Optimal Output Regulation for EV Dynamic Wireless Charging System via Internal Model-Based Control

This article proposes an effective optimal control method to achieve constant output voltage for the dynamic wireless charging (DWC) system subject to the time-varying mutual inductance caused by the movement of the electric vehicle (EV). Different from the existing literature, the induced voltage of the receiver coil due to the mutual inductance fluctuation is treated as a sinusoid-like disturbance, which can be described by a predefined exosystem and be well compensated by an internal model (IM)-based controller. An optimal linear state feedback control scheme is developed using the IM-based output regulation theory and the linear quadratic regulator technique. Integral action is also introduced by state augmentation to eliminate the steady-state errors. Finally, comparisons among the proposed IM-based optimal state feedback controller and the conventional proportional-integral (PI) controller are conducted in the DWC experimental platform. The results verify the excellent performance of the proposed optimal control scheme in terms of fast transient response and the small output voltage fluctuation rate during the EV motion, which is drastically reduced to 0.67% compared with PI control.