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Energies 2017, 10(4), 517; doi:10.3390/en10040517

High Robustness Control for Robotic Wireless Power Transfer Systems with Multiple Uncertain Parameters Using a Virtual Buck Converter

School of Automation, Chongqing University, 174 Shazheng Street, Shapingba District, Chongqing 400030, China
Author to whom correspondence should be addressed.
Received: 10 February 2017 / Revised: 5 April 2017 / Accepted: 6 April 2017 / Published: 11 April 2017
(This article belongs to the Section Energy Storage and Application)


Aiming at achieving high robustness performance in Wireless Power Transfer (WPT) systems for moving robot power supply, this paper proposes a H robust control method with multiple parameters that vary randomly, including the mutual inductance, load parameter, and operating frequency. These uncertain parameters make the system control extremely difficult. A composite Upper Linear Fractional Transformation (LFT) method is proposed to deal with the system uncertainty, particularly for the mutual inductance detachment, which is very unique and important for WPT systems. A suboptimal H controller design method is proposed based on Generalized State Space Averaging (GSSA) model in order to simplify the system structure. In controller implementation, a virtual buck converter for phase shifted regulation is proposed to replace real input buck converter. The proposed H control method is easy to implement because only the output voltage of the WPT system needs to be sampled, and based on which a simple DSP control algorithm is developed. Simulation and experimental results have demonstrated that the proposed control method can achieve less than 15 ms response speed with 70% mutual inductance variation and 50% load variation tolerance respectively. View Full-Text
Keywords: uncertain parameter; H control; wireless power transfer; robotic uncertain parameter; H control; wireless power transfer; robotic

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Li, Y.; Duan, Q.; Zou, Y. High Robustness Control for Robotic Wireless Power Transfer Systems with Multiple Uncertain Parameters Using a Virtual Buck Converter. Energies 2017, 10, 517.

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