基于互质因子分解的感应电能传输系统双自由度H_∞控制
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摘要
在感应电能传输(IPT)系统中,互感摄动和负载动态变化等问题严重影响着系统输出性能及稳定性要求。首先,基于SP-IPT系统的广义状态空间平均模型,分析系统的开环特性及参数扰动输出特性;然后,采用互质因子分解方式对存在右半平面零点的SP-IPT系统摄动模型进行描述;在此基础上,选择并定义双自由度H_∞鲁棒控制的输入输出变量,推导出所对应广义对象的状态空间实现;最后,基于计算出的双自由度H_∞鲁棒控制器进行仿真分析与实验验证。结果表明,在双自由度H_∞鲁棒控制作用下,虽然闭环摄动系统的动态响应特性可能会偏离期望指标,但却能有效抑制互感及负载摄动对预设参考输入稳态跟踪特性的影响,满足系统鲁棒稳定性要求。
In inductive power transfer(IPT) systems, mutual-inductance perturbation and load variation seriously affect system output performance and stability requirements. The generalized state-space averaging model of SP-IPT system is first introduced. The open-loop characteristics and output performance under parameter disturbances are analyzed afterwards. Then the perturbation model of SP-IPT system that contains right-half-plane zeroes is described by coprime factorization. The input/output variables used in two-degree-of-freedom(2 DOF) H_∞ robust control are also selected and defined based on the perturbation model, and further the state-space realization of generalized plant is deduced. Finally, the simulation and experiment are carried out based on the 2 DOF H_∞ robust controller. The results show that via the control action of 2 DOF H_∞ robust controller, although the dynamic response performance of closed-loop perturbation system may deviate from the expected target, but the influence of mutual-inductance and load perturbations on the steady tracking performance for preset reference input can be effectively inhibited, which satisfies the system robust stability requirements.
In inductive power transfer(IPT) systems, mutual-inductance perturbation and load variation seriously affect system output performance and stability requirements. The generalized state-space averaging model of SP-IPT system is first introduced. The open-loop characteristics and output performance under parameter disturbances are analyzed afterwards. Then the perturbation model of SP-IPT system that contains right-half-plane zeroes is described by coprime factorization. The input/output variables used in two-degree-of-freedom(2 DOF) H_∞ robust control are also selected and defined based on the perturbation model, and further the state-space realization of generalized plant is deduced. Finally, the simulation and experiment are carried out based on the 2 DOF H_∞ robust controller. The results show that via the control action of 2 DOF H_∞ robust controller, although the dynamic response performance of closed-loop perturbation system may deviate from the expected target, but the influence of mutual-inductance and load perturbations on the steady tracking performance for preset reference input can be effectively inhibited, which satisfies the system robust stability requirements.
引文
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[15]Li Yanling,Sun Yue,Dai Xin.μ-synthesis for frequency uncertainty of the ICPT system[J].IEEETransactions on Industrial Electronics,2013,60(1):291-300.
[16]李砚玲,黄立敏,何正友,等.参数扰动下感应电能传输系统改进型鲁棒控制[J].电机与控制学报,2016,20(7):40-48.Li Yanling,Huang Limin,He Zhengyou,et al.Improved robust control for inductive power transfer system under parameters perturbations[J].Electric Machines and Control,2016,20(7):40-48.
[17]李砚玲,杨鸣凯,杜浩.感应电能传输系统分段供电的双自由度鲁棒控制[J].电工技术学报,2017,32(18):62-72.Li Yanling,Yang Mingkai,Du Hao.Double-degree of freedom robust control for segmented inductive power transfer system[J].Transactions of China Electrotechnical Society,2017,32(18):62-72.
[18]Gu D W,Petko H P,Mihail M K.Robust control design with MATLAB?[M].London:SpringerVerlag,2013.
[2]尹成科,徐博翎.植入式人工心脏无线电能传输研究进展[J].电工技术学报,2015,30(19):103-109.Yin Chengke,Hsu Polin.Wireless power transfer for implantable ventricular assistance:a review[J].Transactions of China Electrotechnical Society,2015,30(19):103-109.
[3]赵争鸣,刘方,陈凯楠.电动汽车无线充电技术研究综述[J].电工技术学报,2016,31(20):30-40.Zhao Zhengming,Liu Fang,Chen Kainan.New progress of wireless charging technology for electric vehicles[J].Transactions of China Electrotechnical Society,2016,31(20):30-40.
[4]张剑韬,朱春波,陈清泉.应用于无尾家电的非接触式无线能量传输技术[J].电工技术学报,2014,29(9):33-37.Zhang Jiantao,Zhu Chunbo,Chen Qingquan.Contactless wireless energy transfer technology applied to tail-free household appliances[J].Transactions of China Electrotechnical Society,2014,29(9):33-37.
[5]夏晨阳,解光庆,林克章,等.双LCL补偿ICPT系统双谐振点特性及最大输出功率研究[J].中国电机工程学报,2016,36(19):5200-5208.Xia Chenyang,Xie Guangqing,Lin Kezhang,et al.Study of dual resonance point characteristics and maximum output power of ICPT based on double LCL compensation[J].Proceedings of the CSEE,2016,36(19):5200-5208.
[6]刘闯,郭赢,葛树昆,等.具备恒压特性的SP/S感应式无线电能传输系统[J].电工技术学报,2016,31(13):149-154.Liu Chuang,Guo Ying,Ge Shukun,et al.The SP/Sinductive power transfer system with constant voltage characteristics[J].Transactions of China Electrotechnical Society,2016,31(13):149-154.
[7]景无为,黄学良,陈琛,等.多组无线电能传输系统间效率影响因素分析[J].电工技术学报,2015,30(14):457-462.Jing Wuwei,Huang Xueliang,Chen Chen,et al.Study on impacts among wireless power transmission multi-system[J].Transactions of China Electrotechnical Society,2015,30(14):457-462.
[8]Liu Yeran,Mai Ruikun,Yue Pengfei,et al.Efficiency optimization for wireless dynamic charging system with over-lapped DD coil arrays[C]//2017 IEEEApplied Power Electronics Conference and Exposition(APEC),Tampa,FL,2017:1439-1442.
[9]Kim S,Covic G A,Boys J T.Tripolar pad for inductive power transfer systems for EV charging[J].IEEE Transactions on Power Electronics,2017,32(7):5045-5057.
[10]Li Yong,Mai Ruikun,Lu Liwen,et al.Analysis and transmitter currents decomposition based control for multiple overlapped transmitters based WPT systems considering cross couplings[J].IEEE Transactions on Power Electronics,2018,33(2):1829-1842.
[11]李砚玲,黄立敏,刘野然,等.非接触移动供电系统不同补偿拓扑下的鲁棒性分析[J].西南交通大学学报,2016,51(6):1230-1238.Li Yanling,Huang Limin,Liu Yeran,et al.Robustness analysis for contactless moving power supply system with different compensation topologies[J].Journal of Southwest Jiaotong University,2016,51(6):1230-1238.
[12]Zou Yang,Dai Xin,Li Weiyi,et al.Robust design optimisation for inductive power transfer systems from topology collection based on an evolutionary multi-objective algorithm[J].IET Power Electronics,2015,8(9):1767-1776.
[13]Xia Chenyang,Wang Wei,Chen Gaoping,et al.Robust control for the relay ICPT system under external disturbance and parametric uncertainty[J].IEEE Transactions on Control System Technology,2017,99:1-8.
[14]戴欣,周继昆,孙跃.具有频率不确定性的π型谐振感应电能传输系统H∞控制方法[J].中国电机工程学报,2011,31(30):45-53.Dai Xin,Zhou Jikun,Sun Yun.H∞control method with frequency uncertainty forπtype resonant inductive power transfer system[J].Proceedings of the CSEE,2011,31(30):45-53.
[15]Li Yanling,Sun Yue,Dai Xin.μ-synthesis for frequency uncertainty of the ICPT system[J].IEEETransactions on Industrial Electronics,2013,60(1):291-300.
[16]李砚玲,黄立敏,何正友,等.参数扰动下感应电能传输系统改进型鲁棒控制[J].电机与控制学报,2016,20(7):40-48.Li Yanling,Huang Limin,He Zhengyou,et al.Improved robust control for inductive power transfer system under parameters perturbations[J].Electric Machines and Control,2016,20(7):40-48.
[17]李砚玲,杨鸣凯,杜浩.感应电能传输系统分段供电的双自由度鲁棒控制[J].电工技术学报,2017,32(18):62-72.Li Yanling,Yang Mingkai,Du Hao.Double-degree of freedom robust control for segmented inductive power transfer system[J].Transactions of China Electrotechnical Society,2017,32(18):62-72.
[18]Gu D W,Petko H P,Mihail M K.Robust control design with MATLAB?[M].London:SpringerVerlag,2013.