H infinite dynamic output feedback control method of SS type IPT system

Abstract

The invention provides an H infinite dynamic output feedback control method of an SS type IPT system. The method comprises the following steps: constructing an extended description function state space model of the SS type IPT system; an integral error between a reference signal and actual output is introduced on the basis, and an augmented system model is established in combination with external disturbance and measurement noise; based on a Lyapunov function and an H infinity performance index, sufficient conditions of asymptotic stability and disturbance suppression performance of a closed-loop system are deduced and converted into a linear matrix inequality to be solved, so that gain parameters of a dynamic output feedback controller are directly obtained. Under the condition that external disturbance and measurement noise exist, accurate tracking of the reference signal by the system load voltage can still be guaranteed, the robustness and the fault-tolerant capability of the system are improved, meanwhile, dependence on alternating current side variable measurement is avoided, and the method has high engineering application value.

Description

Technical Field

[0001] This invention relates to the field of inductive power transfer (IPT) control, specifically to an H-infinite dynamic output feedback control method for an SS-type IPT system. Background Technology

[0002] The series-in-series (SS) type IPT system utilizes an alternating magnetic field to achieve contactless power transmission. It mainly consists of two parts: a power transmitter and a power receiver. Compared with traditional wired charging methods, IPT has advantages such as simple topology, high efficiency, large transmission capacity, sophisticated control strategies, and mature technology. Therefore, this system is widely used in charging applications in various fields such as electric vehicles and smart homes.

[0003] Considering that IPT systems are typical high-frequency resonant power systems, although high-frequency harmonic components in their AC side signals can usually be effectively suppressed through resonant networks, the fundamental voltage and current signals of the system are difficult to obtain accurately in real time during actual operation, especially under conditions of high-speed dynamic changes and load fluctuations. Currently, DC-side sensors are often used in engineering to sample and feedback control the system output voltage. However, in strongly coupled magnetic field environments, such systems are susceptible to interference from non-ideal factors such as energy disturbances, load abrupt changes, external noise, and measurement deviations, affecting system stability and output accuracy. Existing tracking control methods mostly rely on full-state feedback or precise measurement of AC side variables, making it difficult to simultaneously address the engineering requirements of suppressing external disturbances without increasing measurement complexity. Therefore, a method is needed that can still achieve dynamic tracking and maintain the reference output without introducing AC side measurements. Robust performance control strategies. Summary of the Invention

[0004] This invention aims to address the problem of degraded output control performance in existing SS-type IPT systems due to reliance on AC-side variable measurements and difficulty in coping with external disturbances. This is particularly true under complex operating conditions, such as load abrupt changes, energy disturbances, and measurement signal fluctuations, where traditional control methods struggle to balance system robustness and regulation accuracy. This invention proposes an H-infinite dynamic output feedback control method for SS-type IPT systems. By introducing integral error modeling and state feedback reconstruction mechanisms, it achieves stable tracking of the output voltage and effective suppression of external disturbances without requiring AC state variable measurements, thereby improving the practicality, control fault tolerance, and engineering reliability of the IPT system. The technical solution provided by this invention is as follows:

[0005] Firstly, a method for H-infinite dynamic output feedback control of an SS-type IPT system includes the following steps:

[0006] Step S01: Establish the main circuit topology of the SS-type IPT system;

[0007] Step S02: Establish the system state-space model based on the extended describing function method;

[0008] Step S03: Construct an augmented tracking control model by introducing reference error and external disturbance;

[0009] Step S04: Design The dynamic output feedback controller determines the closed-loop augmented system by constructing a Lyapunov function. Sufficient conditions for achieving asymptotic stability and disturbance suppression under performance indicators are determined. Based on these sufficient conditions, the controller design problem is transformed into a linear matrix inequality, which is then solved to obtain the gain parameters of the dynamic output feedback controller.

[0010] Step S05: Perform simulation verification of control performance under disturbance conditions.

[0011] Preferably, establishing a system state-space model includes:

[0012] The state-space equation of the resonant network of the system is established based on Kirchhoff's voltage and current laws; the influence of higher-order harmonics is ignored by using the extended describing function method, and the fundamental component of the AC variable is decomposed into sine and cosine components.

[0013] A unified state-space model is established based on the fundamental component of the AC signal and the DC component of the DC signal.

[0014] Preferably, constructing the augmented tracking control model specifically includes:

[0015] Based on the EDF model, an error integral variable between the reference signal and the actual output is introduced;

[0016] Establish an external disturbance input model for the system, consisting of process noise and measurement noise;

[0017] An augmented tracking control closed-loop system is constructed by combining the integral error variable, the external disturbance model, and the extended description model.

[0018] Preferably, the continuous-time model of the dynamic output feedback controller is as follows:

[0019] (5)

[0020] in The measured output vector is used as the controller input. It is the state vector of the controller, and the controller gain parameters include the state matrix. Input gain matrix and output gain matrix The controller relies solely on measured outputs for feedback control, eliminating the need to acquire AC side voltage and current data. Used to drive power converters.

[0021] Preferably, by combining the dynamic output feedback controller with the augmented tracking control model, a closed-loop augmented system is obtained, whose state equation is:

[0022] (6)

[0023] in , These are the augmented state vector and the perturbation vector, respectively. , and This is an augmented matrix.

[0024] Preferably, in order to ensure that the closed-loop augmented system of claim 5 satisfies zero initial conditions Attenuation level γ, and in the disturbance It is asymptotically stable and has a symmetric positive definite matrix. This makes the following equation true:

[0025] (8)

[0026] in, Given a positive definite matrix I, and an identity matrix of appropriate dimension, the matrix inequalities are derived from the Lyapunov function and Schul complement theorem. When these inequalities hold, the energy inequality is derived and guaranteed. Performance and asymptotic stability.

[0027] Preferably, to obtain the gain parameters of the dynamic output feedback controller, the matrix inequality of claim 6 is transformed into a linear matrix inequality: while satisfying the attenuation level Under the condition that there exists a symmetric positive definite matrix , and matrix variables This makes the following matrix inequalities hold:

[0028] (18)

[0029] (19)

[0030] in , , When the above linear matrix inequalities are feasible, it is also guaranteed that the closed-loop system is in asymptotically stable and satisfied Performance metrics.

[0031] Preferably, the gain of the dynamic output feedback controller is expressed as follows:

[0032] (20)

[0033] in , , The above relationship is obtained by applying a congruent transformation to the criterion and linearizing the nonlinear coupling terms, ensuring that the controller gain simultaneously satisfies robust asymptotic stability and Performance conditions.

[0034] Secondly, an SS-type IPT system includes a DC chopper module, a power transmitting device module, a power receiving device module, a voltage and current detection module, a wireless communication module, and a control module. The output of the DC chopper module is connected to the power transmitting device module. An air gap exists between the power transmitting device module and the power receiving device module, which are connected via mutual inductance. The output of the power receiving module is connected to the input of the voltage and current detection module. The voltage and current detection module is used to collect load-side voltage and current signals and wirelessly transmit them to the control module via the communication and processing module. Control module; the The control module outputs control signals to the high-frequency inverter module to adjust the dynamic response and steady-state accuracy of the system output voltage.

[0035] Preferably, the power transmitting device module includes: a DC power supply module, a high-frequency inverter, and a primary-side resonant compensation network, wherein the DC power supply module, the high-frequency inverter, and the primary-side resonant compensation network are sequentially electrically connected; the power receiving device includes: a secondary-side resonant compensation network, a rectifier, and a load, wherein the secondary-side resonant compensation network, the rectifier, and the load are sequentially electrically connected; the voltage and current detection module includes: a voltage sensor and a current sensor.

[0036] Compared with the prior art, the beneficial effects achieved by the present invention are: the proposed... The dynamic output feedback control method and system take into account uncertainties such as external disturbances and measurement noise, which significantly improves the robustness and stability of the SS-type IPT system. At the same time, it can estimate other state variables of the system that are difficult to measure directly under limited measurement conditions, and ensure that the system load voltage and load current can still accurately track the reference signal when affected by external disturbances and / or measurement noise, thereby achieving high-precision and high-reliability wireless power transmission. Attached Figure Description

[0037] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0038] Figure 1 This is the main flowchart of the control method of the present invention;

[0039] Figure 2 This is a schematic diagram of the IPT system of the present invention;

[0040] Figure 3 In different Schematic diagram of the output voltage response curve at the attenuation level γ;

[0041] Figure 4 This is a schematic diagram comparing the output voltage response of different control methods under the condition of fixed γ=23. Detailed Implementation

[0042] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate preferred embodiments of the application. However, this application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0043] It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to and integrated with the other component, or there may be an intervening component present. The terms "mounted," "one end," "the other end," and similar expressions used in this document are for illustrative purposes only.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0045] Example 1: A dynamic output feedback control method for an SS-type IPT system with infinite H, such as... Figure 1 As shown, it includes the following steps:

[0046] Step S01: Establish the main circuit topology of the SS-type IPT system;

[0047] Step S02: Establish the system state-space model based on the extended describing function method;

[0048] Step S03: Construct an augmented tracking control model by introducing reference error and external disturbance;

[0049] Step S04: Design Dynamic output feedback controller and solve for the gain;

[0050] Step S05: Perform simulation verification of control performance under disturbance conditions.

[0051] In an optional example, the system state-space model can be constructed using the following method:

[0052] Establish a state-space model of the SS-type IPT system based on Kirchhoff's laws:

[0053] (1)

[0054] in and These represent the primary and secondary side resonant compensation capacitor values, respectively. and These represent the inductances of the primary and secondary coupled coils, respectively. and These represent the internal resistances of the primary and secondary coupled coils, respectively; M represents the mutual inductance between the primary and secondary coupled coils. and These represent the filter capacitor and the load resistor, respectively. The fundamental component of the output voltage of a high-frequency inverter; and The fundamental components representing the primary and secondary sides; and The fundamental component representing the voltage across the primary and secondary compensation capacitors; The fundamental component representing the input voltage of the rectifier; and These represent the voltage across the load resistor and the DC component of the current flowing through the load resistor, respectively.

[0055] Using the EDF method, the fundamental component in equation (1) is further decomposed into sine and cosine components, resulting in the following relationship:

[0056] (2)

[0057] in, Represents the DC input voltage. Representing the resonant angular frequency, the circuit variable subscripts c and s respectively indicate the frequency of the first harmonic. and The corresponding amplitude coefficient.

[0058] Furthermore, combining equation (2) with equation (1), and based on... and The coefficients are separated by orthogonality to obtain the EDF state-space model of the SS-type IPT system:

[0059] (3)

[0060] The system's state variables The system control input is The system output is the load resistor voltage. The system coefficient matrices A, B, and C are in the following form:

[0061]

[0062] In an optional embodiment, an augmented tracking control model under external disturbances is established by the following method:

[0063] To analyze the system's response to external disturbances, the integral of the error between the reference voltage and the actual output voltage is introduced as a new state variable, which, together with the circuit variables of the EDF model, constitutes the state vector of the tracking error augmented system. Under zero initial conditions, the state-space expression of the augmented system is as follows:

[0064] (4)

[0065] Where the augmented state vector , For system state variables, This is the error integral term. External disturbance vector. , For process noise, This is the reference signal for the output voltage. The measured output is denoted as... The measured noise is recorded as The control input is... Adjustable performance output The coefficient matrix of the augmented system is as follows:

[0066]

[0067] By using this matrix construction method, external disturbances, measurement noise, and integral errors can be uniformly incorporated into the model, providing a foundation for subsequent controller synthesis and performance analysis.

[0068] To improve the system's anti-interference capability, establish Dynamic output feedback controller model:

[0069] The proposed dynamic output feedback controller ensures that the system can accurately track the reference output signal and maintain stable operation under external disturbances. The design of this controller can be described as follows:

[0070] (5)

[0071] The measurement output vector As a controller input It is the controller's state vector. , and This is the controller gain matrix, whose values ​​will be determined in the subsequent design steps based on linear matrix inequalities. The controller relies solely on the measured output for feedback control, without needing to acquire AC side voltage and current; the output... Used to drive power converters.

[0072] Considering that IPT systems are susceptible to unknown external disturbances in practical applications, which can potentially affect the system's stability and performance, this invention introduces an unknown disturbance term during the system modeling stage to characterize the dynamic effects of such uncertainties in the actual operating environment. Therefore, the tracking control closed-loop system with external disturbances can be written as follows:

[0073] (6)

[0074] in , These are the augmented state vector and the perturbation vector, respectively. Augmented matrix , and The definition is as follows:

[0075]

[0076] Preferably, to clarify the control objective of this invention, the performance index of the tracking control closed-loop system is first given: under zero initial conditions, for any non-zero disturbance... The required performance output must meet the following requirements.

[0077] (7)

[0078] in The preset disturbance suppression level; and Under these conditions, the closed-loop system approaches stability.

[0079] In an optional example, a sufficient condition for the robust asymptotic stability of a tracking control closed-loop system can be:

[0080] (8)

[0081] in, Let I be a given positive definite matrix, and let I be an identity matrix of appropriate dimension.

[0082] The proof steps for the sufficient condition (8) for the robust asymptotic stability of the tracking control closed-loop system are as follows:

[0083] To analyze the stability and disturbance suppression performance of the closed-loop system, the Lyapunov function is introduced as follows:

[0084] (9)

[0085] in, For the augmented state vector, It is a symmetric positive definite matrix. For Differentiate with respect to t, and combine with From the performance constraints, we can obtain:

[0086] (10)

[0087] Substituting (6) into (10), the inequality is written as:

[0088] (11)

[0089] make Using Schul's complement lemma, sufficient condition (8) can be transformed into:

[0090] (12)

[0091] In the stability analysis of a closed-loop augmented system, if the tracking control closed-loop system satisfies the sufficient condition for robust asymptotic stability (criteria matrix)... (Satisfying negative definiteness), it can be further combined with the Lyapunov function derivative inequality and Performance constraints are used to obtain a quantitative relationship between the system state energy change and the disturbance energy.

[0092] Substituting the matrix inequality (12) obtained by the Schur complement transformation into the derivative relation of the Lyapunov function (11), and simplifying each term, we get:

[0093] (13)

[0094] Integrating the above equation over the time interval [0, +∞) under zero initial conditions, we obtain:

[0095] (14)

[0096] Furthermore, under zero initial conditions, it can be simplified to:

[0097] (15)

[0098] It can be seen that when inequality (8) holds, the system not only satisfies the disturbance suppression index, but also ensures the asymptotic stability of the closed-loop system.

[0099] However, the controller gain parameter cannot be directly given solely by the sufficient condition (8) for robust asymptotic stability of the tracking control closed-loop system. Therefore, in an optional example, the specific steps for solving the gain of the dynamic output feedback controller based on the sufficient condition are as follows:

[0100] To eliminate nonlinear coupling terms in inequalities, a matrix is ​​defined. and The format is as follows:

[0101] (16)

[0102] definition Multiply by the left side of both sides of sufficient condition (8) With right multiplication The corresponding specific form is:

[0103] (17)

[0104] in

[0105]

[0106] To eliminate nonlinear coupling terms and obtain a linearly solvable form, the following variable substitutions are performed: , , , , , At this point, given a noise attenuation level When, if there exists a symmetric positive definite matrix , This makes the following matrix inequalities hold:

[0107] (18)

[0108] (19)

[0109] Therefore, the closed-loop SS-type IPT system is not only asymptotically stable in the presence of external disturbances, but also satisfies Performance metrics. Based on the above sufficient conditions, the gain of the dynamic output feedback controller can be directly obtained from the following formula:

[0110] (20)

[0111] Example 2: An SS-type IPT system, such as Figure 2 As shown, it includes: a DC chopper circuit module 100, a power transmitting device module 200, a power receiving device module 300, a voltage and current detection module 400, and a wireless communication module 500. The dynamic output feedback controller module 600, and the DC chopper circuit module 100 are connected to the power transmitting device module 200. There is a certain air gap between the power transmitting device module 200 and the power receiving device module 300. The voltage and current detection module 400 is connected to the power receiving device 300. The dynamic output feedback controller module 600 achieves contactless connection through the wireless communication module 500.

[0112] In an optional example, in an SS-type IPT system, the power transmission device 200 includes: a DC power supply 201, a high-frequency inverter 202, and a primary-side resonant compensation network 203, wherein the DC power supply 201 is connected to the output terminal of the DC chopper circuit module 100 and the input terminal of the high-frequency inverter 202, respectively, and the output terminal of the high-frequency inverter 202 is connected to the input terminal of the primary-side resonant compensation network 203.

[0113] In an optional example, in the above-described SS-type IPT system, the high-frequency inverter 202 further includes fully controlled switches Q1, Q2, Q3, and Q4. The circuit topology formed by the four fully controlled switches is a full-bridge inverter circuit. This topology obtains the output voltage of the high-frequency inverter 202 by periodically changing the operating states of the switch pairs (Q1 / Q4, Q2 / Q3). .

[0114] In an optional example, in the above-described SS-type IPT system, the primary-side resonant compensation network 203 further includes: a network with internal resistance... primary-side coupled coil and primary-side compensation capacitor The primary-side compensation capacitor Coupled coil with primary side Series connection, and primary-side compensation capacitor The voltage across the terminals and the current flowing through the primary-side coupling coil The currents are denoted as follows: and .

[0115] In an optional example, in the above-described SS-type IPT system, the power receiving device module 300 further comprises three parts: a secondary resonant compensation network 301, a rectifier 302, and a load 303, wherein the input terminal of the rectifier 302 is connected to the output terminal of the secondary resonant compensation network 301, and the output terminal of the rectifier 302 is connected to the input terminal of the load 303.

[0116] In an optional example, in the above-described SS-type IPT system, the secondary-side resonant compensation network 301 further includes: a network with internal resistance... Secondary coupling coil and secondary side compensation capacitor The secondary side compensation capacitor Coupled with secondary coil Series connection, and secondary compensation capacitor The voltage across the terminals and the current flowing through the secondary compensation inductor The currents are denoted as follows: and .

[0117] In one example, in the aforementioned SS-type IPT system, the primary-side coupling coil Coupled with secondary coil The two entities achieve wireless transmission of electrical energy through the law of electromagnetic induction, and their mutual inductance is M.

[0118] In an optional example, in the above-described SS-type IPT system, rectifier 302 further includes diodes D1, D2, D3, and D4, wherein the bridge rectifier circuit formed by these four diodes converts AC to DC power and obtains the load voltage. and load current .

[0119] In an optional example, in the SS-type IPT system described above, load 303 further includes: a filter inductor. Filter capacitor and load resistance Among them, the filter inductor and filter capacitor Together used to remove load voltage and load current ripples.

[0120] In one example, in the aforementioned SS-type IPT system, the voltage and current detection module 400 further includes: a current sensor 401 and a voltage sensor 402, wherein the current sensor 401 and the voltage sensor 402 are respectively used to measure the load voltage. and load current And the corresponding measurement results are transmitted to the wireless communication module 500. Dynamic output feedback controller module 600.

[0121] In one example, the sampling time of the SS-type IPT system during the simulation is , and the electrical parameters of the SS-type IPT system are as follows:

[0122]

[0123] Suppose that the amplitude of the external disturbance to the system decreases continuously with time, and the expression corresponding to this disturbance is as follows:

[0124] (twenty one)

[0125] According to the modeling and controller synthesis method proposed in this invention, the SS-type IPT system is simulated and verified under the condition of only external disturbances; the corresponding result diagram is shown below. Figures 3-4 .

[0126] in, Figure 3 To achieve different electrical parameters and disturbance settings under the same conditions Output voltage corresponding to attenuation level γ (γ = 0.2, 2, 23, 200). A schematic diagram of the reference tracking response; Figure 4 This diagram illustrates the comparison of the output voltage response of different control strategies at γ=23, representing open-loop, traditional PI control, and the measurement-based output control described in this invention. Dynamic output feedback controller.

[0127] Figure 3 To determine the load voltage under external disturbances and measurement noise conditions. The curve comparing the reference value with the actual output is shown in the figure. As can be seen from the figure, during system operation, the deviation between the actual output and the reference signal remains within the allowable error range, and the deviation shows a monotonically decreasing trend without continuously increasing. This demonstrates that the design of this invention... The dynamic output feedback controller can effectively suppress the influence of external disturbances, achieve fast and stable tracking of the reference voltage, and ensure that the steady-state error is kept at a small level.

[0128] Figure 4 To compare the control strategies, the results of the present invention under the same operating conditions are given. The output response of the dynamic output feedback controller versus the traditional PI control. As shown in the figure, The dynamic output feedback controller exhibits shorter rise and settling times, smaller overshoot, and significantly reduced steady-state ripple. Under disturbances, its output fluctuation is significantly smaller than that of PI control, demonstrating stronger disturbance rejection and robustness. Simulation results further demonstrate that the controller of this invention, while meeting performance constraints, can accurately reflect the dynamic changes of the actual system output and maintain excellent steady-state quality.

[0129] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A H-infinity dynamic output feedback control method for an SS type IPT system, characterized by, The method comprises the following steps: Step S01: establishing a main circuit topology structure of the SS type IPT system; Step S02: establishing a system state space model based on an extended description function method; Step S03: constructing an augmented tracking control model by introducing a reference error and an external disturbance; Step S04: design H ∞ The dynamic output feedback controller is determined by constructing a Lyapunov function for the closed-loop augmented system H ∞ The sufficient condition for achieving asymptotic stability and disturbance rejection under the performance index is obtained, and the controller design problem is converted into a linear matrix inequality according to the sufficient condition, and the gain parameters of the dynamic output feedback controller are solved. Step S05: simulating and verifying the control performance in a disturbance environment.

2. A H-infinity dynamic output feedback control method of a SS type IPT system according to claim 1, characterized in that, The establishment of the system state space model comprises: According to the Kirchhoff voltage law and the current law, a resonance network state space equation of the system is established; the extended description function method is used to ignore the high-order harmonic influence, and the fundamental component of the alternating current variable is decomposed into sine and cosine components; Based on the fundamental component of the alternating current signal and the direct current component of the direct current signal, a unified state space model is established.

3. A H-infinity dynamic output feedback control method of a SS type IPT system according to claim 2, characterized in that, The construction of the augmented tracking control model specifically comprises: On the basis of the EDF model, an error integral variable between a reference signal and an actual output is introduced; An external disturbance input model composed of process noise and measurement noise in the system is established; The integral error variable, the external disturbance model and the extended description model are combined to construct an augmented tracking control closed-loop system.

4. A H-infinity dynamic output feedback control method of a SS type IPT system according to claim 3, characterized in that, A dynamic output feedback controller, whose continuous time model is: where y m (t) is the measurement output vector as the input of the controller, x c (t) is the state vector of the controller, the controller gain parameters include the state matrix A c , the input gain matrix B c and the output gain matrix C c ; the controller only relies on the measurement output to achieve feedback control, without collecting alternating current voltage and current, and the output u c (t) is used to drive the power converter.

5. A H-infinity dynamic output feedback control method of a SS type IPT system according to claim 4, characterised in that, The dynamic output feedback controller and the augmented tracking control model are combined to obtain a closed-loop augmented system, and a state equation of the closed-loop augmented system is: wherein are the augmented state vector and the disturbance vector, respectively, and ε e is the augmented matrix.

6. A H-infinity dynamic output feedback control method of a SS type IPT system according to claim 5, wherein, To make the closed-loop augmented system of claim 5 satisfy H ∞ the decay level γ, and asymptotically stable when the disturbance λ(t)≡0, there exists a symmetric positive definite matrix such that the following holds: where For a given positive definite matrix, I is the identity matrix of appropriate dimension, the matrix inequality is derived from the Lyapunov function and the Schur complement theorem, which, when true, leads to an energy inequality and guarantees H ∞ Performance and asymptotic stability.

7. A H-infinity dynamic output feedback control method of a SS type IPT system according to claim 6, wherein, To obtain the gain parameters of the dynamic output feedback controller, the matrix inequality in claim 6 is transformed into a linear matrix inequality: under the condition that the attenuation level γ > 0, there exist symmetric positive definite matrices P1 > 0, P3 > 0, and matrix variable Γ. 11 ,Γ 21 ,Γ 22 This makes the following matrix inequalities hold: where Π2= Γ 21 + A T , The above linear matrix inequality is feasible while ensuring the closed-loop system is asymptotically stable when λ(t)≡0 and satisfies H ∞ performance index.

8. A H-infinity dynamic output feedback control method of a SS type IPT system according to claim 7, wherein, The dynamic output feedback controller gain is represented as follows: where Γ 21 = Π 21 , Γ 22 = P2B c The above relations are obtained by applying a contractive transformation to the criterion and linearizing the nonlinear coupling terms, which ensures that the controller gains satisfy the robust asymptotic stability and H ∞ performance conditions simultaneously.

9. An SS-type IPT system for implementing the method of any one of claims 1-8, characterized in that, The system comprises a direct current chopping module, an electric energy transmitting device module, an electric energy receiving device module, a voltage and current detection module, a wireless communication module, and a control module; an output end of the direct current chopping module is connected to the electric energy transmitting device module; there is an air gap between the electric energy transmitting device module and the electric energy receiving device module, and the two are connected through mutual inductance; an output end of the electric energy receiving device module is connected to an input end of the voltage and current detection module; the voltage and current detection module is used for collecting load side voltage and current signals and wirelessly transmitting the signals to the H ∞ control module; the H ∞ control module outputs a control signal to the high frequency inverter module, which is used for adjusting dynamic response and steady state accuracy of the output voltage of the system.

10. An SS type IPT system as claimed in claim 9, characterised in that, The power transmitting device module comprises a direct current power supply module, a high-frequency inverter, and a primary side resonance compensation network, and the direct current power supply module, the high-frequency inverter and the primary side resonance compensation network are sequentially and electrically connected; the power receiving device comprises a secondary side resonance compensation network, a rectifier and a load, and the secondary side resonance compensation network, the rectifier and the load are sequentially and electrically connected; the voltage and current detection module comprises a voltage sensor and a current sensor.

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