Solid-state power source power cascade regulation control method, MCU and storage medium

Abstract

The invention provides a solid-state power source power cascade regulation control method, an MCU and a storage medium, and relates to the technical field of solid-state power sources, the method is applied to the MCU, and the method comprises the following steps: obtaining a power difference value by an outer ring PID controller in the MCU, and calculating an expected power change rate according to the power difference value; wherein the power difference value is the difference between the power set value of the solid-state power source and the actual output power; a power change rate difference is obtained by an inner ring PID controller in the MCU, and a control quantity for adjusting the actual output power is calculated according to the power change rate difference; wherein the power change rate difference is the difference between the expected power change rate and the actual power change rate of the actual output power, the outer ring PID controller and the inner ring PID controller are connected in series, and the output of the outer ring PID controller serves as the input of the inner ring PID controller; according to the invention, the output power of the solid-state power source can be accurately controlled, so that the system can have a dynamic adjustment capability, and the capability of the system to overcome disturbance and the adaptive capability of the system to loop parameter change are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of solid-state power sources, and in particular to a solid-state power source power cascade regulation control method, an MCU and a storage medium. Background Art

[0002] Solid-state power sources are widely used in many fields such as medical, semiconductor and photovoltaic. Especially in the semiconductor industry, there are extremely strict requirements for key performance indicators such as control accuracy and response speed. The traditional PID control method has poor anti-interference ability, slow response speed and low control accuracy, which cannot meet the needs of high-end application scenarios such as the semiconductor industry. Summary of the invention

[0003] One of the purposes of the present invention is to provide a solid-state power source power cascade regulation control method, MCU and storage medium, so as to improve the control accuracy of the solid-state power source power cascade regulation, improve the system's ability to overcome disturbances and its ability to adapt to changes in loop parameters. In order to achieve the above purpose, the solution provided by the embodiment of the present invention is as follows:

[0004] In the first aspect, the present invention provides a solid-state power source power cascade regulation control method, which is applied to an MCU; the MCU includes an outer loop PID controller and an inner loop PID controller; the outer loop PID controller and the inner loop PID controller are connected in series; the output of the outer loop PID controller is used as the input of the inner loop PID controller; the method includes: obtaining a power difference by the outer loop PID controller, and calculating an expected power change rate according to the power difference; wherein the power difference is the difference between a power setting value and an actual output power of the solid-state power source; obtaining a power change rate difference by the inner loop PID controller, and calculating a control amount for adjusting the actual output power according to the power change rate difference; wherein the power change rate difference is the difference between the actual power change rate and the expected power change rate.

[0005] In an optional implementation, the MCU further includes a power detection module and a first comparator; the method further includes: detecting the actual output power by the power detection module; and determining the difference between the power setting value and the actual output power by the first comparator.

[0006] In an optional embodiment, the MCU also includes a power change speed detection module and a second comparator; the method also includes: the power change speed detection module calculates the actual power change rate based on the actual output power; and the second comparator determines the difference between the expected power change rate and the actual power change rate.

[0007] In an optional embodiment, the MCU, attenuator, power amplifier circuit and radio frequency detection circuit are connected in a closed loop; the method also includes: applying the control amount to the attenuator through the inner loop PID controller, so that the attenuator controls the signal strength entering the power amplifier circuit according to the control amount, and then the power amplifier circuit changes the output power to adjust the actual output power.

[0008] In an optional embodiment, the MCU is also connected to a radio frequency detection circuit; the method further includes: calculating the actual output power according to the collected digital signal by the power detection module; wherein the digital signal is converted from an analog signal of the radio frequency detection circuit by an ADC converter.

[0009] In an optional implementation, the method further includes: outputting an analog quantity corresponding to the control quantity to the attenuator; wherein the analog quantity is converted by a DAC converter.

[0010] In an optional implementation, the outer loop PID controller and the inner loop PID controller adopt an incremental digital PID algorithm or a position digital PID control algorithm.

[0011] In an optional embodiment, the method further includes: performing parameter tuning on the outer loop PID controller and the inner loop PID controller according to a preset strategy; wherein the preset strategy is any one or combination of the following: stepwise approximation method; two-step tuning method; one-step tuning method.

[0012] In a second aspect, the present invention provides an MCU, wherein the MCU is used to execute the power cascade regulation control method of the solid-state power source as described in the first aspect.

[0013] In a third aspect, the present invention provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the power cascade regulation and control method for a solid-state power source as described in the first aspect.

[0014] The present invention provides a solid-state power source power cascade regulation control method, MCU and storage medium, the method is applied to MCU; the MCU includes an outer loop PID controller and an inner loop PID controller; the outer loop PID controller and the inner loop PID controller are connected in series; the output of the outer loop PID controller is used as the input of the inner loop PID controller; the method includes: obtaining the power difference through the outer loop PID controller, and calculating the expected power change rate, and calculating the control amount according to the difference between the expected power change rate and the actual power change rate through the inner loop PID controller. The present invention can accurately and quickly control the output power of the solid-state power source, so that the system can have dynamic regulation capabilities and adjust the power output in time. In addition, the introduced inner loop control process enables the system to improve the dynamic characteristics in the control process, improve the system's ability to overcome disturbances and its ability to adapt to changes in loop parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A schematic diagram of a possible solid-state power source power cascade regulation control system provided by an embodiment of the present invention;

[0017] Figure 2 A possible functional module diagram of the MCU10 provided in an embodiment of the present invention;

[0018] Figure 3 A closed-loop model of an outer-loop PID controller provided in an embodiment of the present invention;

[0019] Figure 4 A closed-loop model of an inner-loop PID controller provided by an embodiment of the present invention;

[0020] Figure 5 A schematic flow chart of a solid-state power source power cascade regulation control method is provided for an embodiment of the present invention;

[0021] Figure 6 A schematic diagram of a solid-state power source cascade PID control software module provided in an embodiment of the present invention.

[0022] Icons: MCU-10; attenuator-20; power amplifier circuit-30; load-40; RF detection circuit-50; ADC-60; signal source-70; DAC-80; cascade power regulation controller-101; outer loop PID controller-1011; inner loop PID controller-1012; power detection module-102; power change rate detection module-103; first comparator-1013; second comparator-1014. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0026] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0027] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0028] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0029] See also Figure 1 , Figure 1 A schematic diagram of a possible solid-state power source power cascade regulation control system provided by an embodiment of the present invention. Figure 1In the system, the system includes MCU10, attenuator 20, power amplifier circuit 30, load 40, RF detection circuit 50, ADC60, signal source 70 and DAC80. Among them, MCU10 is also designed with a cascade power adjustment controller 101. MCU10, DAC80, attenuator 20, power amplifier circuit 30, load 40, RF detection circuit 50, ADC60 form a closed loop connection, which can ensure stable and controllable power output.

[0030] As the core control unit of the system, MCU10 plays a key role in processing various input signals and issuing corresponding control instructions. In one embodiment of the present invention, MCU10 can integrate a cascade power regulation controller 101, whose main function is to accurately regulate the output power of a fixed power source.

[0031] In the embodiment of the present invention, the MCU 10 also has the ability to receive the signal collected by the ADC 60 from the RF detection circuit 50 , and output a control signal to the attenuator 20 through the cascade power adjustment controller 101 , so as to adjust the output power of the power amplifier circuit 30 .

[0032] The main task of the attenuator 20 is to manage the strength of the signal entering the power amplifier circuit, to ensure that the strength of the signal finally input to the power amplifier circuit 30 meets expectations, and to accurately control the actual power output.

[0033] The power amplifier circuit 30 is responsible for boosting the signal outputted by the attenuator 20 to a sufficient power level so as to drive the load 40. The power amplifier circuit 30 has a fixed amplification factor, and achieves the effect of adjusting the output power on the load 40.

[0034] The load 40 is a power consumer.

[0035] The RF detection circuit 50 is responsible for monitoring the power signal output by the load 40 and converting it into a voltage signal that can be processed by the ADC 60 .

[0036] The signal source 70 provides an initial signal input to start the entire power regulation and amplification process. In some optional embodiments, the signal source 70 may be, but is not limited to, an onboard radio frequency signal source.

[0037] The entire system is connected through a closed loop to achieve precise control and regulation of power output, ensuring power stability and controllability.

[0038] See also Figure 2 , Figure 2 A possible functional module diagram of the MCU 10 provided in an embodiment of the present invention. Figure 2In the embodiment, MCU10 also includes a power detection module 102 and a power change rate detection module 103, and the cascade power regulation controller 101 includes: an outer loop PID controller 1011, an inner loop PID controller 1012, a first comparator 1013 and a second comparator 1014. It should be understood that "first" and "second" are only used to distinguish the two comparators, and are not intended to limit their functions. The controller involved in the embodiment of the present invention refers to a control algorithm.

[0039] exist Figure 2 In the embodiment, the cascade power regulation controller 101 uses two PID controllers to work in series. The output signal of the outer loop PID controller 1011 is directly used as the input signal of the inner loop PID controller 1012, and the output signal of the inner loop PID controller 1012 is used to control the attenuator 20 through the DAC 80. This design can achieve a more accurate control effect. Figure 2 It can be seen from the embodiment of the present invention that two closed-loop models are provided, which are specifically shown in Figure 3 and Figure 4 middle, Figure 3 The closed-loop model of the outer-loop PID controller 1011 provided in the embodiment of the present invention is: Figure 4 The closed-loop model of the inner-loop PID controller 1012 provided in the embodiment of the present invention. The two models work together to ensure the accuracy and stability of the entire system control.

[0040] Combination Figures 2 to 4 It can be seen that: the power detection module 102 is used to detect the current actual output power PowerOut; the first comparator 1013 is used to determine the difference e1 between the power setting value Setpoint and the actual output power PowerOut, and input it to the outer loop PID controller 1011; the outer loop PID controller 1011 is used to determine the expected power change rate u1 according to the input difference e1; the power change rate detection module 103 is used to detect the actual power change rate; the second comparator 1014 is used to determine the power change rate difference e2 between the expected power change rate u1 and the actual power change rate, and the power change rate difference e2 is used as the input of the inner loop PID controller 1012, and the inner loop PID controller 1012 is used to determine the control amount u2 acting on the attenuator 20 according to the power change rate difference e2, so that the attenuator 20 controls the signal strength that finally enters the power amplifier circuit 30, thereby achieving the effect of controlling the size of the actual power output value.

[0041] The two PID closed-loop circuits introduced in the embodiment of the present invention systematically improve the control performance. The inner loop PID controller is responsible for preliminary and rapid adjustments, while the outer loop PID controller performs fine and final adjustments to ensure that the interference that the inner loop cannot completely eliminate is thoroughly filtered out. Compared with a single adjustment mechanism, this dual-loop control strategy significantly enhances the dynamic response characteristics of the system in process control. In addition, the introduction of the inner loop not only improves the system's ability to resist disturbances, but also enhances the system's ability to adapt to changes in loop parameters. This improvement enables the system to operate more stably and reliably when facing complex working conditions.

[0042] based on Figures 1 to 4 For the same inventive concept, see Figure 5 , Figure 5 The present invention provides a schematic flow chart of a solid-state power source power cascade regulation control method, the execution subject of the method is Figure 1 The MCU 10 in the embodiment may include steps S501 to S103, which are described as follows:

[0043] S501: obtaining a power difference value by an outer loop PID controller, and calculating an expected power change rate according to the power difference value; wherein the power difference value is the difference between a power setting value and an actual output power of the solid-state power source;

[0044] S502: The inner loop PID controller obtains the power change rate difference, and calculates the control amount for adjusting the actual output power according to the power change rate difference; wherein the power change rate difference is the difference between the expected power change rate and the actual power change rate of the actual output power.

[0045] In the power cascade regulation control method of the solid-state power source provided by the embodiment of the present invention, the power difference is obtained by the outer loop PID controller, and the expected power change rate is calculated. The control amount is calculated according to the difference between the expected power change rate and the actual power change rate by the inner loop PID controller. The embodiment of the present invention can accurately control the output power of the solid-state power source, so that the system can have dynamic regulation capability and adjust the power output in time. In addition, the introduced inner loop control process enables the system to improve the dynamic characteristics in the control process, improve the system's ability to overcome disturbances and its ability to adapt to changes in loop parameters.

[0046] In the embodiment of the present invention, the control amount obtained by the attenuator can control the signal strength that finally enters the power amplifier circuit, thereby achieving the effect of controlling the size of the actual power output value. Based on the changed actual power output value, the above steps S501 to S502 can be performed again, and the cycle can be repeated until the adjustment is stopped after the stop adjustment condition is met. Optionally, when the actual output power is equal to the set power setting value, or the error between the actual output power and the set power setting value is within a preset range, it can be used as a signal to stop adjustment.

[0047] In one embodiment of the present invention, the outer loop PID controller and the inner loop PID controller may adopt an incremental digital PID algorithm or a position digital PID algorithm.

[0048] The position digital PID algorithm is as follows:

[0049]

[0050] The incremental digital PID algorithm is as follows:

[0051] Δu(k)=u(k)-u(k-1)

[0052] =K P [e(k)-e(k-1)]+K I e(k)+K D [e(k)-2e(k-1)+e(k-2)]

[0053] Among them, the various parameters in the formulas of the above two algorithms are explained as follows:

[0054] u(k): kth control quantity.

[0055] e(k): kth error, which is the difference between the expected value and the actual value.

[0056] e(k-1): k-1th error.

[0057] K P : proportionality coefficient.

[0058] K I : Integration coefficient.

[0059] K D : Differential coefficient.

[0060] Σ i＝0 e(i): error integral.

[0061] Δu(k): incremental control quantity.

[0062] Compared with the above two digital PID algorithms, the position digital PID algorithm is prone to large cumulative errors due to the inclusion of an error integral term. Especially when the integral term reaches saturation, the error will continue to accumulate under the action of the integral. In contrast, the incremental digital PID algorithm avoids the problem of cumulative error. It only relies on the error values ​​of the last three times to determine the increment of the control quantity, thereby minimizing the impact of calculation errors and accuracy problems on the calculation of the control quantity. Unlike the full output of the position digital PID algorithm, the incremental digital PID algorithm uses the increment of the control quantity for closed-loop control, which reduces the impact of false actions, and when problems occur in the system, the incremental algorithm will not have a serious impact on the normal operation of the system. Therefore, the incremental digital PID algorithm shows obvious advantages in control accuracy and system stability.

[0063] In order to ensure the stability, response speed and accuracy of the control process, in one embodiment of the present invention, the MCU can also perform parameter tuning for the outer loop PID controller and the inner loop PID controller according to a preset strategy; wherein the preset strategy is any one or combination of the following: stepwise approximation method; two-step tuning method; one-step tuning method.

[0064] It is easy to understand that the step-by-step approach is an iterative optimization process that starts with tuning the parameters of the outer loop PID controller, then moves on to the inner loop, and so on, until both control loops reach optimal performance. This method allows one loop to be fine-tuned in each cycle while observing the impact on the other loop, thereby gradually approaching the optimal state of the overall system. In contrast, the two-step tuning method requires the system to operate under a cascade control configuration, focusing first on the parameters of the inner loop PID controller, and then gradually transitioning to the outer loop. In the parameter adjustment of each loop, the order of proportional (P), then integral (I), and finally derivative (D) is followed, which ensures that each parameter is properly optimized to achieve the optimal performance of the entire control system.

[0065] Continue to see Figure 2 and Figure 3 In order to provide the required power difference e1 to the outer loop PID controller 1011, the method in one embodiment of the present invention further includes the following steps: first, the actual output power is accurately detected by the power detection module 102; then, the difference between the power setting value and the actual output power of the solid-state power source is calculated by the first comparator 1013; finally, the calculated difference is used as input and sent to the external PID controller 1011 for subsequent processing.

[0066] Continue to see Figure 2 and Figure 4In order to provide the required power difference to the inner loop PID controller 1012, the method in one embodiment of the present invention further includes the following steps: first, the power change speed detection module 103 calculates the actual power change rate based on the detected actual output power; then, the second comparator 1014 determines the difference between the expected power change rate and the actual power change rate; finally, the difference is input into the inner loop PID controller 1012. The inner loop PID controller 1012 obtains the control amount based on the difference between the expected power change rate and the actual power change rate, and the control amount directly acts on the attenuator 20, thereby adjusting the signal strength entering the power amplifier circuit 30 and finely controlling the actual power output value.

[0067] In one embodiment of the present invention, Figure 1 As shown, MCU10, attenuator 20, power amplifier circuit 30 and RF detection circuit 50 form a closed-loop system. Therefore, in the process of adjusting the actual output power, the cascade regulation control process of the solid-state power source can also include the following steps: the inner loop PID controller applies the calculated control amount to the attenuator so that the attenuator adjusts the signal strength input to the power amplifier circuit according to the control amount. Subsequently, the power amplifier circuit changes its output power according to the adjusted signal strength, and then finely regulates the actual output power to ensure accurate matching and stability of the power output. This closed-loop control mechanism enables the system to respond in real time and accurately control the power output, thereby improving the regulation accuracy and response speed of the entire system.

[0068] In one embodiment of the present invention, in order to achieve more accurate power control, the embodiment of the present invention can also calculate the actual output power according to the collected digital signal through the power detection module; wherein the digital signal is converted from the analog signal of the radio frequency detection circuit by the ADC converter. In other words, the analog signal captured by the radio frequency detection circuit can be converted into a digital signal through the ADC converter. Subsequently, the power detection module 102 uses these collected digital signals to calculate the actual output power, thereby providing accurate power feedback for the system and ensuring the accuracy and efficiency of the power regulation process.

[0069] Optionally, the internal on-chip peripherals of the MCU 10 in the embodiment of the present invention may include the ADC converter, or the MCU 10 may use an external ADC converter.

[0070] In one embodiment of the present invention, in order to further improve the control process and achieve precise adjustment, the embodiment of the present invention can also output the analog quantity corresponding to the control quantity to the attenuator; wherein the analog quantity is converted by a DAC converter. In other words, the function of the DAC converter is to convert the control quantity obtained by the inner loop PID controller into a corresponding analog quantity and output it to the attenuator. In this way, the attenuator can adjust its working state according to the received analog signal, and then accurately control the signal strength transmitted to the power amplifier circuit. This integrated DAC design not only improves the response speed of the system, but also enhances the accuracy and flexibility of the adjustment process.

[0071] Optionally, the internal on-chip peripherals of the MCU 10 in the embodiment of the present invention may include the DAC converter, or the MCU 10 may use an external DAC converter.

[0072] Based on the same inventive concept as the solid-state power source power cascade regulation control method provided in the embodiment of the present invention, the embodiment of the present invention also provides a program design scheme for the cascade power regulation controller, which can be divided into a driver layer (bsp) and an application layer (app). The required subroutine modules are as follows: Figure 6 As shown, Figure 6 A schematic diagram of software modules of a cascade power regulation controller provided in an embodiment of the present invention.

[0073] ADC driver: responsible for converting the analog signal processed by the RF detection circuit into a digital signal that can be recognized by the ADC converter of the MCU. Subsequently, the power detection subroutine will calculate the actual power output value based on these digital signals.

[0074] DAC drive: The DAC converter converts the control quantity into analog quantity and outputs it, which is used to accurately control the output of the attenuator. As the key control object of the inner loop PID controller, the attenuator directly affects the power regulation of the system.

[0075] Power detection subroutine: The main function of this subroutine is to obtain the actual output power of the solid-state power source in real time, which is used to compare with the power setting value, so as to calculate the input required by the outer loop PID controller.

[0076] Power change rate detection subroutine: This subroutine calculates the actual power change rate by analyzing the power change within the sampling time interval. This data is crucial for the precise control of the inner loop PID controller.

[0077] Cascade PID control subroutine: As the core functional module of the system, this subroutine coordinates other subroutine modules and realizes precise cascade regulation of the output power of the solid-state source by calling the power detection subroutine and the power change rate detection subroutine. This ensures that the system can respond to different power regulation requirements efficiently and stably.

[0078] Based on Figure 5 The same inventive concept, the MCU10 provided in the embodiment of the present invention, it should be noted that the embodiment of the present invention provides an MCU10, which belongs to the same concept as the solid-state power source power cascade regulation control method provided by the above embodiment and executed by the MCU10. The specific implementation process is detailed in the method embodiment. The MCU10 in the embodiment of the present invention first obtains the power difference through the outer loop PID controller, and calculates the expected power change rate, and calculates the control quantity according to the difference between the expected power change rate and the actual power change rate through the inner loop PID controller. This method can accurately control the output power of the solid-state power source, so that the system can have dynamic regulation capabilities and adjust the power output in time. In addition, the introduced inner loop control process enables the system to improve the dynamic characteristics in the control process, improve the system's ability to overcome disturbances and its ability to adapt to changes in loop parameters.

[0079] Based on the above embodiments, the present application also provides a storage medium, in which a computer program is stored. When the computer program is executed by a computer, the computer executes the solid-state power source power cascade regulation control method provided in the above embodiments.

[0080] Based on the above embodiments, the embodiments of the present application further provide a computer program. When the computer program is run on a computer, the computer executes the solid-state power source power cascade regulation control method provided in the above embodiments.

[0081] A computer program product is also provided in an embodiment of the present application, including instructions, which, when executed on a computer, enable the computer to execute the solid-state power source power cascade regulation control method provided in the above embodiment.

[0082] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by instructions. These instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0083] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0084] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A solid-state power source power cascade regulation control method, characterized in that: Applied to MCU; the MCU includes an outer loop PID controller and an inner loop PID controller; the outer loop PID controller and the inner loop PID controller are connected in series; the output of the outer loop PID controller is used as the input of the inner loop PID controller; the method includes: The outer loop PID controller obtains a power difference value, and calculates an expected power change rate according to the power difference value; wherein the power difference value is the difference between the power setting value and the actual output power of the solid-state power source; The power change rate difference is obtained by the inner loop PID controller, and the control amount for adjusting the actual output power is calculated according to the power change rate difference; wherein the power change rate difference is the difference between the expected power change rate and the actual power change rate.

2. The solid-state power source power cascade regulation control method according to claim 1, characterized in that: The MCU further includes a power detection module and a first comparator; the method further includes: The actual output power is detected by the power detection module; The first comparator determines the difference between the power setting value and the actual output power.

3. The solid-state power source power cascade regulation control method according to claim 1, characterized in that: The MCU further includes a power change speed detection module and a second comparator; the method further includes: The power change speed detection module calculates the actual power change rate based on the actual output power; The second comparator determines the difference between the expected power change rate and the actual power change rate.

4. The solid-state power source power cascade regulation control method according to any one of claims 1 to 3, characterized in that: The MCU, attenuator, power amplifier circuit and radio frequency detection circuit are connected in a closed loop; the method further includes: The control amount is applied to the attenuator through the inner loop PID controller, so that the attenuator controls the signal strength entering the power amplifier circuit according to the control amount, and then the power amplifier circuit changes the output power to adjust the actual output power.

5. The solid-state power source power cascade regulation control method according to claim 4, characterized in that: The method further comprises: The actual output power is calculated by the power detection module according to the collected digital signal; wherein the digital signal is converted by an ADC converter from an analog signal of the radio frequency detection circuit.

6. The solid-state power source power cascade regulation control method according to claim 4, characterized in that: The method further comprises: The analog quantity corresponding to the control quantity is output to the attenuator; wherein the analog quantity is converted by a DAC converter.

7. The solid-state power source power cascade regulation control method according to any one of claims 1-3, 5-6, characterized in that: The outer loop PID controller and the inner loop PID controller adopt an incremental digital PID algorithm or a position digital PID control algorithm.

8. The solid-state power source power cascade regulation control method according to claim 7, characterized in that: The method further comprises: According to a preset strategy, parameters of the outer loop PID controller and the inner loop PID controller are tuned; wherein the preset strategy is any one or combination of the following: stepwise approximation method; two-step tuning method; one-step tuning method.

9. An MCU, characterized in that: The MCU is used to execute the solid-state power source power cascade regulation control method as described in any one of claims 1 to 8.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the solid-state power source power cascade regulation control method according to any one of claims 1 to 8 is implemented.

Images