Control method for ensuring preset time convergence and transient performance of Chua's circuit system

Abstract

The invention provides a control method for ensuring preset time convergence and transient performance of a Chua's circuit system, which belongs to the technical field of control algorithms, and is technically characterized by comprising the following steps: S1, defining a time-varying function mu (t); s2, defining a convergence rate boundary function psi (t); s3, assigning k1, k2 and k3; s4, VC1, VC2 and IL are input; and S5, solving an input voltage u-time t curve of the voltage source. By adopting the control method provided by the invention, the preset time convergence and the preset convergence speed of the voltage / current can be ensured at the same time, so that the requirements of practical application on high efficiency, high reliability and the like are met.

Description

Technical Field

[0001] This invention belongs to the technical field of control algorithms, specifically relating to a control method that ensures the preset time convergence and transient performance of a Chua's circuit system. Background Technology

[0002] Chua's circuits, due to their simple structure and standard chaotic behavior, are considered a typical class of chaotic systems, possessing broad research value and application prospects in fields such as electronic communications and aerospace. However, chaos can lead to unpredictable system behavior and performance degradation, making the control of Chua's circuits a persistent research hotspot in the field of control, such as stabilization and synchronization control. Notably, Chua's circuits typically include a Chua's diode, a nonlinear element, resulting in nonlinear characteristics and uncertainties in the system model, which presents numerous challenges for control design and performance analysis. Therefore, modeling and control research on Chua's circuits is highly scientific and challenging.

[0003] Currently, regarding the Chua's circuit system ( Figure 1 (Illustrated circuit system) Scholars have conducted a series of modeling and control studies, mainly including: designing adaptive stabilizing control schemes for Chua's circuit systems based on Lyapunov stability theory; implementing fixed-time control of Chua's circuit systems using finite-time control theory; and using funnel control to ensure that the convergence rate of Chua's circuit systems can be preset. However, constrained by factors such as system uncertainties, existing control schemes are mostly limited to asymptotic control and finite / fixed-time control, and cannot arbitrarily set the convergence time. Furthermore, existing control schemes that ensure fast convergence usually require nonlinear elements in the circuit system to have explicit expressions or strong constraints on their growth conditions, which limits their application in practical scenarios. In practice, the control of Chua's circuit systems often needs not only to achieve preset time convergence but also to ensure good transient performance such as convergence speed and overshoot. However, preset-time control often results in poor transient performance due to the introduction of uncertainty compensation mechanisms. This prevents existing control schemes from pre-setting overshoot and convergence speed during the modeling and control of Chua's circuit systems. This negatively impacts the control cost and effectiveness, making it difficult for current methods to meet high-performance control requirements. Furthermore, most current control strategies for Chua's circuits focus primarily on improving the steady-state performance, with relatively insufficient attention paid to transient performance. In particular, there is a lack of control methods that can simultaneously guarantee preset-time convergence and multiple transient indicators (such as convergence speed and overshoot). This compromises the efficiency, safety, reliability, and operational stability of Chua's circuit systems.

[0004] Fast convergence refers to the ability of a system signal to converge to the desired point / domain within a short time. Transient performance includes convergence speed and overshoot. Ensuring that a Chua's circuit system possesses fast convergence and good transient performance is of significant practical importance. For example, if chaotic oscillations occur at a node in the circuit, they must be suppressed within a very short time; otherwise, it may trigger a cascading failure, causing a large-scale power outage. When the load suddenly increases, if the output voltage experiences a large drop and recovers slowly, it may cause connected equipment to restart or malfunction. Therefore, ensuring the preset time convergence of a Chua's circuit system, while simultaneously guaranteeing that its convergence speed, overshoot, and other transient performance characteristics can be set, has significant theoretical and applied value.

[0005] Preset time control has been proposed since 2017 (Song YD, Wang YJ, Holloway J., Krsti). M., Time-varying feedback for regulation of normal-form nonlinear systems in prescribed finite time[J]. Automatica, 2017, 83: 243-251.), has attracted widespread attention in the field of control and has been gradually applied to various practical systems.

[0006] A key feature of this method is the incorporation of an unbounded time-varying gain that grows to infinity over a pre-set finite time period. This allows for the compensation of any unknown constant within the set time, thereby endowing the controller with powerful feedback capabilities. To date, preset-time control has made significant progress.

[0007] For example, the literature: "Song YD, Wang YJ, Holloway J., Krsti M., Time-varying feedback for regulation of normal-form nonlinear systems inprescribed finite time[J]. Automatica, 2017, 83: 243-251” studied input-matched nonlinear systems.

[0008] The literature “Li JJ, Sun ZY, Wang Z., Chen CC, A framework of event-triggered prescribed-time stabilization of time-varying nonlinear systems and its application in tunnel diode circuit[J], IEEE Trans. Circuits Syst. I, Reg. Papers, 2025, 72(7): 3595–3605” studies the circuit system, but requires the control coefficients to be known.

[0009] However, existing preset time control schemes usually impose strong constraints on nonlinear growth conditions and cannot simultaneously ensure good transient performance of the system, thus limiting their applicability.

[0010] Funnel control is an effective means of ensuring the transient performance of a system, meeting the high-performance requirements for safety and reliability in practical applications, and has become a core issue in the field of control. The core of this method lies in constructing a suitable performance assurance function dependent on the convergence rate bound function, allowing the specific system signal to evolve within a pre-defined performance boundary, and achieving the desired transient performance through reasonable parameter selection. With the introduction of a time-varying factor, funnel control can already ensure the transient performance of many systems, including convergence rate and overshoot, requiring only that the system nonlinearity possesses Lipschitz properties, without requiring any growth conditions.

[0011] In summary, this application aims to establish a system model for Chua's circuit that accommodates many nonlinear components. Based on funnel control and preset performance control methods, it proposes a control scheme that can simultaneously ensure the preset time convergence and preset convergence speed of the system, thereby meeting the practical requirements of high efficiency and high reliability. Summary of the Invention

[0012] The purpose of this invention is to solve the problems existing in the prior art and to provide a control method that ensures the preset time convergence and transient performance of the Chua's circuit system.

[0013] A control method to ensure the preset time convergence and transient performance of a Chua's circuit system, wherein the Chua's circuit system is as follows: the positive voltage terminal of the voltage source is connected to one end of the inductor L, the other end of the inductor is connected to one end of the resistor R0, the other end of the resistor R0 is connected to one end of the capacitor C2 and the resistor R, the other end of the resistor R is connected to one end of the capacitor C1 and the Chua's diode D1, and the other ends of the capacitor C2, C1 and the Chua's diode D1 are all connected to the negative voltage terminal of the voltage source. Define a time-varying function μ(t) beforehand; μ(t) satisfies the following: t is a continuously differentiable function on [0, Tp), the limit of μ(t) is +∞ as t approaches Tp, and μ(t) > 0 on [0, Tp); A convergence rate bound function ψ(t) is predefined, which satisfies that t is a continuously differentiable function on [0,+∞) and satisfies ψ(0)=0, and when t>0, ψ(t)>0; Values ​​are pre-assigned to k1, k2, and k3; k1, k2, and k3 represent the first, second, and third level state feedback gain parameters, respectively. The time step Δt is pre-assigned a value; When the triggering conditions are met, perform the following steps: S1, set the time when the trigger condition is met to time 0: time parameter t=0; S2, collecting V at time t C1 V C2 I L V C1 It is the voltage across capacitor C1, V C2 It is the voltage across capacitor C2, I L It is the current flowing through inductor L; S3, calculate the voltage source input voltage at time t and update the control voltage source input voltage u; z1=(μ(t)) 3 V C1 ; r1=1 / [1-(ψ(t)z1) 2 ]; z2=(μ(t)) 2 V C2 -k1r1cos(πr1)z1; r2=1 / [1-(ψ(t)z2) 2 ]; z3=μ(t)I L -k2r2cos(πr2)z2; r3=1 / [1-(ψ(t)z3) 2 ]; u = k3r3cos(πr3)z3; Where z1, z2, and z3 are intermediate state variable parameters; r1, r2, and r3 are the first to third performance assurance functions, respectively. S4, Logical Judgment: When t + Δt is less than or equal to T p When t+△t is assigned to t, repeat steps S2~S4; Otherwise, end the loop.

[0014] Furthermore, the Chua's circuit system also includes: two voltage sensors and one current sensor; a voltage sensor is provided across capacitor C1 to acquire the voltage V across capacitor C1. C1 A voltage sensor is installed across capacitor C2 to obtain the voltage V across capacitor C2. C2 The current sensor is connected in series with the inductor L to obtain the current I flowing through the inductor L. L .

[0015] Furthermore, μ(t) = c0 / (T) P -t), c0 is the time-varying function influence parameter, and its value can be set to any value greater than 0 as needed.

[0016] Furthermore, ψ(t) = c3(e t -1) or c3 / (1-e -t c3 is the parameter affecting the convergence speed boundary function, and its value can be set to any value greater than 0 as needed.

[0017] Furthermore, k1, k2, and k3 in step S4 satisfy: k1 > 0, k2 > 0, and k3 > 0.

[0018] Furthermore, the trigger condition for the execution of the control method is the detection of V. C1 V C2 It is triggered when the oscillation amplitude of IL exceeds the safety threshold.

[0019] Furthermore, the trigger condition for the execution of the control method is that the user needs to set V. C1 V C2 Triggered when IL drops rapidly and smoothly to zero (this trigger condition is applicable to situations where voltage and current need to be reduced, such as circuit maintenance and power switching).

[0020] The advantages of the technical solution of this invention are mainly reflected in: First, this application aims to establish a universal model compatible with various nonlinear components for Chua's circuit, integrating funnel control and preset time control methods, introducing two types of time-varying factors, and thus proposing a novel control scheme. This scheme aims to simultaneously ensure the preset time convergence and preset convergence speed of voltage / current to meet the requirements of high efficiency and high reliability in practical applications.

[0021] Second, the method in this application has strong model independence and wide applicability.

[0022] This application only requires the Chua's diode to satisfy the local Lipshitz condition, without requiring an explicit mathematical expression. This makes the established Chua's circuit system more general and capable of covering a wider range of circuit structures. More importantly, the controller design assumes that the system's control coefficients (magnitude and direction) and nonlinear dynamics are completely unknown. This characteristic gives the invention excellent robustness and adaptability. In practical applications, when the circuit characteristics change due to component aging, temperature variations, or replacement with different types of nonlinear components, this controller can continue to operate stably and effectively without redesigning and retuning its parameters, greatly enhancing the practical value and application scope of the solution.

[0023] Third, the method of this application has a pre-defined guarantee of time convergence and transient performance.

[0024] This application, based on the established Chua's circuit system model, combines funnel control and preset time control methods, introduces two types of time-varying factors, constructs an appropriate convergence rate bound function, and then designs a time-varying state feedback controller. This controller not only ensures that the system states (voltage and current) converge to zero within a user-preset time, but also, through a performance assurance function, pre-sets and strictly guarantees key transient performance indicators during the convergence process, such as the convergence rate of voltage / current and overshoot, thereby effectively improving the safety and reliability of system operation.

[0025] Fourth, this application addresses the problem of pre-set time control that balances the convergence speed of Chua's circuit system. It employs time-varying constraint functions and convergence speed bound functions, introducing a clever coordinate transformation that incorporates time-varying factors, and utilizes a funnel control method to design a state feedback controller. The tools used simplify the controller design and stability analysis process. In particular, the design process does not use the back-calculation method, fundamentally avoiding the differential explosion problem and improving the applicability and operability of the control scheme. Attached Figure Description

[0026] The present invention will be further described in detail below with reference to the embodiments shown in the accompanying drawings, but this does not constitute any limitation on the present invention.

[0027] Figure 1 This is a diagram of the Chua's circuit system studied in this application.

[0028] Figure 2 For the desired voltage V C1 The evolution curve.

[0029] Figure 3 The evolution curve of the system in Experiment 1 is shown.

[0030] Figure 4 The evolution curve of the system in Experiment 1 is shown.

[0031] Figure 5 The evolution curve of the system in Experiment 1 is shown.

[0032] Figure 6 The physical meaning of the symbols in this application. Detailed Implementation

[0033] The objectives, advantages, and features of this invention will be explained through the following non-limiting description of preferred embodiments. These embodiments are merely typical examples of applying the technical solutions of this invention, and all technical solutions formed by equivalent substitutions or equivalent transformations fall within the scope of protection claimed by this invention.

[0034] Example 1: A control method to ensure preset time convergence and transient performance of Chua's circuit system <I. Research and Development Background and Challenges> like Figure 1 The image shown is the subject of this application. The Chua's circuit system includes: the positive voltage terminal of the voltage source is connected to one end of the inductor L, the other end of the inductor is connected to one end of the resistor R0, the other end of the resistor R0 is connected to one end of the capacitor C2 and the resistor R, the other end of the resistor R is connected to one end of the capacitor C1 and the Chua's diode D1, and the other ends of the capacitor C2, C1 and the Chua's diode D1 are all connected to the negative voltage terminal of the voltage source.

[0035] For Chua's diode D1, as described in https: / / blog.csdn.net / dapp9builder / article / details / 153820644, the multi-scroll generation functions of Chua's diode D1 include: piecewise linear functions, saturation functions, trigonometric functions, polynomial functions, hyperbolic functions, hysteresis functions, sign functions, sawtooth functions, and fixed functions with variable parameters.

[0036] The state equations of the Chua's circuit differ depending on the generating function (and the hardware design of the Chua's diode D1 varies for different generating functions).

[0037] The purpose of this application is to provide a universal control algorithm, that is, the control algorithm of this application can be used for the different Chua's diodes D1 mentioned above.

[0038] <II. State Equations of the General Model of Chua's Circuit System> For various Chua's diode components, the following general model structure of the Chua's circuit system is established: , Among them, V C1 It is the voltage across capacitor C1, V C2 It is the voltage across capacitor C2, I L It is the current flowing through inductor L, f(V)C1 ) is the current flowing through the nonlinear resistor D1; the function f(V) C1 It only requires that it be locally Lipschitz and that f(0) ≡ 0, and can be unknown. This makes the circuit system very general, capable of covering most practical situations.

[0039] Through coordinate transformation x1=V C1 x2=V C2 x3=I L Equation (1) can be transformed into the following more compact form: , in: x1=V C1 , g1=1 / (C1R), f1(x1)=[-1 / (C1R)]V C1 -f(V C1 ) / C1; x2=V C2 g2 = 1 / C2; f2(x1, x2) = V C1 / (C2R)- V C2 / (C2R); x3=I L , g3=1 / L, f3(x1, x2, x3)=-V C2 / L-R0I L / L.

[0040] <III. Control Algorithm of this Application> For the state equations of the general model of Chua's circuit system, two types of time-varying functions are introduced, a clever coordinate transformation is proposed, and a funnel control method is used to design a time-varying state feedback controller, thereby forming a corresponding closed-loop system.

[0041] First, based on the preset time convergence and set convergence rate requirements, the following two types of time-varying functions are introduced, respectively responsible for ensuring preset time convergence, and for compensating for uncertainties and setting the convergence rate: The time-varying function μ(t): [0,Tp)→[c,+∞) is a continuously differentiable function and satisfies that the limit of μ(t) is +∞ as t→Tp, where c>0 is a known constant. The introduction of this function transforms the preset time convergence of voltage and current in the Chua's circuit system into the boundedness of intermediate variables, making preset time control of more general systems possible.

[0042] The typical function of μ(t): μ(t) = c0 / (T) P-t), where c0 is a time-varying function parameter (c0 takes a value greater than 0, for example, 1). The value of c0 is adjusted according to the actual system requirements to optimize control performance; using this function, c = c0 / T P .

[0043] The convergence rate bound function ψ(t): [0,+∞)→[0,+∞) is a continuously differentiable function that satisfies ψ(0)=0, and ψ(t)>0 when t>0. This function is introduced to ensure the preset convergence rate, and its reciprocal describes the boundary of the performance constraint.

[0044] Typical function of ψ(t): ψ(t) = c³ / (e t -1), c3 is a function parameter (c3 takes a value greater than 0, such as 1), and the value of c3 is adjusted according to the actual needs of the system to optimize control performance.

[0045] Second, design a performance assurance function r based on a time-varying function. i =1 / [1-(ψ(t)z i ) 2 ], i=1, 2, 3, and then the funnel control method is used to design the controller.

[0046] For a set time T P Given the convergence velocity bound function ψ(t), design the following controller: ,

[0047] Where k3 is greater than 0 and is a known constant.

[0048] z i (i=1,2,3) is iteratively defined as: ,

[0049] r i (i=1,2,3) is defined as: ,

[0050] Among them, k2 and k3 are both greater than 0 and are both known constants.

[0051] The controller has a simple structure and a wide range of applications. When the coefficient g... i The controller still applies when the signs of (i=1, 2, 3) are known, and let cos(πr) i If the value is always equal to 1, the controller remains effective.

[0052] If the control objective degenerates into a small neighborhood that converges to zero in infinite time or to zero within a preset time, then μ(t) can be set to be always equal to 1, and the controller will still be effective.

[0053] The control algorithm of this application takes three state variables as input: V C1 V C2 I L Then, the output voltage u is generated. As can be seen from the control algorithm of this application, the algorithm does not require prior knowledge of the values ​​of C1, C2, R, R0, and L, nor does it require prior knowledge of the conductance characteristics of the Chua's diode D1, in order to achieve control.

[0054] <IV. Theoretical Analysis: Proof of the Boundedness of Signals in a Closed-Loop System> Prove that the closed-loop system signals x1, x2, x3, u are bounded on [0, Tp).

[0055] Define the following interval: ,

[0056] Note that r1 and z1 are continuous functions on D1 with respect to (t, x1), r2 and z2 are continuous functions on D2 with respect to (t, x1, x2), and r3 and z3 are continuous functions on D3 with respect to (t, x1, x2, x3). Therefore, u(r3, z3) is a continuous function on D3 with respect to (t, x1, x2, x3). By the existence theorem of solutions, for any initial value (x1(0), x2(0), x3(0)), the closed-loop system composed of equations (2) and (3) has at least one solution, and the maximum existence interval of the solution is expressed as [0, t e ), 0 <t e ≤T p .

[0057] It should be noted that: x [1] Represents x1; x [2] Represent x1, x2; x [3] Let x1, x2, x3 be the integers. For example: z2(t, x... [2] z2 = z2(t, x1, x2), that is, z2 is a function of x1 with respect to t and x2. C1 ), x2 (V C2 The function of ).

[0058] The maximum existence interval of the solution is [0, t] e For any given condition, the following inequalities hold: ,

[0059] According to the properties of ψ(t), its value is always greater than 0. This indicates that there exist ε (ε>0) and T1 (T1 in (0,t)... e )) such that in the interval [T1,t e On ), ψ(t) is greater than ε.

[0060] Combining equation (11), it can be seen that in [T1,t] eWithin the interval, we have: ,

[0061] At the same time, by z i Given the continuity of z(t), we know that on the interval [0,T1], z i (t) is bounded. Therefore, z i (t) exists in the maximum interval [0, t) e It is bounded.

[0062] According to z i The boundedness of x1, x2, and x3 will be proven next, within the interval [0, t]. e It is bounded.

[0063] z1=μ 3 (t) x1, x1=z1 / μ 3 Since z1 and 1 / μ(t) are bounded, we can conclude that x1 is bounded.

[0064] Furthermore, x1, z1, and z2 are bounded. ,in, It is a smooth function, and we can prove by contradiction that r1 is bounded.

[0065] z2=(μ(t) ) 2 x2- k1r1cos(πr1)z 1， x2=(z 2+ k1r1cos(πr1)z1) / μ 2 (t); r1, 1 / μ 2 Since (t), z1, and z2 are bounded, x2 is in the interval [0, t]. e It is bounded on ). Combined ,in, Since it is a smooth function, we can prove by contradiction that r2 is bounded.

[0066] Similarly, we can see that x3, r3, and u are in the interval [0, t] e It is also bounded on ). Furthermore, r i (i=1,2,3) in the interval [0,t e The interval t is bounded; we can prove this by contradiction. e =T p .

[0067] In summary, x i (i=1,2,3), u is in [0,T p It is bounded.

[0068] It should be noted that subsequent simulations can also demonstrate the boundedness of u.

[0069] <V. Theoretical Analysis: Proof of Convergence of System State> x1, x2, and x3 can be expressed as: ,

[0070] Since the limit of μ(t) is +∞ as t approaches Tp, and given that the boundedness of z1, z2, and z3 has already been discussed, it can also be determined that: As t approaches Tp, x1, x2, and x3 all approach 0, thus proving that the presupposed time convergence holds.

[0071] Additionally, |z i (t)|<1 / ψ(t), μ(t)≥c, |x1|<1 / [ψ(t)·c] 3 Similarly, similar conclusions can be drawn for |x2| and |x3|. This means that by choosing an appropriate function ψ(t), the state x i The convergence speed can be set in advance.

[0072] <VI. Simulation Verification of this Application> Figure 3 The evolution curve of the system in Experiment 1 is illustrated. The conditions are: C1 = 10 / 3F, C1 = 100 / 3F, R = 0.3Ω, R0 = 1Ω, L = 2H. The convergence time T is set. p The time is 2s, and the initial state variable is V. C1 =0.5V, V C2 =1V、I L =4A.

[0073] Figure 4 The evolution curve of the system in Experiment 2 is illustrated. The conditions are: C1 = 10 / 3F, C1 = 100 / 3F, R = 0.3Ω, R0 = 1Ω, L = 2H. The convergence time T is set. p The time is 4s, and the initial state variable is V. C1 =0.5V, V C2 =1V、I L =4A.

[0074] Figure 5 The evolution curve of the system in Experiment 3 is illustrated. The conditions are: C1 = 10 / 3F, C1 = 100 / 3F, R = 0.3Ω, R0 = 1Ω, L = 2H. The convergence time T is set. p The time is 4s, and the initial state variable is V. C1 =3V、V C2 =2V、I L =2A.

[0075] from Figure 3 , Figure 4 and Figure 5 It can be seen that for different initial state variables, voltage and current can converge to zero within a set time, verifying that the algorithm proposed in this application can ensure convergence within a preset time.

[0076] The above-described embodiments are preferred embodiments of the present invention and are only used to facilitate the illustration of the present invention. They are not intended to limit the present invention in any way. Any person skilled in the art who makes local modifications or alterations to the technical content disclosed in the present invention without departing from the scope of the technical features of the present invention shall still fall within the scope of the technical features of the present invention.

Claims

1. A control method for ensuring the preset time convergence and transient performance of a Chua's circuit system, wherein the Chua's circuit system is as follows: the positive voltage terminal of a voltage source is connected to one end of an inductor L, the other end of the inductor is connected to one end of a resistor R0, the other end of the resistor R0 is connected to one end of a capacitor C2 and a resistor R, the other end of the resistor R is connected to one end of a capacitor C1 and a Chua's diode D1, and the other ends of capacitor C2, C1, and Chua's diode D1 are all connected to the negative voltage terminal of the voltage source; A time-varying function μ(t) is predefined; μ(t) satisfies the following: t is a continuously differentiable function on [0, Tp), and the limit of μ(t) is +∞ as t approaches Tp; where Tp is the preset time. A convergence rate bound function ψ(t) is predefined, which satisfies that t is a continuously differentiable function on [0,+∞) and satisfies ψ(0)=0, and when t>0, ψ(t)>0; Values ​​are pre-assigned to k1, k2, and k3; k1, k2, and k3 represent the first, second, and third level state feedback gain parameters, respectively. The time step Δt is pre-assigned a value; Its characteristic is that, when the triggering condition is met, the following steps are performed: S1, set the time when the trigger condition is met to time 0: time parameter t=0; S2, collecting V at time t C1 V C2 I L V C1 It is the voltage across capacitor C1, V C2 It is the voltage across capacitor C2, I L It is the current flowing through inductor L; S3, calculate the voltage source input voltage at time t and update the control voltage source input voltage u; z1=(μ(t)) 3 V C1 ; r1=1 / [1-(ψ(t)z1) 2 ]; z2=(μ(t)) 2 V C2 -k1r1cos(πr1)z1; r2=1 / [1-(ψ(t)z2) 2 ]; z3=μ(t)I L -k2r2cos(πr2)z2; r3=1 / [1-(ψ(t)z3) 2 ]; u = k3r3cos(πr3)z3; Where z1, z2, and z3 are the parameters of the first to third intermediate state variables, respectively; r1, r2, and r3 are the first to third performance assurance functions, respectively. S4, Logical judgment: When t + Δt is less than or equal to T p When t+△t is assigned to t, repeat steps S2~S4; Otherwise, end the loop.

2. The control method according to claim 1, characterized in that, The Chua's circuit system also includes: two voltage sensors and one current sensor; a voltage sensor is set across capacitor C1 to obtain the voltage V across capacitor C1. C1 A voltage sensor is installed across capacitor C2 to obtain the voltage V across capacitor C2. C2 The current sensor is connected in series with the inductor L to obtain the current I flowing through the inductor L. L .

3. The control method according to claim 1, characterized in that, μ(t) = c0 / (T) P -t), c0 is the time-varying function influence parameter, and its value can be set to any value greater than 0 as needed.

4. The control method according to claim 1, characterized in that, ψ(t) = c3(e t -1) or c3 / (1-e -t c3 is the parameter affecting the convergence speed boundary function, and its value can be set to any value greater than 0 as needed.

5. The control method according to claim 1, characterized in that, In step S4, k1, k2, and k3 satisfy the following conditions: k1 > 0, k2 > 0, and k3 > 0.

6. The control method according to claim 1, characterized in that, The trigger condition for the control method to execute is the detection of V. C1 V C2 I L It is triggered when the oscillation amplitude exceeds the safety threshold.

7. The control method according to claim 1, characterized in that, The trigger condition for the control method to execute is that the user needs to set V. C1 V C2 I L Triggered when the temperature drops rapidly and smoothly to zero.

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