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H∞ mixed sensitivity robust control method of relay ICPT system for output voltage regulation

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Abstract

Aiming at the problem that the output voltage of relay inductive coupled power transfer (ICPT) system is susceptible to changes due to the influence of system load changes, frequency perturbations, and input voltage fluctuations, an H∞ mixed sensitivity robust control method is adopted to relay ICPT system to regulate the output voltage. First, the working principle of the relay ICPT system is analyzed. Then, the GSSA model of the relay ICPT system is established. By constructing the S/R/T mixed sensitivity function, a suitable weighting function is selected from the frequency domain perspective and converted into H∞ standard control problem to get a robust controller. Finally, an experimental platform is built to verify the control effect of the controller on the system output voltage. Experimental results show that the designed controller in this paper stabilizes the system output voltage and obtains good tracking performance, suppression parameter perturbation performance, anti-interference performance, and improves system robustness simultaneously.

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Abbreviations

G(s):

The nominal controlled object

r :

The reference input signal

u :

The control output signal

e :

The system feedback error signal

d :

The external interference signal

y :

The system output signal

z 1 :

The outputs of error output e through weighted functions WS

z 2 :

The outputs of controller output u through weighted functions WR

z 3 :

The outputs of system output y through weighted functions WT

K(s):

The robust H∞ mixed sensitivity controller

P(s):

The weighted augmented controlled object

W S :

The output performance weighting function

W R :

The control performance weighting function

W T :

The robust performance weighting function

S(s):

The transfer function of the closed-loop system from r to e when d is 0

T(s):

The transfer function of the reference input r to the system output y

R(s):

The closed-loop transfer function from the reference input r to the controlled output u

I :

The identity matrix

∆:

The permissible perturbation

\( \left\| {S\left( s \right)} \right\|_{\infty } \) :

Measure of the ability of the closed-loop system to suppress interference

\( \left\| {T\left( s \right)} \right\|_{\infty } \) :

Measure of the magnitude of the permissible perturbation

\( \left\| {R\left( s \right)} \right\|_{\infty } \) :

An additive perturbation. The measure of the magnitude of perturbation ∆ is allowed in G + ∆

T zw :

The closed-loop transfer function matrix of the system from input r to output z

σ:

Singular value

G k :

The transfer function of the controller of the fourth-order

μ :

The structural singular value

D :

Duty cycle of switch S in buck circuit

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Acknowledgements

This article is funded by the State Grid Corporation of China Science and Technology Project “Research on Wireless Charging Technology of Underwater Cable Inspection Robot Based on New Magnetic Conducting Device.”

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Authors and Affiliations

  1. China Electric Power Research Institute, Beijing, 100192, China

    Xiaokang Wu, Chong Xu & Bin Wei

  2. School of Electrical and Power Engineering, China University of Mining and Technology, Xuzhou, 221116, China

    Chenyang Xia & Xinyu Li

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  1. Xiaokang Wu
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  2. Chong Xu
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  3. Bin Wei
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Correspondence to Xinyu Li.

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Wu, X., Xu, C., Wei, B. et al. H∞ mixed sensitivity robust control method of relay ICPT system for output voltage regulation. Electr Eng 103, 781–792 (2021). https://doi.org/10.1007/s00202-020-01116-1

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