非接触移动供电系统不同补偿拓扑下的鲁棒性分析

为揭示非接触移动供电系统参数扰动的产生、传播及影响机理，首先采用广义状态空间平均建模方法，建立了4种基本双边谐振补偿拓扑的系统不确定模型；其次，研究了电磁耦合机构相对距离和工况变化导致的互感及负载扰动特性，并依此推导出软开关调制模式下的系统频率扰动规律；第三，基于参数扰动模型分析了互感、负载及频率变化对系统输出的影响，并通过计算系统结构奇异值分析了不同补偿拓扑系统的鲁棒稳定性；最后，针对一套双边串联谐振补偿系统，对互感及负载偏离标称值条件下的系统鲁棒性进行了验证实验.实验波形表明:当互感和负载分别在标称值（12.15 H、5.00 ）与摄动值（9.51 H、12.55 ）之间变化时，系统仍然是鲁棒稳定的，采用PI控制能较好地抑制其对负载输出电压的影响. 

Robustness Analysis for Contactless Moving Power Supply System with Different Compensation Topologies

In order to reveal the generation, propagation and effect mechanism of parameter disturbance in contactless moving power supply system, the generalized state space average modeling method was first used to establish the uncertain model for four basic kinds of bilateral-resonance compensation topologies. Secondly, the mutual inductance and load disturbance characteristics were studied when the relative distance of electromagnetic coupling mechanism and working conditions change. According to this, the system frequency disturbance law under soft-switching modulation mode was deduced. Thirdly, the effect of changes in mutual inductance, load and frequency on the system output was analyzed according to the parameter disturbance model, and also the system robust stability was analyzed by computing structured singular value under different compensation topologies. Finally, a bilateral resonant system in series was used to verify the system robustness when the mutual inductance and load deviate from the nominal values. The experimental waveforms of system electrical variables show that when the mutual inductance and load are varied between nominal values(12. 15 H, 5. 00 ) and perturbation values(9. 51 H, 12. 55 ), the system is still robustly stable, and the influence of parameter perturbations on the load output voltage can be well suppressed by PI control.