CN111786446B - Active-disturbance-rejection control method of power battery charging device and battery charging system - Google Patents

Active-disturbance-rejection control method of power battery charging device and battery charging system Download PDF

Info

Publication number
CN111786446B
CN111786446B CN202010681213.0A CN202010681213A CN111786446B CN 111786446 B CN111786446 B CN 111786446B CN 202010681213 A CN202010681213 A CN 202010681213A CN 111786446 B CN111786446 B CN 111786446B
Authority
CN
China
Prior art keywords
direct
controller
rectifier
observed quantity
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010681213.0A
Other languages
Chinese (zh)
Other versions
CN111786446A (en
Inventor
齐红柱
何国锋
陈斌
弓少康
任兆文
陈洪闯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhengzhou Senyuan New Energy Technology Co ltd
Original Assignee
Zhengzhou Senyuan New Energy Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhengzhou Senyuan New Energy Technology Co ltd filed Critical Zhengzhou Senyuan New Energy Technology Co ltd
Priority to CN202010681213.0A priority Critical patent/CN111786446B/en
Publication of CN111786446A publication Critical patent/CN111786446A/en
Application granted granted Critical
Publication of CN111786446B publication Critical patent/CN111786446B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • H02J7/04—Regulation of charging current or voltage
    • H02J7/06—Regulation of charging current or voltage using discharge tubes or semiconductor devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/21—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/217—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M7/2173—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only in a biphase or polyphase circuit arrangement
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/21—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/217—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M7/219—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only in a bridge configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/30—AC to DC converters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J2207/20—Charging or discharging characterised by the power electronics converter
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Abstract

The invention relates to an active disturbance rejection control method and a battery charging system of a power battery charging device, belonging to the technical field of new energy automobile charging, wherein a rectifier is taken as a controlled object, a total disturbance observed quantity is estimated through a linear extended state observer, whether the error between a direct current voltage observed quantity and a set direct current voltage reference value exceeds a set threshold value or not is detected, if the error does not exceed the set threshold value, a PD (potential difference) controller is utilized, the error is output through a nonlinear state error feedback module and is superposed with the total disturbance observed quantity to be taken as the control quantity of the rectifier, the control of each switching tube is realized, and the working performance of the charging device is stabilized; if the voltage exceeds the set threshold value, the robust controller is utilized, the output of the nonlinear state error feedback module is output, and the output is superposed with the total disturbance observed quantity to serve as the control quantity of the rectifier and the control quantity of the rectifier, so that the control of each switching tube is realized, the working performance of the charging device is stabilized, and the smooth charging operation is ensured.

Description

Active-disturbance-rejection control method of power battery charging device and battery charging system
Technical Field
The invention belongs to the technical field of new energy automobile charging, and particularly relates to an active disturbance rejection control method of a power battery charging device and a battery charging system.
Background
With the popularization of new energy vehicles, charging piles, which are important facilities matched with the new energy vehicles, are also gradually becoming hot spots of research, and in order to improve the cruising ability of the new energy vehicles, the vehicles need to be equipped with large-capacity power batteries. In order to meet the charging requirements of users, in order to complete the charging operation of the battery in a short time, the charging module in the charging pile should meet the requirement of high-power quick charging.
Generally, a plurality of charging interfaces are provided for charging power batteries of various types, for one charging interface, the charging load connected to the charging interface is generally random, that is, the last battery charged by using the interface is in one specification, and the next battery charged by using the interface is in another specification, so that due to sudden change of the charging load when the charging interface is connected, external disturbance is caused, and the working performance of the charging pile (charging device) is affected.
On the other hand, when charging device work was in positive negative pulse charging mode, need carry out positive pulse charging and negative pulse discharging to the battery, and the current flow direction that the negative pulse discharged is just opposite with the current flow direction that positive pulse charges, and need a plurality of high-power modules to participate in the operation simultaneously among two kinds of control processes, inside device parameter all changes, arouse inside great disturbance, in addition other unknown disturbances, can seriously influence the working property who fills electric pile, simultaneously, the inside disturbance that high-power charges and arouses also can cause adverse effect to the battery performance, influence life.
Disclosure of Invention
The invention aims to provide an active disturbance rejection control method of a power battery charging device, which is used for solving the problem that the working performance of the conventional charging device is influenced by internal or external disturbance in the charging process; meanwhile, the invention provides a power battery charging system which is used for solving the problem that the working performance of the conventional charging device is influenced by internal or external disturbance in the charging process.
Based on the above purpose, the technical scheme of the active disturbance rejection control method of the power battery charging device is as follows:
the charging device comprises a rectifier and a direct current converter, wherein the alternating current side of the rectifier is used for being connected with a power grid, the direct current side of the rectifier is connected with a direct current bus, the input end of the direct current converter is connected with the direct current bus, and the output end of the direct current converter is used for being connected with a power battery, and the control method comprises the following steps:
the rectifier is used as a controlled object, the direct-current voltage output by the controlled object is obtained, and a linear extended state observer is used for outputting a total disturbance observed quantity, a direct-current voltage observed quantity and a direct-current voltage differential observed quantity;
when the error between the direct-current voltage observed quantity and a set direct-current voltage reference value does not exceed a set threshold value, taking the set direct-current voltage reference value, the direct-current voltage observed quantity and a direct-current voltage differential observed quantity as the input of a PD controller, sending an output signal of the PD controller to a nonlinear state error feedback module, and overlapping the output of the nonlinear state error feedback module and the total disturbance observed quantity to generate a control quantity, wherein the control quantity is used for being input into a control model of a controlled object;
and when the error between the direct-current voltage observed quantity and the set direct-current voltage reference value exceeds a set threshold value, taking the set direct-current voltage reference value, the direct-current voltage observed quantity and the direct-current voltage differential observed quantity as the input of a robust controller, sending an output signal of the robust controller to a nonlinear state error feedback module, and superposing the output of the nonlinear state error feedback module and the total disturbance observed quantity to generate a control quantity which is used for being input into a control model of a controlled object.
The two technical schemes have the beneficial effects that:
the control method of the invention takes the rectifier as a controlled object, estimates the total disturbance observed quantity through the linear extended state observer, and judges whether the error between the direct current voltage observed quantity and the set direct current voltage reference value exceeds a set threshold value, if not, the PD controller is utilized, the error is output through the nonlinear state error feedback module and is superposed with the total disturbance observed quantity to be used as the control quantity of the rectifier, so as to realize the control of each switching tube and stabilize the working performance of the charging device; if the current exceeds the set threshold, the robust controller is utilized to be superposed with the total disturbance observed quantity through the output of the nonlinear state error feedback module to be used as the control quantity of the rectifier, so that the control of each switching tube is realized. The control method can perform corresponding control according to the serious disturbance condition, quickly stabilize the working performance of the charging device and ensure the smooth operation of the charging operation.
Further, the expression of the output signal of the PD controller is as follows:
u o1 ＝k p (v 0 -z 1 )-k d z 2
in the formula u o1 Is the output signal of the PD controller, k p Is the proportionality coefficient, k, in the PD controller d Is the differential coefficient, v, in the PD controller 0 Is a DC voltage reference value, z 1 As a direct voltage observation, z 2 Is a direct current voltage differential observed quantity.
Further, the expression of the output signal of the robust controller is as follows:
u o1 ＝K(s)(v 0 -z 1 )+K(s)z 2
in the formula (I), the compound is shown in the specification, uo1 is an output signal of the PD controller, K ( s ) In order to be able to set the transfer function, v0 is a DC voltage reference value, z 1 As a direct voltage observation, z 2 Is a direct current voltage differential observed quantity.
Further, the mathematical expression of the linear extended state observer is as follows:
Figure BDA0002585902410000021
in the formula, z 1 As direct voltage observations, z 2 Is direct currentDifferential pressure observed, z 3 As a total disturbance observed quantity, beta 1 、β 2 And beta 3 Is the gain coefficient in the average linear extended state observer, y is the DC voltage output by the controlled object, b 0 For the disturbance nominal value, u is the controlled variable of the controlled object.
Based on the purpose, the technical scheme of the power battery charging system is as follows:
the active disturbance rejection control method comprises a controller and a charging device, wherein the charging device comprises a rectifier and a direct current converter, the alternating current side of the rectifier is used for being connected with a power grid, the direct current side of the rectifier is connected with a direct current bus, the input end of the direct current converter is connected with the direct current bus, the output end of the direct current converter is used for being connected with a power battery, and the controller is connected with the rectifier in a control mode and used for executing instructions to achieve the active disturbance rejection control method.
The beneficial effects of the above technical scheme are:
the charging system of the invention utilizes the control command of the active disturbance rejection control method loaded in the controller to control the rectifier in the charging device, so as to stabilize the working performance of the charging device and realize the smooth charging of the battery.
Further, the expression of the output signal of the PD controller is as follows:
u o1 ＝k p (v 0 -z 1 )-k d z 2
in the formula u o1 Is the output signal of the PD controller, k p Is the proportionality coefficient, k, in the PD controller d Is a differential coefficient, v, in a PD controller 0 Is a DC voltage reference value, z 1 As a direct voltage observation, z 2 Is a direct current voltage differential observed quantity.
Further, the expression of the output signal of the robust controller is as follows:
u o1 ＝K(s)(v 0 -z 1 )+K(s)z 2
in the formula u o1 For the output signal of the PD controller, K(s) is a set transfer function, v 0 Is a reference value of DC voltage，z 1 As a direct voltage observation, z 2 Is a direct current voltage differential observed quantity.
Further, the mathematical expression of the linear extended state observer is as follows:
Figure BDA0002585902410000031
in the formula, z 1 As a direct voltage observation, z 2 As a differential observation of the DC voltage, z 3 As a total disturbance observed quantity, beta 1 、β 2 And beta 3 Is the gain coefficient in the average linear extended state observer, y is the DC voltage output by the controlled object, b 0 And u is the control quantity of the controlled object for the disturbance nominal value.
Drawings
FIG. 1 is a schematic diagram of a power battery charging system in an embodiment of the method of the present invention;
FIG. 2 is a block diagram of an active disturbance rejection control algorithm in an embodiment of the method of the present invention;
FIG. 3 is a block diagram of K(s) evaluation for a robust controller in an embodiment of the method of the present invention;
FIG. 4 is a diagram of a topology of a power battery charging apparatus in an embodiment of the method of the present invention;
the reference numerals in the figures are explained below:
1, a three-phase power supply; 2, a three-phase switch; 3,LCL type filters; 4, t-type three-level rectifier; 5. 15-5 are all bidirectional direct current converters; 501, an H-bridge inverter; 502, a multi-winding high-frequency coupling transformer; 503, an H-bridge rectifier; 6, LC type filter, 7, battery; 8. 11 and 14 are sampling modules; 801. 11-2 and 14-2 are current sampling modules; 802. 11-1, 14-1 and 15-3 are all voltage sampling modules; 9. 12 and 15-1 are both controllers; 10. 13 and 15-2 are both driving modules; 15-4, a super capacitor; and 16, an energy management controller.
Detailed Description
The following description will further describe embodiments of the present invention with reference to the accompanying drawings.
The method comprises the following steps:
this embodiment proposes an active disturbance rejection control method for a power battery charging device, taking the power battery charging system shown in fig. 1 as an example, to describe the control method of the present invention:
the power battery charging system shown in fig. 1 includes a power battery charging device and a control circuit thereof, wherein the power battery charging device includes an LCL type filter 3, a T type three-level rectifier 4, a bidirectional dc converter 5, and an LC type filter 6, which are connected in sequence, wherein an input end of the LCL type filter 3 is connected to a three-phase power supply 1 of a power grid through a three-phase switch 2 (i.e., SW), the bidirectional dc converter 5 is formed by sequentially connecting an H-bridge inverter 501, a multi-winding high-frequency coupling transformer 502, and an H-bridge rectifier 503, and an output end of the LC type filter 6 is used for connecting a battery 7 to be charged.
The charging system is further provided with an energy storage device, the energy storage device comprises a super capacitor 15-4 and a bidirectional direct current converter 15-5, the super capacitor 15-4 is connected with one end of the bidirectional direct current converter 15-5, and the other end of the bidirectional direct current converter 15-5 is connected to the output end of the T-type three-level rectifier 4 and the input end of the bidirectional direct current converter 5 respectively.
In fig. 1, the control circuit includes four parts, which are a rectifier control circuit, a converter control circuit, an energy storage control circuit, and an energy management control circuit, respectively, where the rectifier control circuit adopts the control method provided by the present invention to implement control of the T-type three-level rectifier 4, and the following describes the four parts of control circuits in detail, respectively:
1. the rectifier control circuit:
the control circuit comprises a voltage sampling module 11-1, a controller 9 and a driving module 10, wherein the voltage sampling module 11-1 is connected with the controller 9 in a sampling manner, and the voltage sampling module 11-1 is used for collecting direct-current voltage u output by the T-shaped three-level rectifier 4 o1 The three-phase current sampling device further comprises a sampling module 8, wherein the sampling module 8 comprises a three-phase current sampling module 801 and a three-phase voltage sampling module 802, the three-phase current sampling module 801 and the three-phase voltage sampling module 802 are respectively connected with the controller 9 in a sampling mode and used for acquiring three-phase current i acquired by the three-phase current sampling module 801 a ,i b ,i c And obtaining the three-phase voltage e collected by the three-phase voltage sampling module 802 a ,e b ,e c 。
The controller 9 is connected with the driving module 10 in a control mode, outputs driving signals to the driving module 10, and the driving module 10 is connected with each switching tube Vij in the T-type three-level rectifier 4 in a control mode, performs PWM modulation according to the driving signals to obtain PWM waves, and controls each switching tube Vij to conduct and shut down correspondingly, so that the battery 7 is charged.
The main control operations of the controller 9 are:
1) According to the three-phase current i collected a ,i b ,i c Three phase voltage e a ,e b ,e c And the DC voltage u output by the rectifier o1 Calculating the control of the voltage loop and the current loop to generate a driving signal;
2) According to the DC voltage u output by the rectifier o1 And estimating a total disturbance observation quantity in the system, wherein the total disturbance observation quantity mainly comprises disturbance generated by a load (for the rectifier, a rear-stage part of the rectifier is equivalent to the load) and external disturbance, and an active disturbance rejection control algorithm is adopted according to the total disturbance observation quantity to realize the control of the rectifier.
Since the first control operation is taken as the prior art, the present embodiment is not described with emphasis, and the active disturbance rejection control method of the T-type three-level rectifier 4 by the controller 9 is described in detail below with emphasis on the second control operation and with the T-type three-level rectifier 4 as the controlled object:
firstly, a rectifier is used as a controlled object, and a state equation of the controlled object is established. The expression of the controlled object is assumed as follows:
Figure BDA0002585902410000051
in the above equation, u and y are used as an input signal (i.e., a control amount) and an output signal of the entire system, w e Is the sum of all external disturbances, and the parameters a and b are unknown without specific values. The above second order system can be written as the following tableThe expression is as follows:
Figure BDA0002585902410000052
in the formula (2), b 0 For the estimated value of the disturbance, the nominal value is the value which should be close to the actual value b of the disturbance, generally b 0 Take 1,b 0 The value range of/b is [0.5,1.5 ]]，
Figure BDA0002585902410000053
Is the total disturbance of the controlled object. The equation of state of equation (2) can be expressed as:
Figure BDA0002585902410000054
in the formula, x 1 、x 2 Is a state variable, x 3 Characterizing the total disturbance of the system for the expanded state variables; h is f (i.e. x) 3 ) The first derivative of (a), y is the output signal (i.e., the dc voltage of the rectifier output).
The control block diagram of the control method is shown in fig. 2, and mainly includes three parts, namely a linear extended state observer LESO, a PD (proportional derivative) controller, and a nonlinear state error feedback module (NLSEF, i.e., a nonlinear state error feedback control law, corresponding to K in fig. 2 robust ). Wherein the linear extended state observer LESO is adapted to generate a direct voltage u dependent on the rectifier output o1 Determining an estimate z of the state variable 1 And z 2 And determining an observed quantity z of total disturbances in the system 3 (i.e., the observed quantity for f), the mathematical expression of this linear extended state observer is as follows:
Figure BDA0002585902410000055
in the formula, z 1 、z 2 、z 3 Are respectively x 1 、x 2 、x 3 State observed quantity of (1), beta 1 、β 2 And beta 3 For a gain coefficient in a linear extended state observer, the characteristic equation of the above equation is:
s 3 +β 1 s 2 +β 2 s+β 3 ＝0 (5)
in order to shorten the adjustment time and improve the stability of the control system, the characteristic equation of the equation (5) may be changed to (s + ω) 0 ) 3 =0, whereby the parameter β i (i =1,2,3) may be equivalent to β 1 ＝3ω 0 、
Figure BDA0002585902410000066
. Wherein, w 0 The value of (b) can be adjusted according to the bandwidth of the linear extended state observer.
In this embodiment, the controller 9 is used to observe the total disturbance z 3 And (4) outputting a control signal S, controlling a logic switch to switch, and gating the PD controller and the robust controller. The specific gating process is as follows:
when DC voltage observed quantity z 1 And a set DC voltage reference value v 0 With an error exceeding a set threshold, i.e.
Figure BDA0002585902410000061
For example λ =5%, the controller 9 outputs a control signal S, for example, a low level signal, which controls the logic switch to switch, and the gate robust controller K robust And taking the set direct-current voltage reference value, the direct-current voltage observed quantity and the direct-current voltage differential observed quantity as the input of the robust controller, and enabling an expression of an output signal of the robust controller to be as follows:
u o1 ＝K(s)(v 0 -z 1 )+K(s)z 2 (6)
in the formula u o1 For the output signal of the PD controller, K(s) is a set transfer function, v 0 Is a DC voltage reference value, z 1 As a direct voltage observation, z 2 The observed quantity is the DC voltage differential observed quantity. In this embodiment, the expression of the transfer function is as follows:
Figure BDA0002585902410000062
in the formula, a 0 、a 1 、..、a n-1 ，b 0 、b 1 、…、b n-1 For solving the parameters determined by the inequality, the determination process is as follows:
as shown in FIG. 3, where the reference numerals and letters in the figures are independent of the reference numerals in other figures, w represents the reference input signal, e represents the error signal, u represents the control signal generated by the controller, v represents the error signal, and c representing the output signal of the system, z 1 ，z 2 And y are both evaluation signals, W 1 ,W 2 G(s) represents a controlled object, and P0 represents a generalized controlled object.
Robust control standard equation:
Figure BDA0002585902410000063
defining a sensitivity function S (S) and a complementary sensitivity function T (S):
Figure BDA0002585902410000064
Figure BDA0002585902410000065
reference signal w to evaluation signal z 1 ，z 2 The closed loop transfer function matrix between is:
Figure BDA0002585902410000071
condition for obtaining K(s):
Figure BDA0002585902410000072
the inequality is further simplified as:
Figure BDA0002585902410000073
solving the inequality results in the transfer function of K(s).
After gating the robust controller, the robust controller K robust The output signal is sent to a nonlinear state error feedback module, and a control signal u is output through the nonlinear state error feedback module 0 The expression is as follows:
u o ＝f(u o1 ,p) (14)
wherein p represents a constant that needs to be adjusted according to an actual system, and f represents a nonlinear function, which is expressed as follows:
Figure BDA0002585902410000074
where α and δ are constants that can be modified to adjust the performance of the controller, and sgn is a square wave signed function. .
The control signal u output by the nonlinear state error feedback module 0 Superimposed on the overall disturbance observer, is used to generate a control variable u, which is used for input into a control model of the rectifier.
(II) when DC voltage observed quantity z 1 And a set DC voltage reference value v 0 Do not exceed a set threshold, i.e.
Figure BDA0002585902410000075
For example, λ =5%, the controller 9 outputs a control signal S, for example, a high level signal, and controls the logic switch to switch, thereby gating the PD controller.
As shown in fig. 2, the PD controller is configured to perform transition on a portion of the input signal where the change is sudden in a relatively gentle manner, so as to reduce the impact caused by the sudden change of the input signal, thereby improving the control performance of the system. The mathematical expression for the PD controller is as follows:
u 01 ＝k p (v 0 -z 1 )-k d z 2 (16)
in the above formula, u o1 Is the output signal of the controller, v 0 Is the reference value of the controlled quantity (i.e. the dc voltage output by the rectifier): k is a radical of p Is the scaling factor in the PD controller; k is a radical of formula d Is the differential coefficient in the PD controller. Wherein the parameter k p 、k d Value of and bandwidth omega of the closed loop transfer function of the control system c Are associated, i.e.
Figure BDA0002585902410000076
k d ＝2ω c 。
Output signal u of PD controller 01 Inputting to the nonlinear state error feedback module, and outputting control signal u via the nonlinear state error feedback module 0 Control signal u 0 Superimposed with the total disturbance observations, a controlled quantity u is generated, which can be expressed as:
u＝(u 0 -z 3 )/b 0 (17)
after obtaining the control quantity according to the first step (i) and the second step (ii), the controller 9 performs park transformation on the control quantity (input signal u), converts the three-phase rotating coordinate system into a two-phase stationary coordinate system, inputs the control quantity subjected to park transformation into a control model (voltage loop and current loop control model) of the rectifier, outputs a control signal, sends the control signal to the driving module 10, compares the control signal with a carrier signal by the driving module 10, outputs a driving signal, realizes PWM modulation, and outputs a corresponding PWM wave to each switching tube in the T-type three-level rectifier 4.
2. The converter control circuit:
the control circuit comprises a sampling module 14, a controller 12 and a driving module 13, wherein the sampling module 14 comprises a voltage sampling module 14-1 and a current sampling module 14-2, and the voltage sampling module 14-1 and the current sampling module 14-2 are respectively connected with the controller 12 and used for collecting the voltage u at the output end of the bidirectional direct current converter 5 o2 And current i o2 。
The control circuit further comprises a sampling module 11, wherein the sampling module 11 comprises a voltage sampling module 11-1 and a current sampling module 11-2 which are respectively used for collecting the voltage u output by the T-shaped three-level rectifier 4 o1 And the current i output by the H-bridge inverter 501 o1 。
The controller 12 is connected with the driving module 13 in a control mode, the driving module 13 is connected with the switching tubes in the bidirectional direct current converter 5 in a control mode, namely the switching tubes Q1 to Q8 in the three-level H-bridge inverter 501 and the switching tubes Q1 to Q8 in the H-bridge rectifier 503, PWM modulation is carried out according to driving signals to obtain PWM waves, and charging and discharging of the battery 7 are achieved.
The main control operations of the controller 12 are: according to the obtained sampling information (u) o2 、i o2 、u o1 、i o1 ) Performing calculation to drive the driving signal of the module 13 to control the H-bridge inverter 501 and the H-bridge rectifier 503; since the control operation of the controller 12 is prior art, the present embodiment will not be described with emphasis.
3. The energy storage control circuit:
the circuit mainly comprises a controller 15-1, a voltage sampling module 15-3 and a driving module 15-2, wherein the controller 15-1 is connected with the voltage sampling module 15-3 in a collecting mode, and the voltage sampling module 15-3 is used for collecting the voltage u at the output end of a bidirectional direct current converter 15-5 c (ii) a The controller 15-1 is further configured to collect and connect the voltage sampling module 11-1 to obtain the voltage u output by the T-type three-level rectifier 4 o1 (ii) a The controller 15-1 is configured to perform calculation according to the acquired sampling information, and generate a control instruction of the driving module 15-2.
The driving module 15-2 is connected to the switching tubes of the bidirectional dc converter 15-5 in a controlled manner, and is configured to control the switching tubes to be turned on and off according to a working mode of the charging device, i.e., a positive-negative pulse charging mode or a V2G (vehicle-to-grid) mode.
In the positive and negative pulse charging mode, when in negative pulse charging, the controller 15-1 controls the bidirectional direct current converter 15-5 to enable current to flow from the battery 7 to the super capacitor 15-4; when in positive pulse charging, the controller 15-1 controls the bidirectional direct current converter 15-5 to be locked, and the controller 9 controls the T-type three-level rectifier 4 to enable current to flow from a power grid to the battery 7. When the power grid charges the battery 7, and the energy of the power grid is excessive, the controller 15-1 controls the bidirectional direct-current converter 15-5 to enable current to flow from the power grid side to the super capacitor 15-4; when the energy of the power grid is insufficient, the controller 15-1 controls the bidirectional direct current converter 15-5 to enable current to flow from the super capacitor 15-4 to the battery 7. In the V2G mode, the controller 15-1 controls the bidirectional DC converter 15-5 to cause current to flow from the super capacitor 15-4 to the grid.
4. Energy management control circuit:
the circuit mainly comprises an energy management controller 16, wherein the energy management controller 16 is in communication connection with a controller 9, a controller 12 and a controller 15-1, the energy management controller 16 is used for obtaining a user instruction, selecting a positive and negative pulse charging mode or a V2G (vehicle-to-grid) mode according to the user instruction, and sending different control instructions to the controllers.
Under the positive and negative pulse charging mode, because double pulse charging is adopted, the charging process is not always charging, but a certain pulse current is firstly used, the battery 7 is charged through the LCL type filter 3, the T type three-level rectifier 4, the bidirectional direct current converter 5 and the LC type filter 6 in sequence, then the battery 7 is stopped to be charged for a certain time, then the bidirectional direct current converter 5 and the bidirectional DC/DC15-5 are controlled, the battery 7 is subjected to instant heavy current discharging, discharging energy is absorbed by the super capacitor 15-4, the battery 7 is continuously charged after discharging for a period of time, and the cycle is repeated. In the whole working process, when the battery 7 is discharged by large current instantaneously, the discharged electricity of the battery 7 flows in the opposite direction, and a plurality of high-power modules (such as the T-shaped three-level rectifier 4, the bidirectional direct current converter 5 and the like) participate in the operation simultaneously in the working process, which inevitably causes the generation of disturbance in the system, so that the direct current voltage u at the output end of the rectifier needs to be stabilized through an active disturbance rejection control algorithm in a rectifier control circuit and an inverter control circuit o1 And u at the output of the DC converter o2 。
In this embodiment, a specific topology that can be applied to the power battery charging apparatus of fig. 1 is shown in fig. 4, where the secondary side of the multi-winding high-frequency coupling transformer is in a three-winding form, and the H-bridge rectifier 503 includes three H-bridge rectifier modules 503-1, 503-2, 503-3 with the same structure, as another implementation, the topology of the charging apparatus in fig. 1 may also adopt an existing structure, and therefore, the control method adopted by the controller 9 and the controller 12 of this embodiment is not limited to the topology of the charging apparatus in fig. 1.
According to the active disturbance rejection control method, adverse effects on a charging system caused by disturbance generated in the battery charging process and external disturbance effects caused by sudden change of a charging load are considered, the system is ensured to work stably by establishing the linear extended state observer and gating the PD controller or the nonlinear state error feedback module according to the total disturbance observed quantity, the active disturbance rejection control method is suitable for high-power charging situations, and adverse effects on the charging system caused by different disturbances are solved.
The embodiment of the system is as follows:
the embodiment provides a power battery charging system, which comprises a controller and a charging device, wherein the charging device comprises a rectifier and a direct current converter, the alternating current side of the rectifier is used for connecting a power grid, the direct current side of the rectifier is connected with a direct current bus, the input end of the direct current converter is connected with the direct current bus, and the output end of the direct current converter is used for connecting a power battery.
In this embodiment, a controller (equivalent to the controller 9 in fig. 1) is connected to the rectifier for executing a computer program to implement the active disturbance rejection control method in the method embodiment, and since the description of the method in the method embodiment is sufficiently clear and complete, the description of the method is not repeated in this embodiment.
That is, the method in the above method embodiment should be understood that the flow of the active disturbance rejection control method of the charging device may be implemented by computer program instructions. These computer program instructions may be provided to a controller (e.g., a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus), such that the instructions, which execute via the controller, create means for implementing the functions specified in the method flow.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.

Claims (3)

1. An active disturbance rejection control method for a power battery charging device, wherein the charging device comprises a rectifier and a direct current converter, an alternating current side of the rectifier is used for connecting a power grid, a direct current side of the rectifier is connected with a direct current bus, an input end of the direct current converter is connected with the direct current bus, and an output end of the direct current converter is used for connecting a power battery, and the control method comprises the following steps:
the rectifier is used as a controlled object, the direct-current voltage output by the controlled object is obtained, and a linear extended state observer is used for outputting a total disturbance observed quantity, a direct-current voltage observed quantity and a direct-current voltage differential observed quantity;
when the error between the direct-current voltage observed quantity and a set direct-current voltage reference value does not exceed a set threshold value, taking the set direct-current voltage reference value, the direct-current voltage observed quantity and a direct-current voltage differential observed quantity as the input of a PD controller, sending an output signal of the PD controller to a nonlinear state error feedback module, and overlapping the output of the nonlinear state error feedback module with the total disturbance observed quantity to generate a control quantity, wherein the control quantity is used for being input into a control model of a controlled object;
when the error between the direct-current voltage observed quantity and a set direct-current voltage reference value exceeds a set threshold value, taking the set direct-current voltage reference value, the direct-current voltage observed quantity and the direct-current voltage differential observed quantity as the input of a robust controller, sending the output signal of the robust controller to a nonlinear state error feedback module, and overlapping the output of the nonlinear state error feedback module with the total disturbance observed quantity to generate a control quantity, wherein the control quantity is used for being input into a control model of a controlled object;
the expression of the output signal of the PD controller is as follows:
u o1 ＝k p (v 0 -z 1 )-k d z 2
in the formula u o1 Is the output signal of the PD controller, k p Is the proportionality coefficient, k, in the PD controller d Is a differential coefficient, v, in a PD controller 0 Is a DC voltage reference value, z 1 As a direct voltage observation, z 2 A direct current voltage differential observed quantity is obtained;
the expression of the output signal of the robust controller is as follows:
u o1 ＝K(s)(v 0 -z 1 )+K(s)z 2
in the formula u o1 For the output signal of the robust controller, K(s) is a set transfer function, v 0 Is a DC voltage reference value, z 1 As a direct voltage observation, z 2 The observed quantity is the DC voltage differential observed quantity.
2. The active disturbance rejection control method of a power battery charging apparatus according to claim 1, wherein a mathematical expression of the linear extended state observer is as follows:
Figure FDA0003994929250000011
in the formula, z 1 As a direct voltage observation, z 2 As a differential observation of the DC voltage, z 3 As a total disturbance observed quantity, beta 1 、β 2 And beta 3 All are gain coefficients in a linear extended state observer, y is a direct current voltage output by a controlled object, b 0 For the disturbance nominal value, u is the controlled variable of the controlled object.
3. A power battery charging system, comprising a controller and a charging device, wherein the charging device comprises a rectifier and a dc converter, the ac side of the rectifier is used for connecting to a power grid, the dc side of the rectifier is connected to a dc bus, the input end of the dc converter is connected to the dc bus, and the output end of the dc converter is used for connecting to a power battery, and the controller is connected to the rectifier for executing instructions to implement the active disturbance rejection control method according to claim 1 or 2.
CN202010681213.0A 2020-07-15 2020-07-15 Active-disturbance-rejection control method of power battery charging device and battery charging system Active CN111786446B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010681213.0A CN111786446B (en) 2020-07-15 2020-07-15 Active-disturbance-rejection control method of power battery charging device and battery charging system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010681213.0A CN111786446B (en) 2020-07-15 2020-07-15 Active-disturbance-rejection control method of power battery charging device and battery charging system

Publications (2)

Publication Number Publication Date
CN111786446A CN111786446A (en) 2020-10-16
CN111786446B true CN111786446B (en) 2023-02-24

Family

ID=72768898

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010681213.0A Active CN111786446B (en) 2020-07-15 2020-07-15 Active-disturbance-rejection control method of power battery charging device and battery charging system

Country Status (1)

Country Link
CN (1) CN111786446B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114179642A (en) * 2021-11-22 2022-03-15 泉州装备制造研究所 New energy automobile bidirectional charging and discharging device based on strong robust predictive control algorithm

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103019091A (en) * 2012-12-20 2013-04-03 北京航空航天大学 Flexible spacecraft fault-tolerant attitude control method based on linear extended state observer
CN105119307A (en) * 2015-09-06 2015-12-02 西南交通大学 Active-disturbance-rejection control-based high-speed railway traction network low-frequency oscillation suppression method
CN106487016A (en) * 2016-09-22 2017-03-08 济南大学 A kind of Active Disturbance Rejection Control system of three phase active electric power filter and control method
CN106788036A (en) * 2016-12-30 2017-05-31 南京邮电大学 The modified active disturbance rejection positioner and its method for designing of a kind of direct current generator
CN107026496A (en) * 2016-02-02 2017-08-08 天津理工大学 A kind of bidirectional electric automobile charge and discharge device and method based on auto-disturbance rejection technology

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108616141B (en) * 2018-03-13 2021-07-06 上海交通大学 Control method for LCL grid-connected inverter power nonlinearity in microgrid

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103019091A (en) * 2012-12-20 2013-04-03 北京航空航天大学 Flexible spacecraft fault-tolerant attitude control method based on linear extended state observer
CN105119307A (en) * 2015-09-06 2015-12-02 西南交通大学 Active-disturbance-rejection control-based high-speed railway traction network low-frequency oscillation suppression method
CN107026496A (en) * 2016-02-02 2017-08-08 天津理工大学 A kind of bidirectional electric automobile charge and discharge device and method based on auto-disturbance rejection technology
CN106487016A (en) * 2016-09-22 2017-03-08 济南大学 A kind of Active Disturbance Rejection Control system of three phase active electric power filter and control method
CN106788036A (en) * 2016-12-30 2017-05-31 南京邮电大学 The modified active disturbance rejection positioner and its method for designing of a kind of direct current generator

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
基于自抗扰控制的电动汽车快速充电纹波抑制方法;尹忠东等;《电力建设》;20170601;第38卷(第06期);第52-58页 *

Also Published As

Publication number Publication date
CN111786446A (en) 2020-10-16

Similar Documents

Publication Publication Date Title
CN107310409B (en) Switching and control method of electric automobile bidirectional charger
CN108512452B (en) Control system and control method for current of direct-current micro-grid-connected converter
CN106230257A (en) A kind of two-way DC converter feedback linearization contragradience sliding-mode control
CN107026496B (en) Electric automobile bidirectional charging and discharging device and method based on active disturbance rejection technology
CN111740455A (en) Bus interface converter control method for uniformly compensating alternating-current unbalanced voltage and direct-current pulsating voltage
CN111416540B (en) Multi-level converter midpoint potential rapid balance control system and method
CN106684919A (en) Improved power balance control method of cascaded photovoltaic grid-connected inverter
CN112165267A (en) High-transformation-ratio bidirectional AC/DC converter, control method thereof and pre-charging method thereof
CN107272445A (en) A kind of electric automobile charge/discharge control method based on automatic disturbance rejection controller
Cao et al. Model-free power control of front-end PFC AC/DC converter for on-board charger
CN111786446B (en) Active-disturbance-rejection control method of power battery charging device and battery charging system
CN109921662B (en) Control method of high-frequency isolation type variable topology AC-DC converter
CN114785181A (en) Reliable parallel control system and method for efficient bidirectional power conversion modules
CN111786445B (en) Power battery charging system and active disturbance rejection control method of charging device
CN117578697A (en) Mining emergency energy storage converter and control method
CN111049201B (en) Coordination control method for AC/DC power grid hybrid high-power interface converter
CN111969586B (en) Parallel-to-off-grid power supply system with anti-backflow function and control method thereof
CN112701725A (en) Grid-connected inverter with mixed conduction mode
CN104300820A (en) Digital control method of two-stage three-phase three-level photovoltaic grid-connected inverter
CN103633659A (en) Energy storage converter charging and discharging control system without direct current sensor
CN106787762A (en) The pulse-width modulation method and device of two-way isolation DC DC converters
CN107696893B (en) Electric vehicle V2G charging and discharging method based on active disturbance rejection control technology
CN112721906B (en) Hybrid energy storage control system based on lithium battery power estimation and energy management method thereof
CN114179642A (en) New energy automobile bidirectional charging and discharging device based on strong robust predictive control algorithm
CN111856193A (en) Medium-voltage battery simulator for rail transit and control method thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant