest order of the high-power magnet power system based on the transient response process of the coupled loop current and voltage signal control. Furthermore, determine the order of the linear active disturbance rejection controller based on current decoupling optimization and outer layer disturbance compensation control in consideration of control complexity and feasibility. Step 7: Select state variables , from Equations (10) and (11), we can derive the differential equation that characterizes the control system including the total disturbance: （10） （11） in, and are the estimated values ​​of the outer disturbance compensation control quantity and input gain of the high-power magnet power supply system respectively; is the total disturbance received by the control process of the high-power magnet power supply system; are the first-order derivative and second-order derivative of the output signal of the high-power magnet power supply system with respect to time t; Step 8: Design the third-order linear extended state observer according to Equation (12), and determine the parameters to be tuned of the third-order linear extended state observer by the bandwidth parameter method of Equation (13): （12） in, are the position correction gain, velocity correction gain and disturbance correction gain of the third-order linear extended state observer, They are the output signals of the state variable high-power magnet power supply system , the first-order derivative of the output signal of the high-power magnet power supply system with respect to time , the total disturbance to the control process of the high-power magnet power system estimated value of; （13） in, is the bandwidth parameter of the third-order linear extended state observer; Step 9: The standard closed-loop system formula under the control of the outer disturbance compensation is obtained from equation (14), and the adjustable bandwidth parameter to be tuned of the linear active disturbance rejection controller in the outer disturbance compensation is obtained from equation (15): ; （14） （15） in, is the controller bandwidth, is the closed-loop transfer function of the magnet power supply coupling circuit after external disturbance compensation, is the differential operator; Step 10: Introduce the proportional differential combination from equation (16) to obtain the virtual control quantity , and the outer layer disturbance compensation control quantity is obtained by formula (17): : （16） （17） in, is the reference value of the output signal of the coupling loop of the high-power magnet power supply system in formula (2), are the proportional gain and differential gain in the outer disturbance compensation control law, is the virtual control quantity, is the outer disturbance compensation control quantity. When it is necessary to integrate the known coupling information in the model, let Substitute into formula (9).

7. The high-power magnet power system control method based on feedback decoupling disturbance compensation architecture according to claim 6 is characterized in that: In step 10, the bandwidth parameter of the third-order linear extended state observer in equations (12) and (13) is and the controller bandwidth in Eqs. (14) and (15) , determine the virtual control quantity of formula (16) , combined with the estimated input gain , and finally determine the outer disturbance compensation control quantity of formula (17) , formula (17) Equal to formula (9) .

8. A high-power magnet power system control device based on a feedback decoupling disturbance compensation architecture, characterized in that: include: The inner feedback decoupling control structure acquisition module simplifies the coupling matrix representing the DC coupling degree of the high-power magnet power system and the state space mathematical model of the high-power magnet power system coupling loop according to the circuit relationship of the high-power magnet power system coupling loop, and introduces the inner feedback decoupling control structure based on the model paradigm of input transformation and state feedback; The outer layer disturbance compensation control structure acquisition module realizes effective estimation and precise compensation of the total disturbance of the control process by the outer layer disturbance compensation control mechanism to optimize the transient response process of the magnet power supply; wherein, the outer layer disturbance compensation control mechanism includes a third-order linear extended state observer and a proportional differential controller.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the high-power magnet power system control method based on the feedback decoupling disturbance compensation architecture according to any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the high-power magnet power system control method based on the feedback decoupling disturbance compensation architecture as claimed in any one of claims 1 to 7 are implemented.

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