基于LCL-S拓扑的感应电能传输系统的建模与控制方法
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摘要
分析了基于LCL-S拓扑的感应电能传输(IPT)系统的动态特性,旨在利用数字PI控制器提高负载电压动态响应。首先,利用广义状态空间平均建模方法得到IPT系统的大信号模型及稳态工作点。在此基础上,建立描述在IPT系统的输入受到扰动状态下的小信号模型。经实验样机与小信号模型阶跃响应对比证明,小信号模型能够较准确地描述IPT系统动态响应。然后,根据小信号模型,借助Matlab中PIDtool工具箱设计合适的PI控制器参数,提高IPT系统的负载电压响应特性。最后,通过实验证明设计的闭环数字PI控制器使IPT系统负载电压响应时间在12 ms左右。
This paper analyzes the dynamics of an LCL-S based inductive power transfer(IPT) system, and aims to improve its reference tracking performance by using a digital PI controller. Firstly, The large-signal model of the IPT system and the steady-state operating point are derived with the help of the generalized state-space averaging(GSSA) technique. Based on the previous work, the small-signal model is established to describe how the load voltage will react to a perturbation in its input. Comparing the step response of the small-signal model with the output of the experimental setup, the small-signal model is nearly identical to the system dynamics. In other words, the proposed small-signal model can describe the prototype well. Then, the Matalab's PIDtool design toolbox is used to generate suitable PI controller parameters for a fast response time in the load voltage according to the small-signal model. Finally, experiments prove that the closed-loop digital PI controller is designed to ensure a fast response time of approximately 12 ms in the load voltage step change.
This paper analyzes the dynamics of an LCL-S based inductive power transfer(IPT) system, and aims to improve its reference tracking performance by using a digital PI controller. Firstly, The large-signal model of the IPT system and the steady-state operating point are derived with the help of the generalized state-space averaging(GSSA) technique. Based on the previous work, the small-signal model is established to describe how the load voltage will react to a perturbation in its input. Comparing the step response of the small-signal model with the output of the experimental setup, the small-signal model is nearly identical to the system dynamics. In other words, the proposed small-signal model can describe the prototype well. Then, the Matalab's PIDtool design toolbox is used to generate suitable PI controller parameters for a fast response time in the load voltage according to the small-signal model. Finally, experiments prove that the closed-loop digital PI controller is designed to ensure a fast response time of approximately 12 ms in the load voltage step change.
引文
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[16]Hao H,Covic G A,Boys J T.An approximate dynamic model of LCL-T-based inductive power transfer power supplies[J].IEEE Transactions on Power Electronics,2014,29(10):1-12.
[17]许可,鲜杏,程杰,等.基于模最优与对称最优的轻型直流PI参数整定[J].电力系统保护与控制,2016,44(2):122-127.Xu Ke,Xian Xing,Cheng Jie,et al.Tuning method of PI controller of VSC-HVDC based on modulus and symmetrical optimum[J].Power System Protection and Control,2016,44(2):122-127.
[18]代璐,龙崦平.PI调节下光伏逆变器的分岔与混沌现象研究[J].电力系统保护与控制,2012,40(24):89-94.Dai Lu,Long Yanping.Study of bifurcation and chaos for photovoltaic inverter with PI controller[J].Power System Protection and Control,2012,40(24):89-94.
[19]蔡华,史黎明,李耀华.感应耦合电能传输系统输出功率调节方法[J].电工技术学报,2014,29(1):215-220.Cai Hua,Shi Liming,Li Yaohua.Output power adjustment in inductively coupled power transfer system[J].Transactions of China Electrotechnical Society,2014,29(1):215-220.
[20]Zahid Z U,Dalala Z M,Zheng C,et al.Modeling and control of series-series compensated inductive power transfer(IPT)system[J].IEEE Journal of Emerging&Selected Topics in Power Electronics,2015,3(1):191-200.
[21]Shenkman A L,Axelrod B,Chudnovsky V.A new simplified model of the dynamics of the current-fed parallel resonant inverter[J].IEEE Transactions on Industrial Electronics,2000,47(2):282-286.
[22]Lee J W,Nowicki E,Alfred C.A computational smallsignal modeling technique for switch mode converters[C]//IEEE Conference on Electrical&Computer Engineering,Halifax,Canada,2000:587-591.
[23]Neath M J,Swain A K,Madawala U K,et al.An optimal PID controller for a bidirectional inductive power transfer system using multiobjective genetic algorithm[J].IEEE Transactions on Power Electronics,2014,29(3):1523-1531.
[2]何正友,李勇,麦瑞坤,等.考虑阻感性负载IPT系统的动态补偿技术[J].西南交通大学学报,2014,49(4):569-575.He Zhengyou,Li Yong,Mai Ruikun,et al.Dynamic compensation strategy of inductive power transfer system with inductive-resistive load[J].Journal of Southwest Jiaotong University,2014,49(4):569-575.
[3]刘晓明,徐叶飞,彭博,等.磁耦合双模无线电能传输系统研[J].电工技术学报,2015,30(11):53-59.Liu Xiaoming,Xu Yefei,Peng Bo,et al.Study on magnetically-coupled bi-module wireless power transfer[J].Transactions of China Electrotechnical Society,2015,30(11):53-59.
[4]程志远,朱春波,魏国,等.串-并补偿结构大功率感应充电系统谐振变换器[J].电工技术学报,2014,29(9):44-48.Cheng Zhiyuan,Zhu Chunbo,Wei Guo,et al.Resonant converter for high power ICPT system with series-parallel compensation[J].Transactions of China Electrotechnical Society,2014,29(9):44-48.
[5]苏玉刚,唐春森,孙跃,等.非接触供电系统多负载自适应技术[J].电工技术学报,2009,24(1):153-157.Su Yugang,Tang Chunsen,Sun Yue,et al.Load adaptive technology of contratless power transfer system[J].Transactions of China Electrotechnical Society,2009,24(1):153-157.
[6]李勇,麦瑞坤,陆立文,等.一种采用级联型多电平技术的IPT系统谐波消除与功率调节方法[J].中国电机工程学报,2015,35(20):5278-5285.Li Yong,Mai Ruikun,Lu Liwen,et al.A harmonic elimination and power regulation approach of a cascaded multilevel technology in IPT system[J].Proceedings of the CSEE,2015,35(20):5278-5285.
[7]Chopra S,Bauer P.Analysis and design considerations for a contactless power transfer system[C]//2011 IEEE33rd International Telecommunications Energy Conference(INTELEC),Amsterdam,the Netherlands,2011:1-6.
[8]Esteve V,Jordan J,Sanchis K E,et al.Comparative study of a single inverter bridge for dual-frequency induction heating using Si and Si C MOSFETs[J].IEEE Transactions on Industrial Electronics,2015,62(3):1440-1450.
[9]Borage M,Tiwari S,Kotaiah S.Analysis and design of an LCL-T resonant converter as a constant-current power supply[J].IEEE Transactions on Industrial Electronics,2005,52(6):1547-1554.
[10]唐春森.非接触电能传输系统软开关工作点研究及应用[D].重庆:重庆大学,2009.
[11]Chun S T,Yue S,Yu G S,et al.Determining multiple steady-state ZCS operating points of a switch-mode contactless power transfer system[J].IEEE Transactions on Power Electronics,2009,24(2):416-425.
[12]Wang H,Clare J,Zanchetta P,et al.State space ZCS control for three-phase resonant converter[C]//34th Annual Conference of the IEEE Industrial Electronics Scociety,New York,USA,2008:977-982.
[13]Rim C T.Unified general phasor transformation for AC converters[J].IEEE Transactions on Power Electronics,2011,26(9):2465-2475.
[14]孙跃,李砚玲.非接触传输系统的广义状态空间平均法分析[J].同济大学学报:自然科学版,2010,38(10):1521-1524.Sun Yue,Li Yanling.Analysis of contactless power transfer system using generalized state space averaging method[J].Journal of Tongji University(Natural Science),2010,38(10):1521-1524.
[15]Sanders S R,Noworolski J M,Liu X Z,et al.Generalized averaging method for power conversion circuits[J].IEEE Transactions on Power Electronics,1991,6(2):251-259.
[16]Hao H,Covic G A,Boys J T.An approximate dynamic model of LCL-T-based inductive power transfer power supplies[J].IEEE Transactions on Power Electronics,2014,29(10):1-12.
[17]许可,鲜杏,程杰,等.基于模最优与对称最优的轻型直流PI参数整定[J].电力系统保护与控制,2016,44(2):122-127.Xu Ke,Xian Xing,Cheng Jie,et al.Tuning method of PI controller of VSC-HVDC based on modulus and symmetrical optimum[J].Power System Protection and Control,2016,44(2):122-127.
[18]代璐,龙崦平.PI调节下光伏逆变器的分岔与混沌现象研究[J].电力系统保护与控制,2012,40(24):89-94.Dai Lu,Long Yanping.Study of bifurcation and chaos for photovoltaic inverter with PI controller[J].Power System Protection and Control,2012,40(24):89-94.
[19]蔡华,史黎明,李耀华.感应耦合电能传输系统输出功率调节方法[J].电工技术学报,2014,29(1):215-220.Cai Hua,Shi Liming,Li Yaohua.Output power adjustment in inductively coupled power transfer system[J].Transactions of China Electrotechnical Society,2014,29(1):215-220.
[20]Zahid Z U,Dalala Z M,Zheng C,et al.Modeling and control of series-series compensated inductive power transfer(IPT)system[J].IEEE Journal of Emerging&Selected Topics in Power Electronics,2015,3(1):191-200.
[21]Shenkman A L,Axelrod B,Chudnovsky V.A new simplified model of the dynamics of the current-fed parallel resonant inverter[J].IEEE Transactions on Industrial Electronics,2000,47(2):282-286.
[22]Lee J W,Nowicki E,Alfred C.A computational smallsignal modeling technique for switch mode converters[C]//IEEE Conference on Electrical&Computer Engineering,Halifax,Canada,2000:587-591.
[23]Neath M J,Swain A K,Madawala U K,et al.An optimal PID controller for a bidirectional inductive power transfer system using multiobjective genetic algorithm[J].IEEE Transactions on Power Electronics,2014,29(3):1523-1531.