基于互质因子分解的感应电能传输系统双自由度H_∞控制

Two-Degree-of-Freedom H_∞ Control for Inductive Power Transfer System Based on Coprime Factorization

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(2DOF)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 2DOF H∞robust controller.The results show that via the control action of 2DOF 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.