Voltage converter

Abstract

To address a situation in which characteristics change due to a current during voltage feedback control and a situation in which characteristics change due to a voltage during current feedback.SOLUTION: A voltage conversion device includes a voltage converter that converts a DC current inputted from a DC power source to a DC current of a different voltage, and outputs the converted DC current, a current sensor that detects a current passing through the voltage converter, an output voltage sensor that detects an output voltage of the voltage converter, and a control unit that duty-drives the voltage converter by performing feedback control having a proportional gain, an integration gain, and a differential gain so as to adjust the output voltage detected by the output voltage sensor to become equal to a target voltage specified externally. The control unit changes the gains of the feedback control on the basis of the current detected by the current sensor.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present application relates to a voltage converter.

Background Art

[0002] A power converter is used to convert the output form of electric power. As a power converter, there exists a DC-DC converter (Direct Current / Direct Current Converter) that converts an input direct current into a direct current of a different voltage and outputs the converted direct current. A DC-DC converter is a type of voltage converter. Voltage converters often have a configuration including a switching element.

[0003] In a voltage converter that is a DC-DC converter including a switching element, a feedback control technique is known for supplying an output current at a stable voltage. An apparatus is disclosed that changes proportional gain (P gain), integral gain (I gain), and derivative gain (D gain) in accordance with a detected voltage value when performing PID control based on an output voltage value detected against a target voltage value. Further, an apparatus is disclosed that changes proportional gain, integral gain, and derivative gain in accordance with a detected current value when performing PID control based on an output current value detected against a target current value (for example, Patent Document 1).

Prior Art Literature

Patent Literature

[0004]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0005] In voltage feedback control, the characteristics of the voltage converter may change depending on the current. Similarly, in current feedback control, the characteristics of the voltage converter may change depending on the voltage. Therefore, simply varying the gain of the voltage feedback control with the output voltage value and the gain of the current feedback control with the current value, as in the technology described in Patent Document 1, may not be sufficient to maintain the responsiveness and stability of the voltage converter.

[0006] This invention was made to solve the above-mentioned problems, and aims to provide a voltage converter that can maintain responsiveness and stability by appropriately changing the proportional gain, integral gain, and differential gain in feedback control. [Means for solving the problem]

[0007] The voltage conversion device disclosed in this application is A voltage converter that converts a DC current input from a DC power source into a DC current of a different voltage and outputs it. A current sensor that detects the current passing through a voltage converter. An output voltage sensor for detecting the output voltage of a voltage converter, and The control unit includes a control unit that duty cycle-drives a voltage converter using feedback control with proportional gain, integral gain, and differential gain so that the output voltage detected by the output voltage sensor matches a target voltage instructed from an external source. The control unit modifies each of the feedback control gains based on the current detected by the current sensor. In a voltage converter, The control unit calculates the target current so that the output voltage detected by the output voltage sensor matches the target voltage, and calculates the duty cycle for driving the voltage converter by second feedback control so that the current detected by the current sensor matches the target current. The control unit duty cycle-drives the voltage converter using a second feedback control having a second proportional gain, a second integral gain, and a second differential gain, and modifies each of the gains of the second feedback control based on the output voltage detected by the output voltage sensor. It is. Furthermore, the voltage conversion device disclosed in this application is A voltage converter that converts a DC current input from a DC power source into a DC current of a different voltage and outputs it. A current sensor that detects the current passing through a voltage converter. An output voltage sensor that detects the output voltage of a voltage converter. An input voltage sensor for detecting the input voltage of a voltage converter, and The control unit includes a control unit that duty cycle-drives a voltage converter using feedback control with proportional gain, integral gain, and differential gain so that the output voltage detected by the output voltage sensor matches a target voltage instructed from an external source. In a voltage converter, the control unit changes each of the feedback control gains based on the current detected by the current sensor. The control unit calculates the target current so that the output voltage detected by the output voltage sensor matches the target voltage, and calculates the duty cycle for driving the voltage converter by second feedback control so that the current detected by the current sensor matches the target current. The control unit duty cycle drives the voltage converter using a second feedback control having a second proportional gain, a second integral gain, and a second differential gain, and changes each of the gains of the second feedback control based on at least one of the following: the current detected by the current sensor, the input voltage detected by the input voltage sensor, and the output voltage detected by the output voltage sensor. Furthermore, the voltage conversion device disclosed in this application is A voltage converter that converts a DC current input from a DC power source into a DC current of a different voltage and outputs it. A current sensor that detects the current passing through a voltage converter. An output voltage sensor for detecting the output voltage of a voltage converter, and The control unit includes a control unit that duty cycle-drives a voltage converter using feedback control with proportional gain, integral gain, and differential gain so that the output voltage detected by the output voltage sensor matches a target voltage instructed from an external source. In a voltage converter, the control unit changes each of the feedback control gains based on the current detected by the current sensor. The control unit calculates a subtraction value based on the current detected by the current sensor, which is calculated as an attenuation term. Based on the result of subtracting this subtraction value from the control variable calculated so that the output voltage detected by the output voltage sensor matches the target voltage, the control unit calculates the duty cycle for driving the voltage converter. The control unit changes the gain of the calculation as a damping term based on the output voltage detected by the output voltage sensor. Furthermore, the voltage conversion device disclosed in this application is A voltage converter that converts a DC current input from a DC power source into a DC current of a different voltage and outputs it. A current sensor that detects the current passing through a voltage converter. An output voltage sensor that detects the output voltage of a voltage converter. An input voltage sensor for detecting the input voltage of a voltage converter, and The control unit includes a control unit that duty cycle-drives a voltage converter using feedback control with proportional gain, integral gain, and differential gain so that the output voltage detected by the output voltage sensor matches a target voltage instructed from an external source. In a voltage converter, the control unit changes each of the feedback control gains based on the current detected by the current sensor. The control unit calculates a subtraction value based on the current detected by the current sensor, which is calculated as an attenuation term. Based on the result of subtracting this subtraction value from the control variable calculated so that the output voltage detected by the output voltage sensor matches the target voltage, the control unit calculates the duty cycle for driving the voltage converter. The control unit modifies the gain of the calculation as a damping term based on at least one of the following: the current detected by the current sensor, the input voltage detected by the input voltage sensor, and the output voltage detected by the output voltage sensor. Furthermore, the voltage conversion device disclosed in this application is A voltage converter that converts a DC current input from a DC power source into a DC current of a different voltage and outputs it. A current sensor that detects the current passing through a voltage converter. An output voltage sensor that detects the output voltage of a voltage converter. An input voltage sensor for detecting the input voltage of a voltage converter, and The control unit includes a control unit that duty cycle-drives a voltage converter using feedback control with proportional gain, integral gain, and differential gain so that the output voltage detected by the output voltage sensor matches a target voltage instructed from an external source. In a voltage converter, the control unit changes each of the feedback control gains based on the current detected by the current sensor. The control unit uses a normalized gain in the calculation to determine the duty cycle for driving the voltage converter. The control unit has an input of X, an output of Y, and an input voltage of V, with a normalized gain of Y = (XV) / X. [Effects of the Invention]

[0008] According to the voltage conversion apparatus of the present application, in voltage feedback control, by respectively changing the proportional gain, integral gain, and derivative gain of the feedback control based on the current detected by the current sensor, it is possible to obtain a power conversion apparatus capable of maintaining responsiveness and stability. [Brief Description of the Drawings]

[0009] [Figure 1] This is a diagram showing the configuration of a voltage conversion device according to Embodiment 1. [Figure 2] This is a hardware configuration diagram of the control unit of the voltage converter according to Embodiment 1. [Figure 3] This figure shows the operating waveform of the voltage converter according to Embodiment 1. [Figure 4] This is a diagram showing the configuration of the voltage conversion device according to Embodiment 2. [Figure 5] This is a diagram showing the configuration of the voltage conversion device according to Embodiment 3. [Figure 6] This is a configuration diagram of the voltage conversion device according to Embodiment 4. [Figure 7] This is a configuration diagram of the voltage conversion device according to Embodiment 5. [Figure 8] This is a diagram showing the configuration of a voltage conversion device according to Embodiment 6. [Figure 9] This is a diagram showing the configuration of the voltage conversion device according to Embodiment 7. [Figure 10] This figure shows the operating waveform of the voltage converter according to Embodiment 7. [Figure 11] This figure shows the switching modes of the voltage converter according to Embodiment 7. [Figure 12] This diagram shows the sequence of the boost mode and switching mode of the voltage converter according to Embodiment 7. [Figure 13] This is a diagram showing the configuration of a voltage conversion device according to Embodiment 8. [Figure 14] This is a configuration diagram of the voltage conversion device according to Embodiment 9. [Modes for carrying out the invention]

[0010] Hereinafter, embodiments of the voltage conversion device according to the present application will be described with reference to the drawings.

[0011] 1. Embodiment 1 <Configuration of a voltage converter> Figure 1 shows the configuration of a voltage converter 300 according to Embodiment 1. The voltage converter 300 has an input terminal connected to a DC power supply 1 and an output terminal connected to a load 4. The positive side of an input smoothing capacitor 2, whose negative side is grounded, and the voltage converter 100 are connected in parallel to the input terminal, and the output of the voltage converter 100 is connected to the output terminal. The parts of Figure 1 excluding the DC power supply 1 and the load 4 constitute the voltage converter 300.

[0012] The voltage converter 100 includes a reactor 101, a diode 103, a semiconductor switching element 102, and an output smoothing capacitor 3. The input of the voltage converter 100 is connected via the reactor 101 to the anode side of the diode 103 and the positive side (drain side) of the semiconductor switching element 102, while the negative side (source side) of the semiconductor switching element 102 is grounded. The cathode side of the diode 103 is connected to the output of the voltage converter 100 and to the positive side of the output smoothing capacitor 3, whose negative side is grounded.

[0013] As the semiconductor switching element 102, a bipolar transistor, a MOSFET (Metal-Oxide-Semiconductor Field-Effect-Transistor), or an IGBT (Insulated Gate Bipolar Transistor) may be used. When an FET is used as the switching element, an antiparallel diode is formed due to its structure, which is called a body diode (also called a parasitic diode).

[0014] The voltage converter 300 includes an input voltage sensor 5 that detects the input voltage Vin across the terminals of the input smoothing capacitor 2, and an output voltage sensor 6 that detects the output voltage Vout across the terminals of the output smoothing capacitor 3. The voltage converter 300 further includes a reactor current sensor 104 that detects the reactor current IL1 passing through the voltage converter 100, and a low-pass filter 105 for the reactor current detection means. The low-pass filter 105 for the reactor current detection means smooths the output of the reactor current sensor 104 and removes the ripple current of the reactor current IL1. The input voltage sensor 5 outputs an input voltage signal Vin_sense, the output voltage sensor 6 outputs an output voltage signal Vout_sense, and the low-pass filter 105 for the reactor current detection means outputs a current signal IL1_sense.

[0015] The control unit 200 receives the input voltage signal Vin_sense, the output voltage signal Vout_sense, and the current signal IL1_sense, and also receives the target output voltage value Vout* from outside the voltage converter 300. The control unit 200 outputs a gate signal Vgs_Q102 to drive the semiconductor switching element 102 in the voltage converter 100 so that the voltage value indicated by the output voltage signal Vout_sense matches the target output voltage value Vout*.

[0016] <Signal processing in the control unit> Figure 1 shows a block diagram of the signal processing in the control unit 200. The signal processing in the control unit 200 will be described below. First, the deviation Vout_error, which is the difference between the target output voltage value Vout* input from an external source and the output voltage signal Vout_sense, is calculated.

[0017] The deviation Vout_error is input to the output voltage controller 201 and the voltage signal x is output. The output voltage controller 201 performs feedback calculations such as PID control so that the target output voltage value Vout* matches the output voltage signal Vout_sense. The current signal IL1_sense is input to the output voltage controller 201 and the gain of the output voltage controller 201 is changed.

[0018] A voltage signal x and an input voltage signal Vin_sense are input to a gain normalization unit 202, and an on-duty Dx for output voltage control is output. The gain normalization unit 202 performs the operation of formula (1).

[0019]

[Formula]

[0020] By providing the gain normalization unit 202, when the input voltage signal Vin_sense fluctuates, it becomes possible to change the on-duty Dx without waiting for a fluctuation of the output voltage signal Vout_sense. For this reason, fluctuation of the output voltage Vout can be suppressed.

[0021] The on-duty Dx obtained through the calculation for output voltage control is input to an output voltage control duty limiter 203. The on-duty Dx is corrected to a value within a range determined by the output voltage control duty limiter 203, and an on-duty Dy for actual output voltage control is output.

[0022] The on-duty Dy for driving the semiconductor switching element 102 is input to gate signal generation means 204. The on-duty Dy is compared with a carrier wave generated inside the gate signal generation means 204, and based on the comparison result, a gate signal Vgs_Q102 is output from the gate signal generation means 204.

[0023] <Gain Change in PID Control> In the output voltage controller 201, the P gain, I gain, and D gain of the PID control that performs feedback calculations are changed based on the current signal IL1_sense. By changing the gain of the output voltage controller 201, it is possible to operate the voltage converter 100 with a constant response speed regardless of the operating conditions, even if the characteristics of the voltage converter 100 change due to fluctuations in the reactor current IL1. In voltage feedback control, responsiveness and stability can be maintained by changing the proportional gain, integral gain, and differential gain of the feedback control based on the current detected by the current sensor.

[0024] <Hardware configuration of the control unit> Figure 2 is a hardware configuration diagram of the control unit 200 of the voltage converter 300 according to Embodiment 1. The hardware configuration diagram in Figure 2 can also be applied to control units 200a to 200f. Here, we will explain using the control unit 200 as a representative example. In this embodiment, each function of the control unit 200 is realized by the processing circuits provided in the control unit 200. Specifically, as shown in Figure 2, the control unit 200 includes, as a processing circuit, an arithmetic processing unit 90 (computer) such as a CPU (Central Processing Unit), a storage device 91 that exchanges data with the arithmetic processing unit 90, an input circuit 92 that inputs external signals to the arithmetic processing unit 90, and an output circuit 93 that outputs signals from the arithmetic processing unit 90 to the outside.

[0025] The arithmetic processing unit 90 may include an ASIC (Application Specific Integrated Circuit), an IC (Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), various logic circuits, and various signal processing circuits. Furthermore, multiple arithmetic processing units 90 of the same or different types may be provided, with each unit performing a portion of the processing. The storage device 91 may include a RAM (Random Access Memory) configured to read and write data from the arithmetic processing unit 90, a ROM (Read Only Memory) configured to read data from the arithmetic processing unit 90, or flash memory. The input circuit 92 is connected to various sensors and switches, such as an input voltage sensor 5, an output voltage sensor 6, and a reactor current sensor 104, and includes an A / D converter that inputs the output signals from these sensors and switches to the arithmetic processing unit 90. The output circuit 93 is connected to electrical loads such as semiconductor switching elements 102, and includes a drive circuit that converts and outputs control signals from the arithmetic processing unit 90 to these electrical loads.

[0026] Each function of the control unit 200 is realized by the arithmetic processing unit 90 executing software (programs) stored in a storage device 91 such as ROM, and cooperating with other hardware of the control unit 200, such as the storage device 91, input circuit 92, and output circuit 93. Setting data such as thresholds and judgment values ​​used by the control unit 200 are stored in the storage device 91 such as ROM as part of the software (program). The functions of the components of the control unit 200 will now be described. Each function of the control unit 200 may be composed of software modules, or it may be composed of a combination of software and hardware.

[0027] <Operating waveform of a voltage converter> Figure 3 shows the operating waveform of the voltage converter 300 according to Embodiment 1. The vertical axis of the figure represents current or voltage, and the horizontal axis represents time. In the bottom row, the carrier wave generated inside the gate signal generation means 204 of the control unit 200 is shown as a sawtooth wave by a dashed line. The on-duty cycle Dy for driving the semiconductor switching element 102 is shown horizontally by a solid line.

[0028] The on-duty cycle Dy is compared to the carrier wave. In the intervals where the carrier wave is below the level of the on-duty cycle Dy, an on signal (high signal) is output as the gate signal, and in the intervals where the level of the on-duty cycle Dy is greater than the carrier wave, an off signal (low signal) is output as the gate signal, as shown in the second row from the bottom of Figure 3. DyTsw represents the on period of the gate signal, and Tsw represents one cycle in which the gate signal is turned on and off.

[0029] When the gate signal is ON, the semiconductor switching element 102 is driven, and the current flowing through the reactor 101 increases. When the gate signal is OFF, the semiconductor switching element 102 is shut off, and the current flowing through the reactor 101 decreases. This is shown in the top row of Figure 3. The second row from the top of Figure 3 shows the voltage VL1 applied to the reactor 101.

[0030] By controlling the on-duty cycle Dy, the reactor current IL1 flowing through the reactor 101 can be manipulated. This allows control of the output voltage Vout of the voltage converter 300.

[0031] 2. Embodiment 2 Figure 4 is a configuration diagram of the voltage converter 300a according to Embodiment 2. The difference from Figure 1, which shows the configuration according to Embodiment 1, is that the output voltage controller 201 and gain normalization unit 202 of the control unit 200 in Figure 1 are replaced by the output voltage controller 201a and gain normalization unit 202a of the control unit 200a in Figure 4. Figures 2 and 3 can also be applied to Embodiment 2. The signal processing of the control unit 200a will be described below.

[0032] <Signal processing in the control unit> Figure 4 shows a block diagram of the signal processing in the control unit 200a. First, the deviation Vout_error, which is the difference between the target output voltage value Vout* input from an external source and the output voltage signal Vout_sense, is calculated.

[0033] The deviation Vout_error is input to the output voltage controller 201a, and the voltage signal x is output. The output voltage controller 201a performs feedback calculations such as PID control so that the target output voltage value Vout* matches the output voltage signal Vout_sense. The input voltage signal Vin_sense, output voltage signal Vout_sense, and current signal IL1_sense are input to the output voltage controller 201a, and the gain of the output voltage controller 201a is changed.

[0034] The voltage signal x and the input voltage signal Vin_sense are input to the gain normalization unit 202a, and the on-duty cycle Dx for output voltage control is output. The gain normalization unit 202a performs the calculation shown in equation (2).

[0035]

number

[0036] By providing the gain normalization unit 202a, it becomes possible to change the on-duty cycle Dx without waiting for the output voltage signal Vout_sense to change when the input voltage signal Vin_sense changes. This makes it possible to suppress fluctuations in the output voltage Vout.

[0037] The on-duty cycle Dx calculated for output voltage control is input to the output voltage control duty limiter 203. The on-duty cycle Dx is corrected to a value within the range determined by the output voltage control duty limiter 203, and the on-duty cycle Dy for actual output voltage control is output.

[0038] An on-duty Dy for driving the semiconductor switching element 102 is input to the gate signal generation means 204. The on-duty Dy is compared with a carrier wave generated inside the gate signal generation means 204, and a gate signal Vgs_Q102 is output from the gate signal generation means 204 based on the comparison result.

[0039] <Gain change in PID control> In the output voltage controller 201a, for each of the P gain, I gain, and D gain of PID control that performs feedback calculation processing, the gain is changed based on at least one or all of the input voltage signal Vin_sense, output voltage signal Vout_sense, and current signal IL1_sense. By changing the gain of the output voltage controller 201a, even if the characteristics of the voltage converter 100 change due to fluctuations in the input voltage signal Vin_sense, output voltage signal Vout_sense, and current signal IL1_sense, it is possible to operate the voltage converter 100 at a constant response speed regardless of operating conditions. In voltage feedback control, responsiveness and stability can be maintained by changing the proportional gain, integral gain, and derivative gain of the feedback control based on the input voltage signal Vin_sense, output voltage signal Vout_sense, and current signal IL1_sense, respectively.

[0040] 3. Embodiment 3 Figure 5 is a configuration diagram of a voltage converter 300b according to Embodiment 3. The difference from Figure 4 showing the configuration according to Embodiment 2 is that the output voltage controller 201a and gain normalization unit 202a of the control unit 200a in Figure 4 are replaced with the output voltage controller 201b and current controller 205 of the control unit 200b in Figure 5. Figures 2 and 3 are also applicable to Embodiment 2. Signal processing of the control unit 200b will be described below.

[0041] <Signal processing of control unit> Figure 5 shows a block diagram of signal processing in the control unit 200b. First, a deviation Vout_error, which is the difference between a target output voltage value Vout* input from the outside and the output voltage signal Vout_sense, is calculated.

[0042] The deviation Vout_error is input to the output voltage controller 201b, and the target reactor current value IL1* is output. The output voltage controller 201b performs feedback arithmetic processing such as PID control so that the target output voltage value Vout* matches the output voltage signal Vout_sense. The input voltage signal Vin_sense, the output voltage signal Vout_sense, and the current signal IL1_sense are input to the output voltage controller 201b, and the gain of the output voltage controller 201b is changed.

[0043] The deviation IL1_error is output from the difference between the target reactor current value IL1* and the current signal IL1_sense. The deviation IL1_error is input to the current controller 205, and the on-duty Dx is output. The current controller 205 performs feedback arithmetic processing such as PID control so that the target reactor current value IL1* matches the current signal IL1_sense. The output voltage signal Vout_sense is input to the current controller 205, and the gain of the current controller 205 is changed.

[0044] The on-duty Dx obtained by the calculation for output voltage control is input to the output voltage control duty limiter 203. The on-duty Dx is corrected to a value within the range determined by the output voltage control duty limiter 203, and the on-duty Dy for actual output voltage control is output.

[0045] The on-duty Dy for driving the semiconductor switching element 102 is input to the gate signal generating means 204. The on-duty Dy is compared with a carrier wave generated inside the gate signal generating means 204, and the gate signal Vgs_Q102 is output from the gate signal generating means 204 based on the comparison result.

[0046] <Gain change of PID control> In the output voltage controller 201b, the P gain, I gain, and D gain of the PID control that performs feedback calculations are changed based on at least one or all of the input voltage signal Vin_sense, output voltage signal Vout_sense, and current signal IL1_sense. By changing the gain of the output voltage controller 201b, it is possible to operate the voltage converter 100 with a constant response speed regardless of the operating conditions, even if the characteristics of the voltage converter 100 change due to fluctuations in the input voltage signal Vin_sense, output voltage signal Vout_sense, and current signal IL1_sense. In voltage feedback control, responsiveness and stability can be maintained by changing the proportional gain, integral gain, and differential gain of the feedback control, respectively, based on the input voltage signal Vin_sense, output voltage signal Vout_sense, and current signal IL1_sense.

[0047] In the current controller 205, the P gain, I gain, and D gain of the PID control that performs feedback calculations are changed based on the output voltage signal Vout_sense. By changing the gain of the current controller 205, it is possible to operate the voltage converter 100 with a constant response speed regardless of the operating conditions, even if the characteristics of the voltage converter 100 change due to fluctuations in the output voltage signal Vout_sense. In current feedback control, responsiveness and stability can be maintained by changing the proportional gain, integral gain, and differential gain of the feedback control based on the output voltage signal Vout_sense.

[0048] 4. Embodiment 4 Figure 6 is a configuration diagram of the voltage converter 300c according to Embodiment 4. The difference from Figure 5, which shows the configuration according to Embodiment 3, is that the current controller 205 of the control unit 200b in Figure 5 is the current controller 205a of the control unit 200c in Figure 6. Figures 2 and 3 can also be applied to Embodiment 4. The signal processing of the control unit 200c will be described below.

[0049] <Signal processing in the control unit> Figure 6 shows a block diagram of the signal processing in the control unit 200c. First, the deviation Vout_error, which is the difference between the target output voltage value Vout* input from an external source and the output voltage signal Vout_sense, is calculated.

[0050] The deviation Vout_error is input to the output voltage controller 201b, and the target reactor current value IL1* is output. The output voltage controller 201b performs feedback calculations such as PID control so that the target output voltage value Vout* matches the output voltage signal Vout_sense. The input voltage signal Vin_sense, output voltage signal Vout_sense, and current signal IL1_sense are input to the output voltage controller 201b, and the gain of the output voltage controller 201b is changed.

[0051] The deviation IL1_error is output from the difference between the target reactor current value IL1* and the current signal IL1_sense. The deviation IL1_error is input to the current controller 205a and the on-duty cycle Dx is output. The current controller 205a performs feedback calculations such as PID control so that the target reactor current value IL1* and the current signal IL1_sense match. The input voltage signal Vin_sense, output voltage signal Vout_sense, and current signal IL1_sense are input to the current controller 205a and the gain of the current controller 205a is changed.

[0052] The on-duty cycle Dx calculated for output voltage control is input to the output voltage control duty limiter 203. The on-duty cycle Dx is corrected to a value within the range determined by the output voltage control duty limiter 203, and the on-duty cycle Dy for actual output voltage control is output.

[0053] The on-duty cycle Dy for driving the semiconductor switching element 102 is input to the gate signal generation means 204. The on-duty cycle Dy is compared with a carrier wave generated inside the gate signal generation means 204, and based on the comparison result, the gate signal Vgs_Q102 is output from the gate signal generation means 204.

[0054] <Gain Change in PID Control> In the output voltage controller 201b, the P gain, I gain, and D gain of PID control for performing feedback arithmetic processing are each changed based on at least one or all of the input voltage signal Vin_sense, the output voltage signal Vout_sense, and the current signal IL1_sense. By changing the gain of the output voltage controller 201b, even if the characteristics of the voltage converter 100 change due to fluctuations in the input voltage signal Vin_sense, the output voltage signal Vout_sense, and the current signal IL1_sense, the voltage converter 100 can be operated at a constant response speed regardless of operating conditions. In voltage feedback control, responsiveness and stability can be maintained by changing the proportional gain, integral gain, and derivative gain of the feedback control respectively based on the input voltage signal Vin_sense, the output voltage signal Vout_sense, and the current signal IL1_sense.

[0055] In the current controller 205a, the P gain, I gain, and D gain of PID control for performing feedback arithmetic processing are each changed based on at least one or all of the input voltage signal Vin_sense, the output voltage signal Vout_sense, and the current signal IL1_sense. By changing the gain of the current controller 205a, even if the characteristics of the voltage converter 100 change due to fluctuations in the input voltage signal Vin_sense, the output voltage signal Vout_sense, and the current signal IL1_sense, the voltage converter 100 can be operated at a constant response speed regardless of operating conditions. In current feedback control, responsiveness and stability can be maintained by changing the proportional gain, integral gain, and derivative gain of the feedback control respectively based on the input voltage signal Vin_sense, the output voltage signal Vout_sense, and the current signal IL1_sense.

[0056] 5. Embodiment 5 Figure 7 is a configuration diagram of the voltage converter 300d according to Embodiment 5. The difference from Figure 1, which shows the configuration according to Embodiment 1, is that in Figure 7, the output of the output voltage controller 201 of the control unit 200 in Figure 1 is the difference between the output of the output voltage controller 201c and the output of the current controller 206 of the control unit 200d. Figures 2 and 3 can also be applied to Embodiment 5. The signal processing of the control unit 200d will be described below.

[0057] <Signal processing in the control unit> Figure 7 shows a block diagram of the signal processing in the control unit 200d. First, the deviation Vout_error, which is the difference between the target output voltage value Vout* input from an external source and the output voltage signal Vout_sense, is calculated.

[0058] The deviation Vout_error is input to the output voltage controller 201c, and the voltage signal y is output. The output voltage controller 201c performs feedback calculations such as PID control so that the target output voltage value Vout* matches the output voltage signal Vout_sense. The input voltage signal Vin_sense, output voltage signal Vout_sense, and current signal IL1_sense are input to the output voltage controller 201c, and the gain of the output voltage controller 201c is changed.

[0059] The current signal IL1_sense is input to the current controller 206, and a voltage signal z, which is a subtracted value as a damping term related to the current, is calculated to suppress resonance. The current controller 206 performs processing such as PID control. The output voltage signal Vout_sense is input to the current controller 206 to change the gain of the current controller 206. The difference between the voltage signal y and the voltage signal z is taken and the voltage signal x is output.

[0060] The voltage signal x and the input voltage signal Vin_sense are input to the gain normalization unit 202, and the on-duty cycle Dx for output voltage control is output. The gain normalization unit 202 performs the calculation shown in equation (1).

[0061] By providing the gain normalization unit 202, it becomes possible to change the on-duty Dx without waiting for a fluctuation in the output voltage signal Vout_sense when the input voltage signal Vin_sense fluctuates. Therefore, fluctuations in the output voltage Vout can be suppressed.

[0062] The on-duty Dx obtained by calculation for output voltage control is input to the output voltage control duty limiter 203. The on-duty Dx is corrected to a value within the range determined by the output voltage control duty limiter 203, and the on-duty Dy for actual output voltage control is output.

[0063] The on-duty Dy for driving the semiconductor switching element 102 is input to the gate signal generation means 204. The on-duty Dy is compared with a carrier wave generated inside the gate signal generation means 204, and the gate signal Vgs_Q102 is output from the gate signal generation means 204 based on the comparison result.

[0064] <Gain Change for PID Control> In the output voltage controller 201c, for each of the P gain, I gain, and D gain of PID control that performs feedback arithmetic processing, gain adjustment is performed based on at least one or all of the input voltage signal Vin_sense, the output voltage signal Vout_sense, and the current signal IL1_sense. By adjusting the gain of the output voltage controller 201c, even if the characteristics of the voltage converter 100 change due to fluctuations in the input voltage signal Vin_sense, the output voltage signal Vout_sense, and the current signal IL1_sense, the voltage converter 100 can be operated at a constant response speed regardless of operating conditions. In voltage feedback control, responsiveness and stability can be maintained by respectively changing the proportional gain, integral gain, and derivative gain of the feedback control based on the input voltage signal Vin_sense, the output voltage signal Vout_sense, and the current signal IL1_sense.

[0065] In the current controller 206, the P gain, I gain, and D gain of the PID control that performs feedback calculations are changed based on the output voltage signal Vout_sense. By changing the gain of the current controller 206, it becomes possible to operate the voltage converter 100 with a constant response speed regardless of the operating conditions, even if the characteristics of the voltage converter 100 change due to fluctuations in the output voltage signal Vout_sense.

[0066] 6. Embodiment 6 Figure 8 is a configuration diagram of the voltage converter 300e according to Embodiment 6. The difference from Figure 7, which shows the configuration according to Embodiment 5, is that the current controller 206 of the control unit 200d in Figure 7 is replaced by the current controller 206a of the control unit 200e in Figure 8. Figures 2 and 3 can also be applied to Embodiment 6. The signal processing of the control unit 200e will be described below.

[0067] <Signal processing in the control unit> Figure 8 shows a block diagram of the signal processing in the control unit 200e. First, the deviation Vout_error, which is the difference between the target output voltage value Vout* input from an external source and the output voltage signal Vout_sense, is calculated.

[0068] The deviation Vout_error is input to the output voltage controller 201c, and the voltage signal y is output. The output voltage controller 201c performs feedback calculations such as PID control so that the target output voltage value Vout* matches the output voltage signal Vout_sense. The input voltage signal Vin_sense, output voltage signal Vout_sense, and current signal IL1_sense are input to the output voltage controller 201c, and the gain of the output voltage controller 201c is changed.

[0069] The current signal IL1_sense is input to the current controller 206a, and a voltage signal z that serves as a subtracted value as an attenuation term related to current is calculated to suppress resonance. The current controller 206a performs processing such as PID control. The input voltage signal Vin_sense, the output voltage signal Vout_sense, and the current signal IL1_sense are input to the current controller 206a to change the gain of the current controller 206a. The difference between the voltage signal y and the voltage signal z is obtained, and the voltage signal x is output.

[0070] The voltage signal x and the input voltage signal Vin_sense are input to the gain normalization unit 202, and an on-duty Dx for output voltage control is output. The gain normalization unit 202 performs the calculation of formula (1).

[0071] By providing the gain normalization unit 202, when the input voltage signal Vin_sense fluctuates, it becomes possible to change the on-duty Dx without waiting for the fluctuation of the output voltage signal Vout_sense. Therefore, fluctuations in the output voltage Vout can be suppressed.

[0072] The on-duty Dx obtained by calculation for output voltage control is input to the output voltage control duty limiter 203. The on-duty Dx is corrected to a value within the range determined by the output voltage control duty limiter 203, and an on-duty Dy for actual output voltage control is output.

[0073] The on-duty Dy for driving the semiconductor switching element 102 is input to the gate signal generation means 204. The on-duty Dy is compared with a carrier wave generated inside the gate signal generation means 204, and based on the comparison result, the gate signal Vgs_Q102 is output from the gate signal generation means 204.

[0074] <Gain Change for PID Control> In the output voltage controller 201c, the P gain, I gain, and D gain of the PID control that performs feedback calculations are changed based on at least one or all of the input voltage signal Vin_sense, output voltage signal Vout_sense, and current signal IL1_sense. By changing the gain of the output voltage controller 201c, it is possible to operate the voltage converter 100 with a constant response speed regardless of the operating conditions, even if the characteristics of the voltage converter 100 change due to fluctuations in the input voltage signal Vin_sense, output voltage signal Vout_sense, and current signal IL1_sense. In voltage feedback control, responsiveness and stability can be maintained by changing the proportional gain, integral gain, and differential gain of the feedback control, respectively, based on the input voltage signal Vin_sense, output voltage signal Vout_sense, and current signal IL1_sense.

[0075] In the current controller 206a, the P gain, I gain, and D gain of the PID control that performs feedback calculations are changed based on the input voltage signal Vin_sense, the output voltage signal Vout_sense, and the current signal IL1_sense. By changing the gain of the current controller 206a, it becomes possible to operate the voltage converter 100 with a constant response speed regardless of the operating conditions, even if the characteristics of the voltage converter 100 change due to fluctuations in the input voltage signal Vin_sense, the output voltage signal Vout_sense, and the current signal IL1_sense.

[0076] 7. Embodiment 7 Figure 9 is a configuration diagram of the voltage converter 300f according to Embodiment 7. The difference from Figure 1, which shows the configuration according to Embodiment 1, is that the voltage converter 100 and the gate signal generation means 204 of the control unit 200 in Figure 1 are replaced by the voltage converter 100a and the gate signal generation means 204a of the control unit 200f in Figure 9. Figure 2 can also be applied to Embodiment 7. The configuration of the voltage converter 100a and the signal processing of the control unit 200f will be described below.

[0077] <Configuration of voltage converter> The voltage converter 100a is also called an MLC (Multi-Level Chopper) circuit. The voltage converter 100a includes a reactor 101, diodes 103a and 103b, semiconductor switching elements 102a and 102b, an output smoothing capacitor 3, and an intermediate capacitor 106. The input of the voltage converter 100a is connected via the reactor 101 to the anode side of diode 103a and the positive side (drain side) of semiconductor switching element 102b, and the negative side (source side) of semiconductor switching element 102a is connected to the positive side (drain side) of semiconductor switching element 102b.

[0078] The negative side (source side) of the semiconductor switching element 102b is grounded. The cathode side of diode 103a is connected to the positive side of intermediate capacitor 106, whose anode side and negative side are connected to the negative side (source side) of semiconductor switching element 102a. The cathode side of diode 103b is connected to the positive side of output smoothing capacitor 3, whose negative side is grounded, and to the output of voltage converter 100a.

[0079] The voltage converter 300f includes an input voltage sensor 5 that detects the input voltage Vin across the terminals of the input smoothing capacitor 2, and an output voltage sensor 6 that detects the output voltage Vout across the terminals of the output smoothing capacitor 3. The voltage converter 300f further includes a reactor current sensor 104 that detects the reactor current IL1 passing through the voltage converter 100a, and a low-pass filter 105 for the reactor current detection means. The low-pass filter 105 for the reactor current detection means smooths the output of the reactor current sensor 104 and removes the ripple current of the reactor current IL1. The input voltage sensor 5 outputs an input voltage signal Vin_sense, the output voltage sensor 6 outputs an output voltage signal Vout_sense, and the low-pass filter 105 for the reactor current detection means outputs a current signal IL1_sense.

[0080] The gates of semiconductor switching elements 102a and 102b of the voltage converter 100a are connected to the gate signal generation means 204a of the control unit 200f. The gate signal generation means 204a outputs two signals separately: gate signal Vgs_Q102a and gate signal Vgs_Q102b.

[0081] <Signal processing in the control unit> Figure 9 shows a block diagram of the signal processing in the control unit 200f. The signal processing in the control unit 200f is described below. First, the deviation Vout_error, which is the difference between the target output voltage value Vout* input from an external source and the output voltage signal Vout_sense, is calculated.

[0082] The deviation Vout_error is input to the output voltage controller 201 and the voltage signal x is output. The output voltage controller 201 performs feedback calculations such as PID control so that the target output voltage value Vout* matches the output voltage signal Vout_sense. The current signal IL1_sense is input to the output voltage controller 201 and the gain of the output voltage controller 201 is changed.

[0083] The voltage signal x and the input voltage signal Vin_sense are input to the gain normalization unit 202, and the on-duty cycle Dx for output voltage control is output. The gain normalization unit 202 performs the calculation shown in equation (1).

[0084] By providing the gain normalization unit 202, it becomes possible to change the on-duty cycle Dx without waiting for the output voltage signal Vout_sense to change when the input voltage signal Vin_sense changes. This makes it possible to suppress fluctuations in the output voltage Vout.

[0085] The on-duty cycle Dx calculated for output voltage control is input to the output voltage control duty limiter 203. The on-duty cycle Dx is corrected to a value within the range determined by the output voltage control duty limiter 203, and the on-duty cycle Dy for actual output voltage control is output.

[0086] An on-duty Dy for driving the semiconductor switching element 102 is input to a gate signal generation means 204a. The on-duty Dy and 1-Dy are compared with a carrier wave generated inside the gate signal generation means 204a, and gate signals Vgs_Q102a and Vgs_Q102a are output from the gate signal generation means 204a based on the comparison result.

[0087] <Gain Change in PID Control> In the output voltage controller 201, the gain is changed based on the current signal IL1_sense for each of the P gain, I gain, and D gain of PID control that performs feedback arithmetic processing. By changing the gain of the output voltage controller 201, even if the characteristics of the voltage converter 100a change due to fluctuations in the reactor current IL1, it is possible to operate the voltage converter at a constant response speed regardless of operating conditions. In voltage feedback control, responsiveness and stability can be maintained by changing the proportional gain, integral gain, and differential gain of the feedback control respectively based on the current detected by the current sensor.

[0088] <Operation Waveforms of Voltage Converter> FIG. 10 is a diagram showing an example of operation waveforms of the voltage converter 300f according to the first embodiment. In the diagram, the vertical axis represents current or voltage, and the horizontal axis represents time. In the bottom row, the carrier wave generated inside the gate signal generation means 204a of the control unit 200f is shown as a sawtooth wave by an alternate long and short dash line. On-duties Dy and 1-Dy for driving the semiconductor switching elements 102a and 102b are shown horizontally by a solid line and an alternate long and two short dashes line, respectively.

[0089] The on-duty Dy and 1-Dy are compared with a carrier wave. In a section where the carrier wave is equal to or lower than the level of the on-duty Dy, an on-signal (high signal) is output as the gate signal a, and in a section where the level of the on-duty Dy is higher than the carrier wave, an off-signal (low signal) is output as the gate signal a. In a section where the carrier wave is higher than the level of the on-duty 1-Dy, an on-signal (high signal) is output as the gate signal b, and in a section where the level of the on-duty 1-Dy is equal to or lower than the carrier wave, an off-signal (low signal) is output as the gate signal b. This state is shown in the second and third stages from the bottom of FIG. 10.

[0090] When the gate signal a is an on-signal, the semiconductor switching element 102a is driven. When the gate signal b is an on-signal, the semiconductor switching element 102b is driven. In a section where both the semiconductor switching elements 102a and 102b are driven, the current flowing through the reactor 101 increases. In a section where either one of the semiconductor switching elements 102a and 102b is off, the current flowing through the reactor 101 decreases. This state is shown in the uppermost stage of FIG. 10. In the second stage from the top of FIG. 10, the voltage VL1 applied to the reactor 101 is shown.

[0091] By controlling the on-duty Dy and 1-Dy, the reactor current IL1 flowing through the reactor 101 can be manipulated. Thereby, the output voltage Vout of the voltage converter 300f can be controlled.

[0092] <Operation of MLC Circuit> By using an MLC circuit as the voltage converter 100a, it becomes possible to configure the voltage converter with a smaller reactor. Further, by inputting the current signal IL1_sense to the output voltage controller 201 and changing the gain of the output voltage controller 201, even if the characteristics of the voltage converter 100a change due to fluctuations in the reactor current IL1, the voltage converter can be operated at a constant response speed regardless of operating conditions.

[0093] Figure 11 shows the switching modes of the voltage converter 300f according to Embodiment 7. Figure 12 shows the sequence of the boost mode and switching mode of the voltage converter 300f according to Embodiment 7.

[0094] By using an MLC circuit as the voltage converter 100a, multiple boost levels can be selected by changing the transition order of the switching modes of the semiconductor switching elements 102a and 102b. The output voltage can be selected as needed, resulting in a more multifunctional voltage converter 300f. The switching modes, which are combinations of on or off states of the semiconductor switching elements 102a and 102b, are shown in Figure 11. An example of the boost mode and the switching order of the boost level and switching mode is shown in Figure 12.

[0095] 8. Embodiment 8 Figure 13 is a configuration diagram of the voltage converter 100b of the voltage converter 300g according to Embodiment 8. The difference from the configuration according to Embodiment 7 is that the voltage converter 100a in Figure 9 according to Embodiment 7 is replaced by 100b in Figure 13, and the gate signal generation means 204a that outputs two gate signals Vgs_Q102a, Vgs_Q102a of the control unit 200f in Figure 9 is replaced by a gate signal generation means 204b that outputs four gate signals of the control unit 200g (the voltage converter 300g, control unit 200g, and gate signal generation means 204b are not shown).

[0096] The voltage converter 100b in Figure 13 is equipped with a reactor 101 with one end connected to the positive side of the input of the voltage converter 100b, and a first positive-side switching element 112 and a first negative-side switching element 113 connected in series, with the other end of reactor 101 connected at the connection point. The voltage converter 100b is equipped with a first capacitor 116b connected between the positive side of the first positive-side switching element 112 and the negative side of the first negative-side switching element 113. Capacitor 116b is an intermediate capacitor 116b.

[0097] The voltage converter 100b is equipped with a second positive-side switching element 111 connected in series with the positive side of the first positive-side switching element 112, a second negative-side switching element 114 connected in series with the negative side of the first negative-side switching element 113, and a second capacitor 116a connected between the positive side of the second positive-side switching element 111 and the negative side of the second negative-side switching element 114. The capacitor 116a is an output smoothing capacitor 116a. The positive side of the uppermost positive-side switching element 111 of the voltage converter 100b is the positive side of the output of the voltage converter 100b, and the negative side of the lowermost negative-side switching element 114 is the negative side of the output of the voltage converter 100b.

[0098] This configuration allows for the creation of an MLC circuit equipped with four switching elements. This enables the voltage boost ratio to be changed, making it possible to construct a voltage converter with a smaller reactor. A voltage converter having an MLC circuit with this configuration is called a multi-level flying capacitor type DC-DC converter. The explanation of the drive signals for each switching element is omitted here.

[0099] By inputting the current signal IL1_sense to the output voltage controller 201 and changing the gain of the output voltage controller 201, it becomes possible to operate the voltage converter 100b with a constant response speed regardless of the operating conditions, even if the characteristics of the voltage converter 100b change due to fluctuations in the reactor current IL1. Furthermore, by providing the gain normalization unit 202, it becomes possible to change the on-duty cycle Dx without waiting for fluctuations in the output voltage signal Vout_sense when the input voltage signal Vin_sense fluctuates. This makes it possible to suppress fluctuations in the output voltage Vout.

[0100] 9. Embodiment 9 Figure 14 is a configuration diagram of the voltage converter 100c of the voltage converter 300h according to Embodiment 9. The difference from the configuration according to Embodiment 7 is that the voltage converter 100a in Figure 9 according to Embodiment 7 is replaced by 100c in Figure 14, and the gate signal generation means 204a that outputs two gate signals Vgs_Q102a, Vgs_Q102a of the control unit 200f in Figure 9 is replaced by a gate signal generation means 204c that outputs six gate signals of the control unit 200h (the voltage converter 300h, control unit 200h, and gate signal generation means 204c are not shown).

[0101] The voltage converter 100c in Figure 14 is equipped with a reactor 101 with one end connected to the positive side of the input of the voltage converter 100c, a first positive-side switching element 123 and a first negative-side switching element 124 connected in series, with the other end of reactor 101 connected at the connection point. The voltage converter 100c is equipped with a first capacitor 126c connected between the positive side of the first positive-side switching element 123 and the negative side of the first negative-side switching element 124. Capacitor 126c is an intermediate capacitor 126c.

[0102] The voltage converter 100c is equipped with a second positive-side switching element 122 connected in series with the positive side of the first positive-side switching element 123, a second negative-side switching element 125 connected in series with the negative side of the first negative-side switching element 124, and a second capacitor 126b connected between the positive side of the second positive-side switching element 122 and the negative side of the second negative-side switching element 125. Capacitor 126b is an intermediate capacitor 126b. The voltage converter 100c is equipped with a third positive-side switching element 121 connected in series with the positive side of the second positive-side switching element 122, a third negative-side switching element 126 connected in series with the negative side of the second negative-side switching element 125, and a third capacitor 126a connected between the positive side of the third positive-side switching element 121 and the negative side of the third negative-side switching element 126. Capacitor 126a is an output smoothing capacitor 126a. The positive side of the uppermost positive-side switching element 121 of the voltage converter 100c is the positive side of the output of the voltage converter 100c, and the negative side of the lowermost negative-side switching element 126 is the negative side of the output of the voltage converter 100c.

[0103] This configuration allows for the creation of a voltage converter 100c using an MLC circuit equipped with six switching elements. This enables finer adjustment of the boost ratio and allows for the creation of a voltage converter with a smaller reactor. Furthermore, by inputting the current signal IL1_sense to the output voltage controller 201 and changing the gain of the output voltage controller 201, it becomes possible to operate the voltage converter 100c with a constant response speed regardless of the operating conditions, even if the characteristics change due to fluctuations in the reactor current IL1. In addition, by providing a gain normalization unit 202, it becomes possible to change the on-duty cycle Dx without waiting for fluctuations in the output voltage signal Vout_sense when the input voltage signal Vin_sense fluctuates. This suppresses fluctuations in the output voltage Vout.

[0104] Figure 14 shows an MLC circuit equipped with six switching elements, but the same can be applied to an MLC circuit equipped with 2N (where N is a natural number) switching elements. In that case as well, similar to embodiments 8 and 9, the boost ratio can be finely adjusted, and a smaller reactor can be used to construct the voltage converter. At the same time, by inputting the current signal IL1_sense to the output voltage controller 201 and changing the gain of the output voltage controller 201, it is possible to operate the MLC circuit with a constant response speed regardless of the operating conditions, even if the characteristics of the MLC circuit change due to fluctuations in the reactor current IL1.

[0105] In Embodiments 1 to 9, the voltage converter was described using a non-isolated boost chopper circuit, a non-isolated boost MLC circuit, and a multi-level flying capacitor type DC-DC converter as examples, but the same can be done with other DC / DC converters or AC / DC converters. In Embodiments 1 to 9, the detected values ​​of the input voltage signal Vin_sense, output voltage signal Vout_sense, and current signal IL1_sense were used to change the gain of the output voltage controller and current controller, but the gain may also be changed using target values ​​such as the target output voltage value Vout* and target reactor current value IL1*, or estimated values, or similar signals such as the on-duty cycle Dx and on-duty cycle Dy of the switching element.

[0106] While this application describes various exemplary embodiments and examples, the various features, aspects, and functions described in one or more embodiments are not limited to the application of a particular embodiment, but are applicable individually or in various combinations to the embodiments. Accordingly, countless variations not illustrated are envisioned within the scope of the art disclosed herein. These include, for example, modifying, adding or omitting at least one component, or even extracting at least one component and combining it with a component from another embodiment.

[0107] The various aspects of this disclosure are summarized below as an appendix.

[0108] (Note 1) A voltage converter that converts a DC current input from a DC power source into a DC current of a different voltage and outputs it. A current sensor that detects the current passing through the voltage converter, An output voltage sensor for detecting the output voltage of the voltage converter, and The control unit includes a feedback control with proportional gain, integral gain, and differential gain that duty cycles the voltage converter so that the output voltage detected by the output voltage sensor matches a target voltage instructed from an external source. The control unit is a voltage converter that changes each of the gains of the feedback control based on the current detected by the current sensor. (Note 2) The system includes an input voltage sensor that detects the input voltage of the voltage converter, The voltage conversion device according to Appendix 1, wherein the control unit changes each of the gains of the feedback control based on the current detected by the current sensor and at least one of the input voltage detected by the input voltage sensor or the output voltage detected by the output voltage sensor. (Note 3) The voltage converter according to Appendix 1 or 2, wherein the control unit calculates a target current so that the output voltage detected by the output voltage sensor matches the target voltage, and calculates a duty cycle for driving the voltage converter by a second feedback control so that the current detected by the current sensor matches the target current. (Note 4) The voltage converter according to Appendix 3, wherein the control unit drives the voltage converter duty cycle using the second feedback control having a second proportional gain, a second integral gain, and a second differential gain, and changes each of the gains of the second feedback control based on the output voltage detected by the output voltage sensor. (Note 5) The system includes an input voltage sensor that detects the input voltage of the voltage converter, The voltage converter according to Appendix 3, wherein the control unit duty cycle drives the voltage converter by the second feedback control having a second proportional gain, a second integral gain, and a second differential gain, and changes each gain of the second feedback control based on at least one of the current detected by the current sensor, the input voltage detected by the input voltage sensor, and the output voltage detected by the output voltage sensor. (Note 6) The voltage converter according to Appendix 1 or 2, wherein the control unit obtains a subtraction value calculated as a decay term based on the current detected by the current sensor, and calculates the duty cycle for driving the voltage converter based on the result of subtracting the subtraction value from a control amount calculated so that the output voltage detected by the output voltage sensor matches the target voltage. (Note 7) The control unit modifies the gain of the calculation as the attenuation term based on the output voltage detected by the output voltage sensor, as described in Appendix 6. (Note 8) The system includes an input voltage sensor that detects the input voltage of the voltage converter, The control unit modifies the gain of the calculation as the attenuation term based on at least one of the current detected by the current sensor, the input voltage detected by the input voltage sensor, and the output voltage detected by the output voltage sensor, as described in Appendix 6. (Note 9) The control unit is a voltage converter according to any one of the appendices 1, 2, 6 to 8, which uses a normalized gain in the calculation for determining the duty cycle for driving the voltage converter. (Note 10) The system includes an input voltage sensor that detects the input voltage of the voltage converter, The control unit is a voltage converter as described in Appendix 9, wherein the input is X, the output is Y, and the input voltage is V, and the normalized gain is Y = X / (X + V). (Note 11) The system includes an input voltage sensor that detects the input voltage of the voltage converter, The control unit is a voltage converter as described in Appendix 9, wherein the input is X, the output is Y, and the input voltage is V, and the normalized gain is Y = (XV) / X. (Note 12) The aforementioned voltage converter is A reactor, one end of which is connected to the positive terminal side of the input of the voltage converter, A first switching element, the positive side output of which is connected to the other end of the reactor, A second switching element is connected in series with the first switching element, and its negative terminal output is grounded. A first diode and a second diode are connected in series in the forward direction from the other end of the reactor. An intermediate capacitor is provided between the connection point of the first switching element and the second switching element, and the connection point of the first diode and the second diode, and A voltage converter according to any one of the appendices 1 to 11, comprising: an output smoothing capacitor, one end of which is connected to the output side of the second diode, which is the positive terminal side of the output of the voltage converter, and the other end of which is grounded. (Note 13) The aforementioned voltage converter is A reactor, one end of which is connected to the positive terminal side of the input of the voltage converter, A first positive-side switching element and a first negative-side switching element are connected in series, with the other end of the reactor connected to the connection point. A first capacitor connected between the positive side of the first positive-side switching element and the negative side of the first negative-side switching element, K is an integer from 1 to N, and N is an integer greater than or equal to 1, and the (K+1)th positive-side switching element is connected in series with the positive side of the K-th positive-side switching element. A (K+1)th negative-side switching element connected in series with the negative side of the Kth negative-side switching element, and The system includes a (K+1) capacitor connected between the positive side of the (K+1) positive-side switching element and the negative side of the (K+1) negative-side switching element, A voltage converter according to any one of the appendices 1 to 11, wherein the positive side of the uppermost positive-side switching element is the positive side of the output of the voltage converter, and the negative side of the lowermost negative-side switching element is the negative side of the output of the voltage converter. (Note 14) The voltage converter described in Appendix 13 converts the DC current supplied from the DC power supply to the input side into a boosted DC current and supplies it to the output side, and converts the DC current supplied from the output side into a step-down DC current and supplies it to the DC power supply from the input side. [Explanation of Symbols]

[0109] 1 DC power supply, 3 116A, 126A output smoothing capacitors, 5 input voltage sensor, 6. Output voltage sensor, 100V, 100A, 100B, 100C voltage converter, 101 Reactor, 102, 102a, 102b Semiconductor switching elements, 103, 103a, 103b diodes, 104 reactor current sensor, 106, 116b, 126b, 126c intermediate capacitors, 111, 112, 121, 122, 123 Positive side switching element, 113, 114, 124, 125, 126 Negative side switching element, 200, 200a, 200b, 200c, 200d, 200e, 200f control unit, 201, 201a, 201b, 201c Output Voltage Controllers 202, 202a Gain normalization section, 205, 205a, 206, 206a current controllers, Voltage converters for 300, 300a, 300b, 300c, 300d, 300e, and 300f.

Claims

1. A voltage converter that converts a DC current input from a DC power source into a DC current of a different voltage and outputs it, A current sensor that detects the current passing through the voltage converter, An output voltage sensor for detecting the output voltage of the voltage converter, and The control unit includes a feedback control with proportional gain, integral gain, and differential gain that duty cycles the voltage converter so that the output voltage detected by the output voltage sensor matches a target voltage instructed from an external source. The control unit is a voltage converter that changes each of the gains of the feedback control based on the current detected by the current sensor. The control unit calculates a target current so that the output voltage detected by the output voltage sensor matches the target voltage, and calculates a duty cycle for driving the voltage converter by second feedback control so that the current detected by the current sensor matches the target current. The control unit drives the voltage converter duty cycle using a second feedback control having a second proportional gain, a second integral gain, and a second differential gain, and modifies each of the gains of the second feedback control based on the output voltage detected by the output voltage sensor.

2. A voltage converter that converts a DC current input from a DC power source into a DC current of a different voltage and outputs it, A current sensor that detects the current passing through the voltage converter, An output voltage sensor for detecting the output voltage of the voltage converter, An input voltage sensor for detecting the input voltage of the voltage converter, and The control unit includes a feedback control with proportional gain, integral gain, and differential gain that duty cycles the voltage converter so that the output voltage detected by the output voltage sensor matches a target voltage instructed from an external source. The control unit is a voltage converter that changes each of the gains of the feedback control based on the current detected by the current sensor. The control unit calculates a target current so that the output voltage detected by the output voltage sensor matches the target voltage, and calculates a duty cycle for driving the voltage converter by second feedback control so that the current detected by the current sensor matches the target current. The control unit drives the voltage converter duty cycle using the second feedback control having a second proportional gain, a second integral gain, and a second differential gain, and modifies each of the gains of the second feedback control based on at least one of the current detected by the current sensor, the input voltage detected by the input voltage sensor, and the output voltage detected by the output voltage sensor.

3. A voltage converter that converts a DC current input from a DC power source into a DC current of a different voltage and outputs it, A current sensor that detects the current passing through the voltage converter, An output voltage sensor for detecting the output voltage of the voltage converter, and The control unit includes a feedback control with proportional gain, integral gain, and differential gain that duty cycles the voltage converter so that the output voltage detected by the output voltage sensor matches a target voltage instructed from an external source. The control unit is a voltage converter that changes each of the gains of the feedback control based on the current detected by the current sensor. The control unit obtains a subtraction value calculated as a decay term based on the current detected by the current sensor, and calculates the duty cycle for driving the voltage converter based on the result of subtracting the subtraction value from a control amount calculated so that the output voltage detected by the output voltage sensor matches the target voltage. The control unit is a voltage converter that changes the gain of the calculation as the attenuation term based on the output voltage detected by the output voltage sensor.

4. A voltage converter that converts a DC current input from a DC power source into a DC current of a different voltage and outputs it, A current sensor that detects the current passing through the voltage converter, An output voltage sensor for detecting the output voltage of the voltage converter, An input voltage sensor for detecting the input voltage of the voltage converter, and The control unit includes a feedback control with proportional gain, integral gain, and differential gain that duty cycles the voltage converter so that the output voltage detected by the output voltage sensor matches a target voltage instructed from an external source. The control unit is a voltage converter that changes each of the gains of the feedback control based on the current detected by the current sensor. The control unit obtains a subtraction value calculated as a decay term based on the current detected by the current sensor, and calculates the duty cycle for driving the voltage converter based on the result of subtracting the subtraction value from a control amount calculated so that the output voltage detected by the output voltage sensor matches the target voltage. The control unit is a voltage converter that changes the gain of the calculation as the attenuation term based on at least one of the current detected by the current sensor, the input voltage detected by the input voltage sensor, and the output voltage detected by the output voltage sensor.

5. A voltage converter that converts a DC current input from a DC power source into a DC current of a different voltage and outputs it, A current sensor that detects the current passing through the voltage converter, An output voltage sensor for detecting the output voltage of the voltage converter, An input voltage sensor for detecting the input voltage of the voltage converter, and The control unit includes a feedback control with proportional gain, integral gain, and differential gain that duty cycles the voltage converter so that the output voltage detected by the output voltage sensor matches a target voltage instructed from an external source. The control unit is a voltage converter that changes each of the gains of the feedback control based on the current detected by the current sensor. The control unit uses a normalized gain in the calculation for determining the duty cycle for driving the voltage converter. The control unit is a voltage converter where the input is X, the output is Y, and the input voltage is V, and the normalized gain is Y = (X - V) / X.

6. The aforementioned voltage converter is A reactor, one end of which is connected to the positive terminal side of the input of the voltage converter, A first switching element, the positive side output of which is connected to the other end of the reactor, A second switching element is connected in series with the first switching element, and its negative terminal output is grounded. A first diode and a second diode are connected in series in the forward direction from the other end of the reactor. An intermediate capacitor is provided between the connection point of the first switching element and the second switching element, and the connection point of the first diode and the second diode, and A voltage converter according to any one of claims 1 to 5, comprising: an output smoothing capacitor, one end of which is connected to the output side of the second diode which is the positive terminal side of the output of the voltage converter, and the other end of which is grounded.

7. The aforementioned voltage converter is A reactor, one end of which is connected to the positive terminal side of the input of the voltage converter, A first positive-side switching element and a first negative-side switching element are connected in series, with the other end of the reactor connected to the connection point. A first capacitor connected between the positive side of the first positive-side switching element and the negative side of the first negative-side switching element, K is an integer from 1 to N, and N is an integer greater than or equal to 1, and the (k+1)th positive-side switching element is connected in series with the positive side of the K-th positive-side switching element. A (k+1)th negative-side switching element connected in series with the negative side of the kth negative-side switching element, and The (K+1) capacitor is connected between the positive side of the (K+1) positive switching element and the negative side of the (K+1) negative switching element, The voltage converter according to any one of claims 1 to 5, wherein the positive side of the uppermost positive-side switching element is the positive side of the output of the voltage converter, and the negative side of the lowermost negative-side switching element is the negative side of the output of the voltage converter.

8. The voltage converter according to claim 7, wherein the voltage converter converts the DC current supplied from the DC power supply to the input side into a boosted DC current and supplies it to the output side, and converts the DC current supplied from the output side into a step-down DC current and supplies it to the DC power supply from the input side.

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