Boost converter control method, device and equipment of dual-mode observer and readable storage medium

Abstract

This application relates to a Boost converter control method, apparatus, device, and readable storage medium using a dual-mode observer. The method includes: calculating the voltage tracking error according to a preset control cycle; running an I&I steady-state observer and a pole placement observer in parallel to estimate the steady-state and transient input voltage values ​​respectively; obtaining voltage error time-series data by buffering the voltage tracking error over multiple cycles through a sliding window; determining the fusion weight based on this time-series data using wavelet decomposition and peak-to-peak ratio; then weighting and fusing the steady-state and transient input voltage estimates using this fusion weight to obtain the optimal input voltage reconstruction value; finally, calculating the duty cycle based on the ratio of the optimal input voltage reconstruction value to the current output voltage and generating a PWM drive signal to regulate the voltage of the Boost converter. This method, relying on dual observers, can simultaneously achieve high steady-state estimation accuracy and fast transient response under all operating conditions, without the need for additional voltage and current sensors, reducing system hardware costs and failure risks.

Description

Technical Field

[0001] This application relates to the field of power electronics technology, and in particular to a Boost converter control method, apparatus, computer device, computer-readable storage medium, and computer program product with a dual-mode observer. Background Technology

[0002] With the development of power electronics technology, sensorless control technology for Boost converters based on state observers has been widely applied. This technology relies on observer algorithms to reconstruct key system states such as inductor current, input voltage, and load conductance. Closed-loop voltage regulation control can be achieved by sampling the output voltage alone, significantly reducing the number of sensors, effectively lowering system hardware costs and potential faults, and significantly improving the overall operational reliability of the converter.

[0003] However, existing traditional sensorless observation control methods mostly employ a single observer gain design strategy, which struggles to simultaneously achieve both steady-state estimation accuracy and transient response speed. Fixed-gain observers offer excellent steady-state estimation accuracy and noise suppression, but their convergence speed is limited under transient conditions such as sudden input voltage changes and load jumps, resulting in state parameter tracking lag. High-gain observers, while accelerating transient error convergence and improving dynamic response, amplify measurement noise, causing steady-state estimation jitter and degrading control accuracy. Therefore, traditional single-observer structures cannot simultaneously achieve both steady-state control accuracy and transient dynamic response performance across the entire operating range. Summary of the Invention

[0004] Based on this, it is necessary to provide a Boost converter control method, device, computer equipment, computer-readable storage medium, and computer program product that can simultaneously guarantee steady-state estimation accuracy and transient response speed and adapt to full operating conditions for a dual-mode observer, addressing the aforementioned technical problems.

[0005] In a first aspect, this application provides a Boost converter control method for a dual-mode observer, comprising:

[0006] The output voltage of the Boost converter is acquired according to a preset control cycle, and the corresponding voltage tracking error is calculated based on the preset expected output voltage.

[0007] For the current control cycle, the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle are input to the I&I steady-state observer, and the steady-state input voltage estimate is output; the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle are input to the pole placement observer, and the transient input voltage estimate is output.

[0008] The calculated voltage tracking error is selected using a sliding window to obtain the corresponding voltage error time series data for the current control cycle; the fusion weights are determined based on the voltage error time series data.

[0009] Based on the fusion weight, the steady-state input voltage estimate and the transient input voltage estimate are weighted and fused to obtain the optimal input voltage reconstruction value corresponding to the current control cycle;

[0010] Based on the optimal input voltage reconstruction value, the duty cycle of the current control cycle is calculated, and a PWM drive signal is generated based on the duty cycle of the current control cycle to regulate the voltage of the Boost converter.

[0011] In one embodiment, the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the estimated load conductance value of the previous control cycle are input to the I&I steady-state observer, and the steady-state input voltage estimate is output, including:

[0012] Configure the I&I steady-state observer with a fixed gain that satisfies the preset stability constraints.

[0013] Substitute the fixed gain into the state equation of the I&I steady-state observer;

[0014] The state equation of the I&I steady-state observer is discretized using the forward Euler method to obtain the first discretized recursive equation.

[0015] Based on the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle, the first discretized recursive equation is iteratively updated to obtain the first input voltage estimate of the current control cycle, which is used as the steady-state input voltage estimate.

[0016] In one embodiment, the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the estimated load conductance of the previous control cycle are input to the pole configuration observer, and the transient input voltage estimate is output, including:

[0017] The adaptive gain of the pole configuration observer is configured. The adaptive gain includes a first gain component and a second gain component that change in real time with the duty cycle. The first gain component is positively correlated with the product of the inductance value, the capacitance value and the square of the preset desired pole frequency, and is inversely correlated with the duty cycle. The second gain component is positively correlated with the capacitance value and the preset desired pole frequency, and is inversely correlated with the duty cycle.

[0018] Substitute the adaptive gain into the state equation of the pole placement observer;

[0019] The state equation of the pole placement observer is discretized using the forward Euler method to obtain the second discretized recursive equation.

[0020] Based on the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle, the second discretized recursive equation is iteratively updated to obtain the second input voltage estimate of the current control cycle, which serves as the transient input voltage estimate.

[0021] In one embodiment, determining the fusion weights based on voltage error timing data further includes:

[0022] Wavelet decomposition was performed on the voltage error time series data to obtain the detail coefficients;

[0023] Calculate the waveform spike ratio based on detail coefficients;

[0024] By comparing waveform spikes with preset thresholds, a condition indicator is generated to distinguish between steady state and transient state.

[0025] The fusion weights are obtained based on the absolute value of the voltage tracking error corresponding to the operating condition indicator and the current control cycle.

[0026] In one embodiment, the fusion weight is obtained based on the absolute value of the voltage tracking error corresponding to the operating condition flag and the current control cycle, including:

[0027] When the operating condition is in steady state and the absolute value of the voltage tracking error is less than the first threshold, the fusion weight is 0;

[0028] When the operating condition is transient or the absolute value of the voltage tracking error is greater than the second threshold, the fusion weight is 1;

[0029] When the absolute value of the voltage tracking error is between the first threshold and the second threshold, the fusion weight is a value between 0 and 1.

[0030] In one embodiment, a sliding window is used to select the calculated voltage tracking error to obtain the voltage error timing data corresponding to the current control cycle, including:

[0031] Remove the first data from the voltage error timing data of the previous control cycle, and use the voltage tracking error of the current control cycle as the last data from the voltage error timing data of the previous control cycle to obtain the voltage error timing data of the current control cycle.

[0032] In one embodiment, the length of the sliding window is a preset number; the method further includes:

[0033] If the number of accumulated voltage tracking errors is less than the preset number, the positions in the corresponding voltage error time series data that have not yet been filled by real data are filled based on the preset data.

[0034] Secondly, this application also provides a Boost converter control device for a dual-mode observer, comprising:

[0035] The acquisition module is used to acquire the output voltage of the Boost converter according to a preset control cycle and calculate the corresponding voltage tracking error based on the preset expected output voltage.

[0036] The calculation module is used to input the output voltage collected in the current control cycle, the duty cycle of the previous control cycle, and the estimated load conductance of the previous control cycle into the I&I steady-state observer and output the steady-state input voltage estimate; and to input the output voltage collected in the current control cycle, the duty cycle of the previous control cycle, and the estimated load conductance of the previous control cycle into the pole placement observer and output the transient input voltage estimate.

[0037] The selection and determination module is used to select the calculated voltage tracking error using a sliding window to obtain the voltage error timing data corresponding to the current control cycle; and to determine the fusion weights based on the voltage error timing data.

[0038] The fusion module is used to perform weighted fusion of steady-state and transient input voltage estimates based on fusion weights to obtain the optimal input voltage reconstruction value for the current control cycle.

[0039] The regulation module is used to calculate the duty cycle of the current control cycle based on the optimal input voltage reconstruction value, and generate a PWM drive signal based on the duty cycle of the current control cycle to regulate the voltage of the Boost converter.

[0040] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0041] The output voltage of the Boost converter is acquired according to a preset control cycle, and the corresponding voltage tracking error is calculated based on the preset expected output voltage.

[0042] For the current control cycle, the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle are input to the I&I steady-state observer, and the steady-state input voltage estimate is output; the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle are input to the pole placement observer, and the transient input voltage estimate is output.

[0043] The calculated voltage tracking error is selected using a sliding window to obtain the corresponding voltage error time series data for the current control cycle; the fusion weights are determined based on the voltage error time series data.

[0044] Based on the fusion weight, the steady-state input voltage estimate and the transient input voltage estimate are weighted and fused to obtain the optimal input voltage reconstruction value corresponding to the current control cycle;

[0045] Based on the optimal input voltage reconstruction value, the duty cycle of the current control cycle is calculated, and a PWM drive signal is generated based on the duty cycle of the current control cycle to regulate the voltage of the Boost converter.

[0046] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0047] The output voltage of the Boost converter is acquired according to a preset control cycle, and the corresponding voltage tracking error is calculated based on the preset expected output voltage.

[0048] For the current control cycle, the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle are input to the I&I steady-state observer, and the steady-state input voltage estimate is output; the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle are input to the pole placement observer, and the transient input voltage estimate is output.

[0049] The calculated voltage tracking error is selected using a sliding window to obtain the corresponding voltage error time series data for the current control cycle; the fusion weights are determined based on the voltage error time series data.

[0050] Based on the fusion weight, the steady-state input voltage estimate and the transient input voltage estimate are weighted and fused to obtain the optimal input voltage reconstruction value corresponding to the current control cycle;

[0051] Based on the optimal input voltage reconstruction value, the duty cycle of the current control cycle is calculated, and a PWM drive signal is generated based on the duty cycle of the current control cycle to regulate the voltage of the Boost converter.

[0052] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0053] The output voltage of the Boost converter is acquired according to a preset control cycle, and the corresponding voltage tracking error is calculated based on the preset expected output voltage.

[0054] For the current control cycle, the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle are input to the I&I steady-state observer, and the steady-state input voltage estimate is output; the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle are input to the pole placement observer, and the transient input voltage estimate is output.

[0055] The calculated voltage tracking error is selected using a sliding window to obtain the corresponding voltage error time series data for the current control cycle; the fusion weights are determined based on the voltage error time series data.

[0056] Based on the fusion weight, the steady-state input voltage estimate and the transient input voltage estimate are weighted and fused to obtain the optimal input voltage reconstruction value corresponding to the current control cycle;

[0057] Based on the optimal input voltage reconstruction value, the duty cycle of the current control cycle is calculated, and a PWM drive signal is generated based on the duty cycle of the current control cycle to regulate the voltage of the Boost converter.

[0058] The aforementioned dual-mode observer Boost converter control method, device, computer equipment, computer-readable storage medium, and computer program product acquire the output voltage of the Boost converter according to a preset control cycle and compare it with a preset expected output voltage to calculate the voltage tracking error. Then, the I&I steady-state observer and pole placement observer are run in parallel, and the current output voltage, the duty cycle of the previous cycle, and the load conductance estimate of the previous cycle are input to the two observers respectively to obtain the steady-state input voltage estimate and the transient input voltage estimate. At the same time, the current and historical voltage tracking errors are buffered with a sliding window to form voltage error time series data. Based on this time series data, wavelet decomposition and peak-to-peak ratio calculation are used to identify the operating condition indicators and determine the fusion weight in combination with the current error amplitude. Then, the steady-state and transient input voltage estimates are weighted and fused with this fusion weight to obtain the optimal input voltage reconstruction value. Finally, the duty cycle is calculated based on the ratio of the optimal input voltage reconstruction value to the current output voltage, and a PWM drive signal is generated to perform voltage regulation on the Boost converter. By setting up I&I observers and pole placement observers in parallel and adaptively determining the fusion weights based on voltage error timing data, the Boost converter achieves accurate input voltage reconstruction under all operating conditions: under steady-state conditions, the fusion weights tend to favor the I&I observers, giving full play to their advantages of high steady-state accuracy and strong noise immunity; under transient or large disturbance conditions, the fusion weights tend to favor the pole placement observers, giving full play to their fast dynamic response; the fusion weights transition smoothly and continuously between the two operating conditions, avoiding control quantity jumps caused by observer switching, thus balancing steady-state accuracy and dynamic response speed across the entire operating range, improving the stability and disturbance immunity of the Boost converter output voltage. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 This is a flowchart illustrating the Boost converter control method for a dual-mode observer in one embodiment;

[0061] Figure 2 Here is a block diagram of the overall structure of the fusion observer control method in one embodiment;

[0062] Figure 3 A schematic diagram comparing the I&I observer and pole configuration observer error poles in another embodiment;

[0063] Figure 4 Here is a graph of the fusion weight function in another embodiment;

[0064] Figure 5 This is a block diagram of the Boost converter control device for a dual-mode observer in one embodiment;

[0065] Figure 6 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0067] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0068] In one exemplary embodiment, such as Figure 1 As shown, a Boost converter control method for a dual-mode observer is provided, including steps 102 to 110. Wherein:

[0069] Step 102: Acquire the output voltage of the Boost converter according to the preset control cycle, and calculate the corresponding voltage tracking error based on the preset expected output voltage;

[0070] The preset control cycle refers to the fixed sampling operation cycle of the MCU timer interrupt for the closed-loop voltage control of the Boost converter, which determines the execution frequency of output voltage acquisition, error calculation, and duty cycle update. The output voltage is the real-time bus sampling voltage of the Boost converter power output terminal after voltage division sampling and operational amplifier conditioning, which is then sent to the MCU ADC. The preset expected output voltage is a voltage closed-loop tracking reference issued by the host computer and stored in the MCU register, which can be modified online. The voltage tracking error is the difference between the preset expected output voltage and the acquired real-time output voltage of the converter, and this value is used as the input of the closed-loop controller.

[0071] For example, when each preset control cycle arrives, the actual value of the DC voltage at the output of the Boost converter is acquired by a voltage sensor, and the difference between the actual value and the preset expected output voltage is calculated to obtain the voltage tracking error of the current control cycle.

[0072] Step 104: For the current control cycle, input the output voltage collected in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle to the I&I steady-state observer, and output the steady-state input voltage estimate; input the output voltage collected in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle to the pole placement observer, and output the transient input voltage estimate.

[0073] Among them, the I&I steady-state observer is a nonlinear observer designed based on immersion and invariance theory, operating with a fixed gain and capable of suppressing high-frequency measurement noise under steady-state conditions; the pole placement observer is a linear dimension-reduced observer designed based on the pole placement method, employing an adaptive gain that changes in real time with the duty cycle, and exhibiting fast convergence capability under transient conditions. The load conductance estimate is a parameter characterizing the load size of the Boost converter, calculated by collecting the output current and output voltage, and used as a known parameter in the observer state recursion; the duty cycle is the duty cycle of the Boost converter power switch drive signal, which is an input variable in the observer state equation and the final closed-loop control quantity; the input voltage estimate is the estimated value of the DC voltage on the input side of the Boost converter calculated by the observer.

[0074] For example, the I&I steady-state observer and the pole placement observer execute synchronously and in parallel within each control cycle, and their calculations are independent of each other. Both observers receive the same input signals (current output voltage, duty cycle of the previous cycle, and estimated load conductance of the previous cycle), and after independently completing their state updates, each outputs an estimated input voltage value to the subsequent fusion step.

[0075] Step 106: Select the calculated voltage tracking error using a sliding window to obtain the voltage error timing data corresponding to the current control cycle; determine the fusion weights based on the voltage error timing data;

[0076] The sliding window is a first-in-first-out data storage queue with a preset fixed length that slides forward and updates data with each control cycle, used to cache voltage tracking errors for multiple consecutive control cycles.

[0077] For example, after calculating the current voltage tracking error in each control cycle, it is stored in a sliding window. The voltage tracking error of the current control cycle is used as the last data in the sliding window, and the data with the longest storage time is removed from the sliding window to keep the number of data in the window constant. When the cumulative number of samples is less than the preset length of the sliding window, the positions that have not yet been filled by real data are filled with preset data. The fusion weight of the current control cycle is determined based on the voltage error time series data in the sliding window.

[0078] Step 108: Based on the fusion weight, the steady-state input voltage estimate and the transient input voltage estimate are weighted and fused to obtain the optimal input voltage reconstruction value corresponding to the current control cycle;

[0079] The optimal input voltage reconstruction value is a comprehensive estimate obtained by weighted fusion of the steady-state input voltage estimate and the transient input voltage estimate, which serves as the optimal estimate of the Boost converter input voltage in the current control cycle.

[0080] For example, the steady-state input voltage estimate, the transient input voltage estimate, and the fusion weight are obtained. The fusion weight is denoted as... Multiply the steady-state input voltage estimate by Multiply the estimated transient input voltage by Then, add the two together to obtain the optimal input voltage reconstruction value. When the optimal input voltage reconstruction value is equal to the steady-state input voltage estimate, when... When the optimal input voltage reconstruction value is equal to the transient input voltage estimate, when... When the value is between 0 and 1, the optimal input voltage reconstruction value is a weighted combination of the two estimates.

[0081] Step 110: Based on the optimal input voltage reconstruction value, calculate the duty cycle of the current control cycle, and generate a PWM drive signal based on the duty cycle of the current control cycle to regulate the voltage of the Boost converter.

[0082] Here, the duty cycle refers to the duty cycle of the drive signal for the power switch of the Boost converter. The PWM drive signal is a pulse width modulation signal used to control the on and off of the power switch.

[0083] For example, the optimal input voltage reconstruction value is obtained. Based on the input-output voltage relationship of the Boost converter, the optimal input voltage reconstruction value is divided by the current output voltage. This ratio is then subtracted from 1 to obtain the duty cycle of the current control cycle. The above calculation is performed once in each control cycle, and the PWM drive signal is updated according to the calculated duty cycle.

[0084] Optionally, before the PWM drive signal is generated, the calculated duty cycle is constrained within a preset safe duty cycle range. If it is greater than the preset maximum duty cycle, it is limited to the maximum duty cycle; if it is less than the preset minimum duty cycle, it is limited to the minimum duty cycle. Alternatively, the change in duty cycle between adjacent control cycles is limited to prevent sudden changes in duty cycle from causing output voltage surges.

[0085] In the Boost converter control method described above using a dual-mode observer, the output voltage of the Boost converter is acquired according to a preset control cycle and compared with a preset desired output voltage to calculate the voltage tracking error. Then, the I&I steady-state observer and the pole placement observer are run in parallel, and the current output voltage, the duty cycle of the previous cycle, and the load conductance estimate of the previous cycle are input to the two observers respectively to obtain the steady-state input voltage estimate and the transient input voltage estimate. At the same time, the current and historical voltage tracking errors are buffered with a sliding window to form voltage error time series data. Based on this time series data, the operating condition indicators are identified through wavelet decomposition and peak-to-peak ratio calculation, and the fusion weight is determined in combination with the current error amplitude. Then, the steady-state and transient input voltage estimates are weighted and fused with this fusion weight to obtain the optimal input voltage reconstruction value. Finally, the duty cycle is calculated based on the ratio of the optimal input voltage reconstruction value to the current output voltage, and a PWM drive signal is generated to perform voltage regulation on the Boost converter. By setting up I&I observers and pole placement observers in parallel and adaptively determining the fusion weights based on voltage error timing data, the Boost converter achieves accurate input voltage reconstruction under all operating conditions: under steady-state conditions, the fusion weights tend to favor the I&I observers, giving full play to their advantages of high steady-state accuracy and strong noise immunity; under transient or large disturbance conditions, the fusion weights tend to favor the pole placement observers, giving full play to their fast dynamic response; the fusion weights transition smoothly and continuously between the two operating conditions, avoiding control quantity jumps caused by observer switching, thus balancing steady-state accuracy and dynamic response speed across the entire operating range, improving the stability and disturbance immunity of the Boost converter output voltage.

[0086] In one embodiment, the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the estimated load conductance value of the previous control cycle are input to the I&I steady-state observer, and the steady-state input voltage estimate is output, including:

[0087] Configure the I&I steady-state observer with a fixed gain that satisfies the preset stability constraints.

[0088] Substitute the fixed gain into the state equation of the I&I steady-state observer;

[0089] The state equation of the I&I steady-state observer is discretized using the forward Euler method to obtain the first discretized recursive equation.

[0090] Based on the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle, the first discretized recursive equation is iteratively updated to obtain the first input voltage estimate of the current control cycle, which is used as the steady-state input voltage estimate.

[0091] Specifically, first configure the fixed gain of the I&I steady-state observer. The fixed gain satisfies the preset stability constraint. This ensures that the observer's estimation error converges exponentially. Then, the fixed gain is substituted into the state equation of the I&I steady-state observer, which uses the input voltage and inductor current as state variables and the estimated output voltage, duty cycle, and load conductance as inputs. The state equation is:

[0092]

[0093]

[0094] In the formula, and For I&I observers, the system state is... (Input voltage) and Estimate of (inductor current); This is the current duty cycle; This is the current measured output voltage value; and These are the inductance and capacitance values, respectively. This is an estimated value for the load conductance.

[0095] The state equations are discretized using the forward Euler method to obtain the first discretized recursive equation suitable for iterative execution by the digital controller. Finally, within each control cycle, based on the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle, the first discretized recursive equation is iteratively updated to calculate the input voltage estimate for the current control cycle, which is then output as the steady-state input voltage estimate to the subsequent fusion steps.

[0096] In the above embodiments, the I&I steady-state observer adopts a fixed gain that satisfies stability constraints, which can naturally suppress high-frequency measurement noise under steady-state conditions and has high estimation accuracy. At the same time, the load conductance estimate is coupled into the observer's state equation, enabling it to adapt to the influence of load changes on system characteristics and maintain accurate input voltage estimation under different load conditions. The forward Euler method is used for discretization, which allows the observer algorithm to be executed iteratively in the digital controller with a preset control cycle as the step size, which has good digital feasibility and real-time performance. By introducing the duty cycle and load conductance estimate of the previous control cycle into the iterative update, closed-loop feedback between the observer state and the control loop is realized, further improving the ability of the input voltage estimate to follow changes in the system state.

[0097] In one embodiment, the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the estimated load conductance of the previous control cycle are input to the pole configuration observer, and the transient input voltage estimate is output, including:

[0098] Configure the I&I steady-state observer with a fixed gain that satisfies the preset stability constraints.

[0099] Substitute the fixed gain into the state equation of the I&I steady-state observer;

[0100] The state equation of the I&I steady-state observer is discretized using the forward Euler method to obtain the first discretized recursive equation.

[0101] Based on the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle, the first discretized recursive equation is iteratively updated to obtain the first input voltage estimate of the current control cycle, which is used as the steady-state input voltage estimate.

[0102] Specifically, firstly, the adaptive gain of the pole configuration observer is configured, which includes a first gain component that varies in real time with the duty cycle. Second gain component The first gain component is positively correlated with the product of the inductance value, the capacitance value, and the square of the preset desired pole frequency, and negatively correlated with the duty cycle. The second gain component is positively correlated with the capacitance value and the preset desired pole frequency, and negatively correlated with the duty cycle. Its design formula is:

[0103]

[0104]

[0105] In the formula, The desired error pole natural frequency is a preset design parameter; and These are the inductance and capacitance values, respectively. This is the current duty cycle, because and The above-mentioned gain is a finite positive value under any operating condition and will not have a division-to-zero problem.

[0106] Then, the configured adaptive gain is substituted into the state equation of the pole placement observer. This state equation uses the input voltage and inductor current as state variables, and the output voltage, duty cycle, and load conductance estimates as inputs. The state equation is:

[0107]

[0108]

[0109] In the formula, and Configure observers at the poles to monitor the system state. (Input voltage) and Estimate of (inductor current); This is the current duty cycle; This is the current measured output voltage value.

[0110] The state equation is then discretized using the forward Euler method to obtain a second discretized recursive equation suitable for iterative execution by the digital controller. Finally, within each control cycle, the second discretized recursive equation is iteratively updated based on the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle. The estimated input voltage for the current control cycle is then calculated and output as the transient input voltage estimate to the subsequent fusion step.

[0111] In the above embodiments, the gain of the pole placement observer adapts to the duty cycle in real time. When the duty cycle changes, the gain is automatically adjusted to maintain the desired convergence speed, thus maintaining good dynamic response performance over a wide duty cycle range. The first and second gain components are designed to be inversely correlated with the duty cycle. When the duty cycle is low, the gain is automatically increased to compensate for the decrease in convergence speed, avoiding the performance degradation problem of traditional fixed-gain observers when the duty cycle changes. The preset desired pole frequency is used as the gain configuration parameter, which allows the convergence speed of the observer to be flexibly designed according to system requirements. The introduction of the load conductance estimate enables the observer to adapt to load changes. Forward Euler discretization makes it easy to perform real-time iterative execution in a digital controller, and has good engineering feasibility.

[0112] In one embodiment, determining the fusion weights based on voltage error timing data further includes:

[0113] Wavelet decomposition was performed on the voltage error time series data to obtain the detail coefficients;

[0114] Calculate the waveform spike ratio based on detail coefficients;

[0115] By comparing waveform spikes with preset thresholds, a condition indicator is generated to distinguish between steady state and transient state.

[0116] The fusion weights are obtained based on the absolute value of the voltage tracking error corresponding to the operating condition indicator and the current control cycle.

[0117] Specifically, firstly, wavelet decomposition is performed on the voltage error time series data within the sliding window to extract detail coefficients at each decomposition level. Then, the waveform spike ratio is calculated based on each detail coefficient. This ratio is used to quantify the relative intensity of abrupt changes in the voltage error time series data, reflecting the severity of voltage fluctuations. The calculated waveform spike ratio is compared with a preset threshold. If the waveform spike ratio is greater than the threshold, the current operating condition is determined to be transient and a transient flag is generated. If it is less than or equal to the threshold, it is determined to be steady state and a steady state flag is generated, thus obtaining an operating condition flag to distinguish between steady state and transient state. Finally, the fusion weight is determined based on the operating condition flag and the absolute value of the voltage tracking error in the current control cycle. The operating condition flag reflects the trend of error change, and the absolute value of the voltage tracking error reflects the current degree of deviation. The combination of the two enables accurate identification of the current operating condition, thereby determining the fusion weight adapted to the current operating condition.

[0118] In the above embodiments, the detailed coefficients of the voltage error time series data are extracted by wavelet decomposition, which can accurately capture the abrupt change components in the voltage error signal and has high sensitivity to transient conditions. The waveform peak ratio, as a quantitative indicator, can effectively reflect the severity of voltage error fluctuations and provide a reliable basis for condition identification. The fusion weight is determined by using the condition indicator and the error amplitude together, so that the fusion weight can respond quickly under large disturbances or transient conditions and maintain high accuracy under steady-state small error conditions. This realizes the adaptive switching of the advantages of the two observers, thereby improving the accuracy and robustness of input voltage estimation across the entire operating range.

[0119] In one embodiment, the fusion weight is obtained based on the absolute value of the voltage tracking error corresponding to the operating condition flag and the current control cycle, including:

[0120] When the operating condition is in steady state and the absolute value of the voltage tracking error is less than the first threshold, the fusion weight is 0;

[0121] When the operating condition is transient or the absolute value of the voltage tracking error is greater than the second threshold, the fusion weight is 1;

[0122] When the absolute value of the voltage tracking error is between the first threshold and the second threshold, the fusion weight is a value between 0 and 1.

[0123] Specifically, based on operating condition indicators (wavelet transient indicators) ,when When a transient state is detected, (When no transient is detected) Voltage tracking error corresponding to the current control cycle The absolute values ​​of the fusion weights are determined together. :

[0124]

[0125] In the formula, As an auxiliary criterion based on the magnitude of voltage error;

[0126] Using a three-segment continuous function:

[0127]

[0128] Among them, threshold and Already set ( , ,in , The combined amplitude of output voltage ripple and measurement noise under steady-state conditions is taken as... (0.5%-1%); the two criteria constitute an "OR" logic: when and hour, Dominated by pure I&I branches, corresponding to steady-state operating conditions; when and hour, A transitional value is taken between 0 and 1, and pole placement branches are gradually introduced to correspond to the gradually changing deviation operating condition; when and At that time, or when Time (regardless) How to take the value? The branches are dominated by pure pole configurations, corresponding to the large deviation from the operating condition and the detection of rapidly changing transient operating conditions, respectively.

[0129] In the above embodiments, when the system is in steady state and the error is small, the fusion weight is 0, and the estimated value of the I&I observer is used entirely, giving full play to the advantages of the I&I observer's high steady-state accuracy and strong noise resistance, ensuring high-precision voltage regulation of the output voltage. When the system is in transient state or the error is large, the fusion weight is 1, and the estimated value of the pole placement observer is used entirely, giving full play to the fast dynamic response of the pole placement observer, ensuring that the system can quickly recover stability when the load changes suddenly or the input voltage disturbances occur. When the error is in the middle range, the fusion weight transitions continuously between 0 and 1, avoiding duty cycle jumps caused by sudden weight changes, ensuring the smoothness of the control signal and the stability of system operation. This segmented strategy uses the error amplitude as the core criterion, adaptively selecting the optimal observer or the optimal fusion ratio under different operating conditions, achieving the best balance between steady-state accuracy and dynamic response across the entire operating range.

[0130] In one embodiment, a sliding window is used to select the calculated voltage tracking error to obtain the voltage error timing data corresponding to the current control cycle, including:

[0131] Remove the first data from the voltage error timing data of the previous control cycle, and use the voltage tracking error of the current control cycle as the last data from the voltage error timing data of the previous control cycle to obtain the voltage error timing data of the current control cycle.

[0132] Specifically, the sliding window vector Maintenance is performed using a first-in, first-out sliding window update mechanism; in the next control cycle New data was collected and calculated. At that time, the vector is updated as follows:

[0133]

[0134] In the formula, superscript Indicates the current sampling time; root This represents the voltage tracking error at the current moment.

[0135] That is, the earliest moment The vector that was removed, at the latest time step It is moved to the end of the vector, thus always maintaining the vector storage of continuous sampling points within the most recent 128 control cycles.

[0136] In the above embodiments, by first removing the oldest data and then adding the latest data in a first-in-first-out queue, the voltage tracking error data of the most recent control cycles is always retained in the sliding window. This not only reflects the error change trend near the current moment in a timely manner, but also filters out the interference of historical data that is too old. As the control cycle continues to advance, this mechanism can automatically eliminate outdated information and incorporate the latest information, realizing dynamic rolling updates of voltage error time series data, and providing an accurate data foundation for subsequent wavelet decomposition and operating condition identification.

[0137] In one embodiment, the length of the sliding window is a preset number; the method further includes:

[0138] If the number of accumulated voltage tracking errors is less than the preset number, the positions in the corresponding voltage error time series data that have not yet been filled by real data are filled based on the preset data.

[0139] Specifically, during the system startup phase (when the cumulative number of samples is less than 128, i.e.) In the sliding window vector, the positions that have not yet been filled with real data retain their initial values ​​of 0, i.e.:

[0140]

[0141] when After that, the window vector is completely filled with the real sampled values, and zero padding naturally exits.

[0142] In the above embodiments, by filling the empty spaces of the sliding window with preset data during the startup phase, the sliding window still has a complete preset length data structure even when data accumulation is insufficient. This ensures that the subsequent wavelet decomposition and working condition recognition algorithms can run normally from the first control cycle, avoiding algorithm startup delays or execution anomalies caused by insufficient data. As the control cycle progresses, real data gradually replaces the preset data, and the sliding window automatically transitions to a normal working state without additional configuration or manual intervention, improving the algorithm's ease of use and startup reliability.

[0143] In one embodiment, such as Figure 2 The diagram illustrates a Boost converter control method for a dual-mode observer in a specific embodiment, comprising:

[0144] S1: Real-time acquisition of the current output voltage of the Boost converter via a voltage sensor. The sampling frequency is (That is, data is collected once per control cycle); based on the desired output voltage Calculate the voltage tracking error at the current moment. ;Will Maintain as a length of sliding window vector :

[0145] (1)

[0146] In the formula, superscript This indicates the current sampling time. The elements in the vector are arranged from earliest to latest, covering a time span of [time range missing]. (i.e., 128 control cycles).

[0147] Sliding window vector Maintenance is performed using a first-in, first-out sliding window update mechanism; specifically, in the next control cycle... New data was collected and calculated. At that time, the vector is updated as follows:

[0148] (2)

[0149] That is, the earliest moment The vector that was removed, at the latest time step It is moved to the end of the vector, thus always maintaining the vector storage of continuous sampling points within the most recent 128 control cycles.

[0150] During the system startup phase (when the cumulative number of samples is less than 128, i.e.) In the sliding window vector, the positions that have not yet been filled with real data retain their initial values ​​of 0, i.e.:

[0151] (3)

[0152] when Afterwards, the window vector is completely filled with the actual sampled values, and zero-padding naturally exits; simultaneously, the following parameters are initialized in S1: inductance ,capacitance Duty cycle lower limit Expected output voltage Load conductance estimate I&I observer fixed gain (satisfy Pole placement observer expected bandwidth ; Fusion threshold (in , The combined amplitude of output voltage ripple and measurement noise under steady-state conditions is taken as... (0.5%-1%) Wavelet peak determination ratio Initialize I&I observer state , Pole configuration observer state , Initialize duty cycle .

[0153] The sliding window vector provides a real-time updated time-series data basis for the wavelet transform transient detection in S4.

[0154] S2: Output voltage at the current moment collected by S1 The duty cycle calculated by S5 (previous control cycle) and load conductance estimate The state of the I&I observer is updated to obtain the input voltage estimate of the I&I branch at the current time. .

[0155] I&I observer with fixed gain During operation, the gain satisfies the stability constraints. Its continuous-time state equation is:

[0156] (4)

[0157] (5)

[0158] In the formula, and For I&I observers, the system state is... (Input voltage) and Estimate of (inductor current); This is the current duty cycle; This is the current measured output voltage value; and These are the inductance and capacitance values, respectively.

[0159] In practical digital controllers, the forward Euler method is used to discretize the above continuous-time equations to control the cycle. For the integration step size, the recursive update is as follows:

[0160] (6)

[0161] (7)

[0162] In the formula, superscript Indicates the updated value for the current control cycle, indicated by the superscript. This indicates the value from the previous control cycle.

[0163] After completing the state update, calculate the estimated input voltage of the I&I branch:

[0164] (8)

[0165] This estimate will be output to S4 and fused with the estimate from the pole placement observer branch; the I&I observer uses a fixed low gain ( Limited by The convergence speed of its error dynamics depends on the instantaneous value of the duty cycle; when Approaching the lower limit The convergence is slowest; correspondingly, the low gain characteristic makes the I&I observer naturally suppress high-frequency measurement noise in steady-state scenarios, resulting in high estimation accuracy.

[0166] S3: Using the current output voltage collected by S1, the duty cycle calculated by S5 (the previous control cycle), and the load conductance estimate, update the state of the pole placement observer to obtain the input voltage estimate of the pole placement branch at the current moment.

[0167] The pole placement observer operates with adaptive gain, and the gain changes in real time with the duty cycle. Its design formula is:

[0168] (9)

[0169] (10)

[0170] In the formula, The desired error pole natural frequency is a preset design parameter; and These are the inductance and capacitance values, respectively. This is the current duty cycle, because and The above-mentioned gain is a finite positive value under any operating condition and will not have a division-to-zero problem.

[0171] Substituting the adaptive gain described above into the unified observer structure, the continuous-time state equation of the pole-placed observer is as follows:

[0172] (11)

[0173] (12)

[0174] In the formula, and Configure observers at the poles to monitor the system state. (Input voltage) and Estimate of (inductor current); This is the current duty cycle; This is the current measured output voltage value.

[0175] In practical digital controllers, the forward Euler method is used to discretize the above continuous-time equations. Specifically, the discretization is first performed based on the duty cycle of the previous control cycle. Calculate the adaptive gain used in the current cycle:

[0176] (13)

[0177] (14)

[0178] Then control cycle For the integration step size, recursively update the observer state:

[0179] (15)

[0180] (16)

[0181] In the formula, superscript Indicates the updated value for the current control cycle, indicated by the superscript. This indicates the value from the previous control cycle.

[0182] After completing the state update, calculate the estimated input voltage of the pole placement branch:

[0183] (17)

[0184] This estimate will be output to S4 and fused with the estimate from the I&I observer branch; the core feature of the pole placement observer is that by substituting the above adaptive gain into its error dynamic matrix and calculating the characteristic polynomial, we can obtain:

[0185] (18)

[0186] That is, the error poles are always double roots, completely decoupled from the duty cycle. Regardless of their values, the estimation error decays with a fixed time constant, thus providing fast tracking capability in transient scenarios such as sudden input voltage changes or load jumps. However, due to the fact that, in steady-state scenarios (with a relatively small duty cycle), the adaptive gain amplifies the measurement noise and injects it into the estimation channel, causing jitter in the estimated value. This is the fundamental reason why dual-mode fusion with the I&I observer of S2 is necessary. The convergence speed of the I&I observer and the pole placement observer is as follows: Figure 3 As shown.

[0187] S4: Sliding window vector maintained by S1 And the I&I branch estimates output by S2 and S3 respectively. Pole placement branch estimation To obtain the fused input voltage estimate at the current moment. .

[0188] S4.1: Take the updated sliding window vector from S1 (length is) A three-level discrete wavelet transform is performed on it; the mother wavelet "db4" (Daubechies 4th order) is selected, and it is decomposed layer by layer through the filter bank as follows:

[0189] (19)

[0190] In the formula, denoted as the approximation coefficients (low-frequency components) of the i-th layer. The coefficients for the 3rd level are detail coefficients (high-frequency components). The coefficient length is halved after each level of decomposition. The detail coefficients for the 3rd level are obtained after 3 levels of decomposition. The length is point.

[0191] extract The ratio of the maximum absolute value to the average absolute value of the 16 coefficients is defined as the peak ratio.

[0192] (20)

[0193] Based on peak ratio With preset threshold The comparison results generate wavelet transient flags. :

[0194] (twenty one)

[0195] when When a transient state is detected, This indicates that no transient was detected.

[0196] Select the level 3 detail factor. The reason for this judgment is: Level 1 detail coefficient. (64 points) Located in the highest frequency band, it is too sensitive to switching ripple and ADC quantization noise, and is prone to misjudgment in steady state; Level 3 detail coefficients (16 points) Located in the mid-to-high frequency band, the switching noise has been effectively filtered out through two layers of low-pass filtering, while retaining the spike characteristics introduced by voltage transient changes; the sample size of 16 coefficients is sufficient to support this. The statistical reliability.

[0197] threshold The physical basis is: during steady-state operation, voltage tracking error Primarily low-frequency ripple, The amplitudes of all coefficients are uniform. When a transient occurs, A steep change occurs, in An isolated spike is generated at the corresponding position, making Significantly increased and Basically unchanged, It significantly exceeds 1.2; this threshold leaves about 20% of the detection margin based on the steady-state value of 1.0, balancing detection sensitivity and anti-false positive capability.

[0198] S4.2: Wavelet transient flags obtained from S4.1 The voltage tracking error at the current moment calculated by S1 Determine the fusion weights :

[0199] (twenty two)

[0200] In the formula, It serves as an auxiliary criterion based on the magnitude of voltage error.

[0201] Using a three-segment continuous function:

[0202] (twenty three)

[0203] Among them, threshold and Already set in S1 ( , The two criteria constitute an "OR" logic: when and hour, Dominated by pure I&I branches, corresponding to steady-state operating conditions; when and hour, A transitional value is taken between 0 and 1, and pole placement branches are gradually introduced to correspond to the gradually changing deviation operating condition; when and At that time, or when Time (regardless) How to take the value? The branches are dominated by pure pole configurations, corresponding to the large deviation from the operating condition and the detection of rapidly changing transient operating conditions, respectively.

[0204] wavelet criterion Its function is to detect whether the voltage error changes rapidly. When a steep edge appears, even if its amplitude is still small ( The wavelet criterion can also be passed. The spike in the data is detected as a transient state before the amplitude criterion is triggered. Setting it directly to 0 eliminates the detection blind spot of the amplitude criterion in the early stage of a rapid transient with small amplitude; amplitude criterion Its function is to measure the degree of deviation of voltage error. When the wavelet criterion does not detect rapid changes ( However, when the voltage has deviated slowly and continuously, the amplitude criterion... The fusion weights are continuously adjusted based on their values ​​within the range [0,1], and pole configuration branches are gradually introduced to accelerate voltage recovery; the fusion weight curve is shown below. Figure 4 As shown.

[0205] S4.3: Utilizing the fusion weights obtained in S4.2 Estimation of the I&I branch of the output of S2 Pole configuration branch estimation of S3 output Perform convex combination fusion to obtain the fused input voltage estimate at the current time. :

[0206] (twenty four)

[0207] The two observers run in parallel and each maintains its internal state independently. ), fusion only occurs at the output of the estimated value and does not intervene in the internal dynamics of the observer; when When the value jumps from 1 to 0 due to the detection of a transient state, Set directly to 0. Switching to pole configuration branch estimates within a single control cycle To achieve the fastest response to transient events; when the transient ends, When restored to 1, if at this time It has fallen back to the steady state range. ),but Restored to 1, Smooth transition back to I&I branch estimates .

[0208] Fusion input voltage estimation The output will be sent to S5 to calculate the duty cycle of the current control cycle. .

[0209] S5: Estimating the fused input voltage using the output of S4 Combined with the desired output voltage and duty cycle lower limit Calculate the duty cycle of the current control cycle. The PWM modulation then drives the switching transistors of the Boost converter to complete closed-loop control.

[0210] Based on the input voltage of the Boost converter in steady state Output voltage Duty cycle The satisfaction between Relationship, will be fused and estimated Substitute the values ​​into the formula to calculate the duty cycle for the current cycle, and apply a limit to ensure that the duty cycle always remains within the physically achievable range. Inside:

[0211] (25)

[0212] In the formula, This is the saturation limiting function.

[0213] Saturation limiting function Defined as:

[0214] (26)

[0215] The calculated duty cycle The signal is fed into the PWM modulator to generate a switching drive signal with a corresponding duty cycle, which controls the on and off of the switching transistors in the Boost converter.

[0216] After completing S5, start the control cycle count. Return to S1 to enter the next control cycle and acquire the new output voltage. This forms a closed loop that operates continuously.

[0217] Duty cycle Simultaneously serving as the input to both the I&I observer in S2 and the pole placement observer in S3, in the next control cycle When executing S2 and S3, the result is calculated based on the current cycle. This serves as the duty cycle input required for the observer's recursive updates.

[0218] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0219] Based on the same inventive concept, this application also provides a Boost converter control device for a dual-mode observer to implement the Boost converter control method of the dual-mode observer described above. The solution provided by this device is similar to the implementation described in the above method. Therefore, the specific limitations in one or more embodiments of the Boost converter control device for a dual-mode observer provided below can be found in the limitations of the Boost converter control method for a dual-mode observer described above, and will not be repeated here.

[0220] In one exemplary embodiment, such as Figure 5 As shown, a Boost converter control device for a dual-mode observer is provided, comprising: an acquisition module 502, a calculation module 504, a selection and determination module 506, a fusion module 508, and an adjustment module 510, wherein:

[0221] The acquisition module 502 is used to acquire the output voltage of the Boost converter according to a preset control cycle and calculate the corresponding voltage tracking error based on the preset expected output voltage.

[0222] The calculation module 504 is used to input the output voltage collected in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle into the I&I steady-state observer for the current control cycle, and output the steady-state input voltage estimate; and to input the output voltage collected in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle into the pole placement observer, and output the transient input voltage estimate.

[0223] The selection and determination module 506 is used to select the calculated voltage tracking error using a sliding window to obtain the voltage error timing data corresponding to the current control cycle; and to determine the fusion weights based on the voltage error timing data.

[0224] The fusion module 508 is used to perform weighted fusion of the steady-state input voltage estimate and the transient input voltage estimate based on the fusion weight, so as to obtain the optimal input voltage reconstruction value corresponding to the current control cycle.

[0225] The adjustment module 510 is used to calculate the duty cycle of the current control cycle based on the optimal input voltage reconstruction value, and generate a PWM drive signal based on the duty cycle of the current control cycle to regulate the voltage of the Boost converter.

[0226] In one embodiment, the calculation module 504 is used to input the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle to the I&I steady-state observer, and output the steady-state input voltage estimate, including:

[0227] Configure the I&I steady-state observer with a fixed gain that satisfies the preset stability constraints.

[0228] Substitute the fixed gain into the state equation of the I&I steady-state observer;

[0229] The state equation of the I&I steady-state observer is discretized using the forward Euler method to obtain the first discretized recursive equation.

[0230] Based on the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle, the first discretized recursive equation is iteratively updated to obtain the first input voltage estimate of the current control cycle, which is used as the steady-state input voltage estimate.

[0231] In one embodiment, the calculation module 504 is used to input the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle to the pole configuration observer, and output a transient input voltage estimate, including:

[0232] The adaptive gain of the pole configuration observer is configured. The adaptive gain includes a first gain component and a second gain component that change in real time with the duty cycle. The first gain component is positively correlated with the product of the inductance value, the capacitance value and the square of the preset desired pole frequency, and is inversely correlated with the duty cycle. The second gain component is positively correlated with the capacitance value and the preset desired pole frequency, and is inversely correlated with the duty cycle.

[0233] Substitute the adaptive gain into the state equation of the pole placement observer;

[0234] The state equation of the pole placement observer is discretized using the forward Euler method to obtain the second discretized recursive equation.

[0235] Based on the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle, the second discretized recursive equation is iteratively updated to obtain the second input voltage estimate of the current control cycle, which serves as the transient input voltage estimate.

[0236] In one embodiment, the selection and determination module 506, used to determine the fusion weights based on voltage error timing data, further includes:

[0237] Wavelet decomposition was performed on the voltage error time series data to obtain the detail coefficients;

[0238] Calculate the waveform spike ratio based on detail coefficients;

[0239] By comparing waveform spikes with preset thresholds, a condition indicator is generated to distinguish between steady state and transient state.

[0240] The fusion weights are obtained based on the absolute value of the voltage tracking error corresponding to the operating condition indicator and the current control cycle.

[0241] In one embodiment, the selection and determination module 506 is further configured to obtain fusion weights based on the absolute value of the voltage tracking error corresponding to the operating condition flag and the current control cycle, including:

[0242] When the operating condition is in steady state and the absolute value of the voltage tracking error is less than the first threshold, the fusion weight is 0;

[0243] When the operating condition is transient or the absolute value of the voltage tracking error is greater than the second threshold, the fusion weight is 1;

[0244] When the absolute value of the voltage tracking error is between the first threshold and the second threshold, the fusion weight is a value between 0 and 1.

[0245] In one embodiment, the selection and determination module 506 is further configured to select the calculated voltage tracking error using a sliding window to obtain the voltage error timing data corresponding to the current control cycle, including:

[0246] Remove the first data from the voltage error timing data of the previous control cycle, and use the voltage tracking error of the current control cycle as the last data from the voltage error timing data of the previous control cycle to obtain the voltage error timing data of the current control cycle.

[0247] In one embodiment, the length of the sliding window is a preset number; the method further includes:

[0248] If the number of accumulated voltage tracking errors is less than the preset number, the positions in the corresponding voltage error time series data that have not yet been filled by real data are filled based on the preset data.

[0249] Each module in the Boost converter control device of the aforementioned dual-mode observer can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independent of the processor in a computer device, or stored in software in the memory of a computer device, so that the processor can call and execute the operations corresponding to each module.

[0250] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 6 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When executed by the processor, the computer program implements a Boost converter control method for a dual-modal observer. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0251] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0252] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0253] The output voltage of the Boost converter is acquired according to a preset control cycle, and the corresponding voltage tracking error is calculated based on the preset expected output voltage.

[0254] For the current control cycle, the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle are input to the I&I steady-state observer, and the steady-state input voltage estimate is output; the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle are input to the pole placement observer, and the transient input voltage estimate is output.

[0255] The calculated voltage tracking error is selected using a sliding window to obtain the corresponding voltage error time series data for the current control cycle; the fusion weights are determined based on the voltage error time series data.

[0256] Based on the fusion weight, the steady-state input voltage estimate and the transient input voltage estimate are weighted and fused to obtain the optimal input voltage reconstruction value corresponding to the current control cycle;

[0257] Based on the optimal input voltage reconstruction value, the duty cycle of the current control cycle is calculated, and a PWM drive signal is generated based on the duty cycle of the current control cycle to regulate the voltage of the Boost converter.

[0258] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0259] Configure a fixed gain for the I&I steady-state observer, which satisfies the preset stability constraints. Substitute the fixed gain into the state equation of the I&I steady-state observer. Discretize the state equation of the I&I steady-state observer using the forward Euler method to obtain the first discretized recursive equation. Based on the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle, iteratively update the first discretized recursive equation to obtain the first input voltage estimate of the current control cycle, which is used as the steady-state input voltage estimate.

[0260] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0261] The adaptive gain of the pole placement observer is configured. The adaptive gain includes a first gain component and a second gain component that change in real time with the duty cycle. The first gain component is positively correlated with the product of the inductance value, the capacitance value, and the square of the preset desired pole frequency, and is inversely correlated with the duty cycle. The second gain component is positively correlated with the capacitance value and the preset desired pole frequency, and is inversely correlated with the duty cycle. The adaptive gain is substituted into the state equation of the pole placement observer. The state equation of the pole placement observer is discretized using the forward Euler method to obtain the second discretized recursive equation. Based on the output voltage collected in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle, the second discretized recursive equation is iteratively updated to obtain the second input voltage estimate of the current control cycle, which is used as the transient input voltage estimate.

[0262] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0263] Wavelet decomposition is performed on the voltage error time series data to obtain detail coefficients; based on the detail coefficients, the waveform peak ratio is calculated; by comparing the waveform peaks with a preset threshold, a condition indicator is generated to distinguish between steady state and transient state; based on the condition indicator and the absolute value of the voltage tracking error corresponding to the current control cycle, the fusion weight is obtained.

[0264] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0265] When the operating condition is steady state and the absolute value of the voltage tracking error is less than the first threshold, the fusion weight is 0; when the operating condition is transient or the absolute value of the voltage tracking error is greater than the second threshold, the fusion weight is 1; when the absolute value of the voltage tracking error is between the first threshold and the second threshold, the fusion weight is a value between 0 and 1.

[0266] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0267] Remove the first data from the voltage error timing data of the previous control cycle, and use the voltage tracking error of the current control cycle as the last data from the voltage error timing data of the previous control cycle to obtain the voltage error timing data of the current control cycle.

[0268] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0269] If the number of accumulated voltage tracking errors is less than the preset number, the positions in the corresponding voltage error time series data that have not yet been filled by real data are filled based on the preset data.

[0270] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0271] The output voltage of the Boost converter is acquired according to a preset control cycle, and the corresponding voltage tracking error is calculated based on the preset expected output voltage.

[0272] For the current control cycle, the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle are input to the I&I steady-state observer, and the steady-state input voltage estimate is output; the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle are input to the pole placement observer, and the transient input voltage estimate is output.

[0273] The calculated voltage tracking error is selected using a sliding window to obtain the corresponding voltage error time series data for the current control cycle; the fusion weights are determined based on the voltage error time series data.

[0274] Based on the fusion weight, the steady-state input voltage estimate and the transient input voltage estimate are weighted and fused to obtain the optimal input voltage reconstruction value corresponding to the current control cycle;

[0275] Based on the optimal input voltage reconstruction value, the duty cycle of the current control cycle is calculated, and a PWM drive signal is generated based on the duty cycle of the current control cycle to regulate the voltage of the Boost converter.

[0276] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0277] Configure a fixed gain for the I&I steady-state observer, which satisfies the preset stability constraints. Substitute the fixed gain into the state equation of the I&I steady-state observer. Discretize the state equation of the I&I steady-state observer using the forward Euler method to obtain the first discretized recursive equation. Based on the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle, iteratively update the first discretized recursive equation to obtain the first input voltage estimate of the current control cycle, which is used as the steady-state input voltage estimate.

[0278] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0279] The adaptive gain of the pole placement observer is configured. The adaptive gain includes a first gain component and a second gain component that change in real time with the duty cycle. The first gain component is positively correlated with the product of the inductance value, the capacitance value, and the square of the preset desired pole frequency, and is inversely correlated with the duty cycle. The second gain component is positively correlated with the capacitance value and the preset desired pole frequency, and is inversely correlated with the duty cycle. The adaptive gain is substituted into the state equation of the pole placement observer. The state equation of the pole placement observer is discretized using the forward Euler method to obtain the second discretized recursive equation. Based on the output voltage collected in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle, the second discretized recursive equation is iteratively updated to obtain the second input voltage estimate of the current control cycle, which is used as the transient input voltage estimate.

[0280] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0281] Wavelet decomposition is performed on the voltage error time series data to obtain detail coefficients; based on the detail coefficients, the waveform peak ratio is calculated; by comparing the waveform peaks with a preset threshold, a condition indicator is generated to distinguish between steady state and transient state; based on the condition indicator and the absolute value of the voltage tracking error corresponding to the current control cycle, the fusion weight is obtained.

[0282] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0283] When the operating condition is steady state and the absolute value of the voltage tracking error is less than the first threshold, the fusion weight is 0; when the operating condition is transient or the absolute value of the voltage tracking error is greater than the second threshold, the fusion weight is 1; when the absolute value of the voltage tracking error is between the first threshold and the second threshold, the fusion weight is a value between 0 and 1.

[0284] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0285] Remove the first data from the voltage error timing data of the previous control cycle, and use the voltage tracking error of the current control cycle as the last data from the voltage error timing data of the previous control cycle to obtain the voltage error timing data of the current control cycle.

[0286] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0287] If the number of accumulated voltage tracking errors is less than the preset number, the positions in the corresponding voltage error time series data that have not yet been filled by real data are filled based on the preset data.

[0288] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0289] The output voltage of the Boost converter is acquired according to a preset control cycle, and the corresponding voltage tracking error is calculated based on the preset expected output voltage.

[0290] For the current control cycle, the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle are input to the I&I steady-state observer, and the steady-state input voltage estimate is output; the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle are input to the pole placement observer, and the transient input voltage estimate is output.

[0291] The calculated voltage tracking error is selected using a sliding window to obtain the corresponding voltage error time series data for the current control cycle; the fusion weights are determined based on the voltage error time series data.

[0292] Based on the fusion weight, the steady-state input voltage estimate and the transient input voltage estimate are weighted and fused to obtain the optimal input voltage reconstruction value corresponding to the current control cycle;

[0293] Based on the optimal input voltage reconstruction value, the duty cycle of the current control cycle is calculated, and a PWM drive signal is generated based on the duty cycle of the current control cycle to regulate the voltage of the Boost converter.

[0294] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0295] Configure a fixed gain for the I&I steady-state observer, which satisfies the preset stability constraints. Substitute the fixed gain into the state equation of the I&I steady-state observer. Discretize the state equation of the I&I steady-state observer using the forward Euler method to obtain the first discretized recursive equation. Based on the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle, iteratively update the first discretized recursive equation to obtain the first input voltage estimate of the current control cycle, which is used as the steady-state input voltage estimate.

[0296] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0297] The adaptive gain of the pole placement observer is configured. The adaptive gain includes a first gain component and a second gain component that change in real time with the duty cycle. The first gain component is positively correlated with the product of the inductance value, the capacitance value, and the square of the preset desired pole frequency, and is inversely correlated with the duty cycle. The second gain component is positively correlated with the capacitance value and the preset desired pole frequency, and is inversely correlated with the duty cycle. The adaptive gain is substituted into the state equation of the pole placement observer. The state equation of the pole placement observer is discretized using the forward Euler method to obtain the second discretized recursive equation. Based on the output voltage collected in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle, the second discretized recursive equation is iteratively updated to obtain the second input voltage estimate of the current control cycle, which is used as the transient input voltage estimate.

[0298] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0299] Wavelet decomposition is performed on the voltage error time series data to obtain detail coefficients; based on the detail coefficients, the waveform peak ratio is calculated; by comparing the waveform peaks with a preset threshold, a condition indicator is generated to distinguish between steady state and transient state; based on the condition indicator and the absolute value of the voltage tracking error corresponding to the current control cycle, the fusion weight is obtained.

[0300] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0301] When the operating condition is steady state and the absolute value of the voltage tracking error is less than the first threshold, the fusion weight is 0; when the operating condition is transient or the absolute value of the voltage tracking error is greater than the second threshold, the fusion weight is 1; when the absolute value of the voltage tracking error is between the first threshold and the second threshold, the fusion weight is a value between 0 and 1.

[0302] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0303] Remove the first data from the voltage error timing data of the previous control cycle, and use the voltage tracking error of the current control cycle as the last data from the voltage error timing data of the previous control cycle to obtain the voltage error timing data of the current control cycle.

[0304] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0305] If the number of accumulated voltage tracking errors is less than the preset number, the positions in the corresponding voltage error time series data that have not yet been filled by real data are filled based on the preset data.

[0306] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0307] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0308] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0309] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A Boost converter control method for a dual-mode observer, characterized in that, The method includes: The output voltage of the Boost converter is acquired according to a preset control cycle, and the corresponding voltage tracking error is calculated based on the preset expected output voltage. For the current control cycle, the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle are input to the I&I steady-state observer, and the steady-state input voltage estimate is output; the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle are input to the pole placement observer, and the transient input voltage estimate is output. The calculated voltage tracking error is selected using a sliding window to obtain the voltage error timing data corresponding to the current control cycle; based on the voltage error timing data, the fusion weight is determined. Based on the fusion weights, the steady-state input voltage estimate and the transient input voltage estimate are weighted and fused to obtain the optimal input voltage reconstruction value corresponding to the current control cycle. Based on the optimal input voltage reconstruction value, the duty cycle of the current control cycle is calculated, and a PWM drive signal is generated based on the duty cycle of the current control cycle to regulate the voltage of the Boost converter.

2. The method according to claim 1, characterized in that, The process of inputting the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the estimated load conductance value of the previous control cycle into the I&I steady-state observer, and outputting the estimated steady-state input voltage value, includes: Configure the I&I steady-state observer with a fixed gain, wherein the fixed gain satisfies a preset stability constraint condition; Substitute the fixed gain into the state equation of the I&I steady-state observer; The state equation of the I&I steady-state observer is discretized using the forward Euler method to obtain the first discretized recursive equation. Based on the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle, the first discretized recursive equation is iteratively updated to obtain the first input voltage estimate of the current control cycle, which is used as the steady-state input voltage estimate.

3. The method according to claim 1, characterized in that, The process of inputting the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the estimated load conductance value of the previous control cycle into the pole configuration observer, and outputting the transient input voltage estimate, includes: Configure the adaptive gain of the pole configuration observer. The adaptive gain includes a first gain component and a second gain component that change in real time with the duty cycle. The first gain component is positively correlated with the product of the inductance value, the capacitance value and the square of the preset desired pole frequency, and is inversely correlated with the duty cycle. The second gain component is positively correlated with the capacitance value and the preset desired pole frequency, and is inversely correlated with the duty cycle. Substitute the adaptive gain into the state equation of the pole placement observer; The state equation of the pole placement observer is discretized using the forward Euler method to obtain the second discretized recursive equation. Based on the output voltage acquired in the current control cycle, the duty cycle of the previous control cycle, and the load conductance estimate of the previous control cycle, the second discretized recursive equation is iteratively updated to obtain the second input voltage estimate of the current control cycle, which is used as the transient input voltage estimate.

4. The method according to claim 1, characterized in that, The step of determining the fusion weights based on the voltage error time series data further includes: Wavelet decomposition was performed on the voltage error time series data to obtain detail coefficients; Based on the aforementioned detail coefficients, the waveform spike ratio is calculated; By comparing the waveform spikes with a preset threshold, a condition indicator is generated to distinguish between steady state and transient state. The fusion weight is obtained based on the absolute value of the voltage tracking error corresponding to the operating condition flag and the current control cycle.

5. The method according to claim 4, characterized in that, The fusion weight is obtained based on the absolute value of the voltage tracking error corresponding to the operating condition flag and the current control cycle, including: When the operating condition flag is in steady state and the absolute value of the voltage tracking error is less than the first threshold, the fusion weight is 0; When the operating condition flag is transient or the absolute value of the voltage tracking error is greater than the second threshold, the fusion weight is 1; When the absolute value of the voltage tracking error is between the first threshold and the second threshold, the fusion weight is a value between 0 and 1.

6. The method according to claim 1, characterized in that, The step of selecting the calculated voltage tracking error using a sliding window to obtain the corresponding voltage error timing data for the current control cycle includes: Remove the first data from the voltage error timing data of the previous control cycle, and use the voltage tracking error of the current control cycle as the last data from the voltage error timing data of the previous control cycle to obtain the voltage error timing data of the current control cycle.

7. The method according to claim 1, characterized in that, The length of the sliding window is a preset number; the method further includes: If the number of accumulated voltage tracking errors is less than the preset number, the positions in the corresponding voltage error timing data that have not yet been filled by real data are filled based on the preset data.

8. A Boost converter control device for a dual-mode observer, characterized in that, The device includes: The acquisition module is used to acquire the output voltage of the Boost converter according to a preset control cycle and calculate the corresponding voltage tracking error based on the preset expected output voltage. The calculation module is used to input the output voltage collected in the current control cycle, the duty cycle of the previous control cycle, and the estimated load conductance of the previous control cycle into the I&I steady-state observer and output the steady-state input voltage estimate; and to input the output voltage collected in the current control cycle, the duty cycle of the previous control cycle, and the estimated load conductance of the previous control cycle into the pole placement observer and output the transient input voltage estimate. The selection and determination module is used to select the calculated voltage tracking error using a sliding window to obtain the voltage error timing data corresponding to the current control cycle; and to determine the fusion weights based on the voltage error timing data. The fusion module is used to perform weighted fusion of the steady-state input voltage estimate and the transient input voltage estimate based on the fusion weight, so as to obtain the optimal input voltage reconstruction value corresponding to the current control cycle. The adjustment module is used to calculate the duty cycle of the current control cycle based on the optimal input voltage reconstruction value, and generate a PWM drive signal based on the duty cycle of the current control cycle to regulate the voltage of the Boost converter.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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