Control method and device of bilateral LCC compensation network wireless power transmission system

Abstract

The invention discloses a control method and device for a bilateral LCC compensation network wireless power transmission system, and relates to the technical field of wireless power transmission, and the wireless power transmission system comprises a power supply end, a full-bridge inverter, a bilateral LCC compensation network, an active rectifier and a load end which are connected in sequence. The control method comprises the following steps: constructing a prediction equation of load end voltage by taking an inner phase shift angle of the active rectifier as a control variable; setting a phase shift angle variable quantity, and constructing a rolling calculation equation by adopting an FCS-MPC control method based on the prediction equation; constructing a cost function, and performing optimization solution on the cost function based on a rolling calculation equation to obtain an optimal phase shift angle variable quantity; and regulating and controlling the phase shift angle in the active rectifier based on the phase shift angle variable quantity. According to the invention, the phase shift angle in the active rectifier is controlled through the FCS-MPC control method, so that the constant output of the voltage is ensured, and the stability and rapidity of the WPT system and the collaborative optimization of the calculation load of the controller are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless power transfer, and particularly to a control method and device for a wireless power transfer system with a bilateral LCC compensation network. Background Art

[0002] After years of development, wireless power transfer (WPT) has become an important energy transfer method. With its advantages of non-contact, long-distance, high efficiency, safety, etc., WPT systems have gradually been widely applied in many fields.

[0003] Currently, in the control algorithm of WPT systems, PID control is widely used due to its simple structure, stable reliability, and good control effect. However, the PID control strategy is based on the principle of linear regulation and has inherent limitations in dealing with nonlinear and uncertain problems. Especially in systems with time-delay characteristics, its control performance is difficult to reach the optimal. In the application of dynamic WPT systems, the load and input of the system will change suddenly. If the dynamic response ability of the WPT system to parameter mutations is poor, the output of the system will fluctuate or even diverge, thereby reducing the transmission efficiency and system stability, and further deteriorating the operating conditions of electrical loads such as batteries and motors. Therefore, in order to improve the adaptability, robustness, and dynamic response characteristics of WPT systems, it is imperative to improve the WPT control method.

[0004] Based on the above problems, finite control set model predictive control (FCS-MPC) has gradually been applied to the control of WPT systems due to its good dynamic response performance, stronger robustness in dealing with uncertainties and external disturbances, and the ability to precisely balance control objectives and constraints. However, traditional FCS-MPC control needs to make a trade-off between the rapidity and stability of the WPT system, and it is difficult to achieve the coordinated optimization of various indicators of the WPT system. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art, and provide a control method and device for a wireless power transfer system with a bilateral LCC compensation network, so as to solve the technical problem that traditional FCS-MPC control needs to make a trade-off between the rapidity and stability of the WPT system and it is difficult to achieve the coordinated optimization of various indicators of the WPT system.

[0006] To achieve the above purpose, the present invention is implemented by the following technical solutions:

[0007] In a first aspect, the present invention provides a control method for a wireless power transmission system with a bilateral LCC compensation network. The wireless power transmission system includes a power supply end, a full-bridge inverter, a bilateral LCC compensation network, an active rectifier, and a load end connected in sequence. The control method includes:

[0008] Taking the internal phase-shift angle of the active rectifier as a control variable, constructing a prediction equation for the load-end voltage;

[0009] Setting the phase-shift angle variation, constructing a rolling calculation equation based on the prediction equation using the FCS-MPC control method, and optimizing its iteration method and rolling step size;

[0010] Constructing a cost function based on the deviation between the load-end target voltage and the load-end predicted voltage, and optimizing and solving the cost function based on the rolling calculation equation to obtain the optimal phase-shift angle variation;

[0011] Regulating the internal phase-shift angle of the active rectifier based on the phase-shift angle variation so that the wireless power transmission system outputs the target voltage.

[0012] Optionally, the construction of the prediction equation for the load-end voltage includes:

[0013] Describing the dynamic process of the load-end filter capacitor as:

[0014]

[0015] where are the load-end voltage and current, is the output current of the active rectifier;

[0016] Averaging the value of the output current of the active rectifier to:

[0017]

[0018] where is the internal phase-shift angle of the active rectifier, is the output current of the bilateral LCC compensation network;

[0019] Discretizing the above dynamic process through the forward Euler formula to obtain the prediction equation for the load-end voltage:

[0020]

[0021] where is the duration of the control period, is the index value of the control moment, is the +1 load-end predicted voltage at the next control moment.

[0022] Optionally, the rolling calculation equation is as follows:

[0023]

[0024] In the formula, is the index value of the rolling times, is the th th predicted voltage at the load end obtained by the rolling calculation at the control time, is the phase shift angle change amount of the th th rolling calculation at the control time;

[0025] The optimized iteration method is as follows:

[0026]

[0027] In the formula, is the reference discrete phase shift angle, is the target voltage at the load end, is the weight for dividing the high and low difference intervals, is the rolling step variable in the low difference interval at the th control time;

[0028] The optimized rolling step is as follows:

[0029]

[0030] In the formula, is the slow convergence coefficient, is the th phase shift angle change amount when the predicted voltage at the load end obtained by the rolling calculation at the control time is closest to the target voltage at the load end.

[0031] Optionally, the cost function is as follows:

[0032]

[0033] In the formula, is the cost value of the +1th th rolling calculation at the control time, is the target weight, .

[0034] Optionally, optimizing and solving the cost function to obtain the optimal phase shift angle change amount includes:

[0035] Obtaining the output current, load end voltage and current of the bilateral LCC compensation network at the current control time;

[0036] Initialize the rolling step variable within the low difference interval at the current control moment, the phase shift angle change amount for the first rolling calculation, and the maximum number of rolling times;

[0037] Calculate the cost value for each rolling calculation based on the cost function, and take the phase shift angle change amount corresponding to the rolling times with the minimum cost value as the optimal solution.

[0038] In a second aspect, the present invention provides a control device for a wireless power transmission system of a bilateral LCC compensation network. The wireless power transmission system includes a power supply end, a full-bridge inverter, a bilateral LCC compensation network, an active rectifier, and a load end connected in sequence. The control device includes:

[0039] A prediction equation construction module configured to construct a prediction equation for the load end voltage with the phase shift angle within the active rectifier as the control variable;

[0040] A rolling prediction construction module configured to set the phase shift angle change amount, construct a rolling calculation equation based on the prediction equation using the FCS-MPC control method, and optimize its iteration method and rolling step;

[0041] A cost calculation construction module configured to construct a cost function based on the deviation between the load end target voltage and the load end predicted voltage, and optimize and solve the cost function based on the rolling calculation equation to obtain the optimal phase shift angle change amount;

[0042] A phase shift angle regulation module configured to regulate the phase shift angle within the active rectifier based on the phase shift angle change amount so that the wireless power transmission system outputs the target voltage.

[0043] Optionally, the construction of the prediction equation for the load end voltage includes:

[0044] Describe the dynamic process of the load end filter capacitor as:

[0045]

[0046] In the formula, are the load end voltage and current, is the output current of the active rectifier;

[0047] Average the value of the output current of the active rectifier to:

[0048]

[0049] In the formula, is the phase shift angle within the active rectifier, is the output current of the bilateral LCC compensation network;

[0050] Discretize the above dynamic process through the forward Euler formula to obtain the prediction equation of the load terminal voltage:

[0051]

[0052] In the formula, is the duration of the control period, is the index value at the control moment, is the +1 predicted voltage at the load terminal at the next control moment.

[0053] In a third aspect, the present invention provides an electronic device, including a processor and a storage medium;

[0054] The storage medium is used to store instructions;

[0055] The processor is used to operate according to the instructions to execute the steps of the above method.

[0056] In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented.

[0057] In a fifth aspect, the present invention provides a computer program product, including a computer program / instructions, and when the computer program / instructions are executed by a processor, the steps of the above method are implemented.

[0058] Compared with the prior art, the beneficial effects achieved by the present invention:

[0059] A control method and device for a bilateral LCC compensation network wireless power transmission system provided by the present invention constructs a voltage prediction equation model based on the FCS-MPC control method and performs rolling iteration optimization. The voltage prediction equation model is to construct an equivalent circuit diagram for the load module, describe the dynamic charge and discharge process of the DC regulated capacitor in the form of a dynamic time-domain equation, and then use the forward Euler formula for discretization; rolling iteration optimization is to determine the rolling step size of the control quantity, determine the independent variable corresponding to the control quantity at each iteration order in an iterative manner, predict the predicted output voltage value corresponding to each iteration according to the output voltage prediction equation, calculate the corresponding cost function using the above results, and screen the control quantity independent variable corresponding to the lowest value of the cost function. In summary, the present invention optimizes the iteration method, rolling step size, and cost function in the FCS-MPC control to solve the problem that the traditional FCS-MPC control needs to make a trade-off between the rapidity and stability of the WPT system and it is difficult to achieve the coordinated optimization of various indicators of the WPT system, and realizes the overall optimization of the stability, rapidity, and controller calculation load of the WPT system. Description of the Drawings

[0060] Figure 1It is the topological diagram of the wireless power transfer system with a bilateral LCC compensation network provided by an embodiment of the present invention;

[0061] Figure 2 It is the flowchart of the control method for the wireless power transfer system with a bilateral LCC compensation network provided by an embodiment of the present invention;

[0062] Figure 3 It is the iterative schematic diagram of the rolling iterative optimization of the FCS - MPC control method provided by an embodiment of the present invention;

[0063] Figure 4 It is the example schematic diagram of the rolling iterative optimization of the FCS - MPC control method provided by an embodiment of the present invention;

[0064] Figure 5 It is the schematic diagram of the output power measurement circuit for the bilateral LCC compensation network provided by an embodiment of the present invention. Specific Embodiments

[0065] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and should not be used to limit the protection scope of the present invention.

[0066] Embodiment 1:

[0067] As Figure 1 shown, an embodiment of the present invention provides a topological diagram of a wireless power transfer system with a bilateral LCC compensation network. The wireless power transfer system includes a power supply end, a full - bridge inverter, a bilateral LCC compensation network, an active rectifier, and a load end connected in sequence.

[0068] The power supply end, such as a DC energy storage unit, the electric energy obtains high - frequency alternating current through the full - bridge inverter. The high - frequency alternating current is transmitted from the primary side to the secondary side through the coupling coil in the bilateral LCC compensation network, and then forms a stable direct current through the active rectifier and is transmitted to the load end to achieve wireless energy transfer.

[0069] Specifically, the bilateral LCC compensation network includes coupling coils (L1, L2), coil internal resistances (R1, R2), series compensation capacitors (C1, C2), series compensation inductors (L f1 , L f2 ), parallel compensation capacitors (C f1 , C f2 ). The coupling coils are wound with Litz wire to transfer energy wirelessly from the transmitting coil to the receiving coil. The active rectifier includes a bridge rectifier circuit composed of 4 MOSFET tubes. The MOSFST tubes are controlled in real - time through the synchronous phase - locked signal and the internal phase - shift angle to achieve the output of the reference DC voltage. The load end includes a load R L and a DC voltage - stabilizing capacitor C f .

[0070] For the above wireless power transmission system with a bilateral LCC compensation network, as Figure 2 shown, an embodiment of the present invention provides a control method, including the following steps:

[0071] Step S1: Taking the internal phase-shift angle of the active rectifier as the control variable, construct a prediction equation for the load terminal voltage.

[0072] Specifically, in this embodiment, the construction process includes:

[0073] Step S1.1: Describe the dynamic process of the load terminal filter capacitor as:

[0074]

[0075] In the formula, are the load terminal voltage and current, is the output current of the active rectifier;

[0076] Step S1.2: Average the value of the output current of the active rectifier as:

[0077]

[0078] In the formula, is the internal phase-shift angle of the active rectifier, is the output current of the bilateral LCC compensation network;

[0079] Step S1.3: Discretize the above dynamic process through the forward Euler formula to obtain a prediction equation for the load terminal voltage:

[0080]

[0081] In the formula, is the duration of the control period, is the index value of the control moment, is the +1 load terminal predicted voltage at the next control moment.

[0082] Step S2: Set the phase-shift angle change amount, construct a rolling calculation equation based on the prediction equation using the FCS-MPC control method, and optimize its iteration method and rolling step size.

[0083] As Figure 3As shown, the rolling iteration optimization of the FCS-MPC control method is to determine the rolling step length of the control quantity, determine the independent variable corresponding to the control quantity at each iteration order in an iterative manner, predict the predicted output voltage value corresponding to each iteration according to the output voltage prediction equation, calculate the corresponding cost function using the above results, and screen the control quantity independent variable corresponding to the minimum value of the cost function.

[0084] Specifically, on the basis of step S1, a rolling calculation equation is constructed as follows:

[0085]

[0086] In the formula, is the index value of the rolling times, is the th predicted load-side voltage obtained by the th rolling calculation at the th control moment, is the th change amount of the phase-shifting angle in the

[0087] Optimizing the traditional FCS-MPC control is to optimize the iterative method, rolling step length, and cost function. That is, optimizing the iterative method is to divide the interval based on the difference between the output voltage and the target voltage and select the corresponding iterative method. Since the output voltage of the WPT system with the LCC-LCC compensation network is positively correlated with the phase-shifting angle of the active rectifier, based on this theory, this embodiment proposes an adaptive iterative method based on the difference between the output voltage and the target voltage to optimize the iterative process:

[0088]

[0089] In the formula, is the reference discrete phase-shifting angle, is the target voltage at the load end, is the weight for dividing the high and low difference intervals, is the rolling step length variable in the low difference interval of the th control cycle.

[0090] Optimizing the rolling step length is to design the rolling step length based on the slow convergence strategy in the low difference interval between the output voltage and the target voltage:

[0091]

[0092] In the formula, is the slow convergence coefficient, is the change amount of the phase-shifting angle when the predicted load-side voltage obtained by the rolling calculation at the th control moment is closest to the target voltage at the load end.

[0093] When the system is in the low difference interval, if the optimal phase shift angle directions of the (K-1)-th and (K-2)-th controls are the same, it can be determined that the system is in the voltage tracking stage. At this time, the rolling step size is kept constant to ensure the fast response of voltage tracking. When the optimal phase shift angle directions of the previous two controls are opposite, it can be determined that the system is in the stable oscillation stage. At this time, to improve the system stability, the rolling step size of the system is gradually reduced by an exponentially decaying method to gradually reduce the steady-state oscillation, where the slow convergence coefficient determines the convergence degree of the rolling step size.

[0094] Step S3: Construct a cost function based on the deviation between the target voltage at the load end and the predicted voltage at the load end, and optimize and solve the cost function based on the rolling calculation equation to obtain the optimal phase shift angle change amount.

[0095] Specifically, the cost function is:

[0096]

[0097] In the formula, is the cost value of the +(i+1)-th rolling calculation at the -th control moment, is the target weight, . By setting the target weight, the two optimization targets are normalized to offset the differences in different dimensions.

[0098] As Figure 4 shown, optimizing and solving the cost function to obtain the optimal phase shift angle change amount includes:

[0099] (1) Obtain the output current I4 of the bilateral LCC compensation network, the load-end voltage V o and the current I o at the current control moment K;

[0100] (2) Initialize the rolling step size variable ∆φ ‌hK in the low difference interval at the current control moment and the phase shift angle change amount ∆φ ‌sK for the first rolling calculation (i = 1), and the maximum number of rolling times N = 7;

[0101] (3) Calculate the cost value of each rolling calculation based on the cost function J i (K + 1), and take the phase shift angle change amount ∆φ ‌sK (i) corresponding to the rolling time with the smallest cost value as the optimal solution.

[0102] Step S4: Regulate the phase shift angle in the active rectifier based on the phase shift angle change amount, so that the wireless power transfer system outputs the target voltage.

[0103] As Figure 5As shown in the figure, the embodiment of the present invention can also be provided with an active and reactive power measurement circuit, which includes a voltage and current sampling circuit, a 90° phase shift circuit, an analog multiplier, and a low-pass filter, to obtain the real-time active power and reactive power output by the bilateral LCC compensation network and transmit them to the controller.

[0104] The controller processes the real-time active power and reactive power to obtain the real-time power angle of the output power, and compares the real-time power angle with 90° through PI control to obtain the synchronous phase-locked signal of the active rectifier.

[0105] The FCS-MPC control algorithm is used to control the internal phase shift angle of the active rectifier in combination with the PQ synchronous phase-locked method to control the relative external phase shift angle of the primary and secondary sides, so as to realize the output of the reference DC voltage of the system. This method improves the dynamic performance of the system while making the output reactive power zero, and optimizes the output efficiency to a certain extent.

[0106] Embodiment 2:

[0107] The embodiment of the present invention provides a control device for a wireless power transmission system with a bilateral LCC compensation network. The wireless power transmission system includes a power supply end, a full-bridge inverter, a bilateral LCC compensation network, an active rectifier, and a load end connected in sequence. The control device includes:

[0108] A prediction equation construction module, configured to construct a prediction equation of the load terminal voltage with the internal phase shift angle of the active rectifier as the control variable;

[0109] A rolling prediction construction module, configured to set the phase shift angle change amount, construct a rolling calculation equation based on the prediction equation using the FCS-MPC control method, and optimize its iteration method and rolling step;

[0110] A cost calculation construction module, configured to construct a cost function based on the deviation between the load terminal target voltage and the load terminal predicted voltage, and optimize and solve the cost function based on the rolling calculation equation to obtain the optimal phase shift angle change amount;

[0111] A phase shift angle regulation module, configured to regulate the internal phase shift angle of the active rectifier based on the phase shift angle change amount, so that the wireless power transmission system outputs the target voltage.

[0112] Embodiment 3:

[0113] Based on the control method provided in Embodiment 1, the embodiment of the present invention provides an electronic device, including a processor and a storage medium;

[0114] The storage medium is used to store instructions;

[0115] The processor is used to operate according to the instructions to execute the steps of the above method.

[0116] Example 4:

[0117] Based on the control method provided in Example 1, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented.

[0118] Example 5:

[0119] Based on the control method provided in Example 1, an embodiment of the present invention provides a computer program product, including a computer program / instructions, and when the computer program / instructions are executed by a processor, the steps of the above method are implemented.

[0120] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0121] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0122] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0123] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide means for implementing the functions in the processFigure 1 one process or multiple processes and / or boxes Figure 1 steps of functions specified in one box or multiple boxes.

[0124] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A control method for a wireless power transfer system with a bilateral LCC compensation network. The wireless power transfer system includes a power supply end, a full-bridge inverter, a bilateral LCC compensation network, an active rectifier, and a load end connected in sequence. It is characterized in that, The control method includes: Taking the phase-shift angle in the active rectifier as the control variable, constructing a prediction equation for the load terminal voltage; Setting the phase-shift angle variation, constructing a rolling calculation equation based on the prediction equation by using the FCS-MPC control method, and optimizing its iteration mode and rolling step size; Constructing a cost function based on the deviation between the load terminal target voltage and the load terminal predicted voltage, and optimizing and solving the cost function based on the rolling calculation equation to obtain the optimal phase-shift angle variation; Adjusting the phase-shift angle in the active rectifier based on the phase-shift angle variation, so that the wireless power transfer system outputs the target voltage.

2. The control method of the wireless power transmission system with a bilateral LCC compensation network according to claim 1, characterized in that, The construction of the prediction equation for the load terminal voltage includes: Describe the dynamic process of the load-side filtering capacitor as follows: In the formula, is the load terminal voltage and current, is the output current of the active rectifier; Average the value of the output current of the active rectifier to: Wherein, is the phase-shifting angle in the active rectifier, is the output current of the bilateral LCC compensation network; Discretizing the above dynamic process through the forward Euler formula to obtain the prediction equation for the load terminal voltage: wherein, is the duration of the control period, is the index value of the control time, is the predicted voltage at the load end at the ( +1)-th control time.

3. The control method of the wireless power transmission system with a bilateral LCC compensation network according to claim 2, wherein The rolling calculation equation is: wherein, is the index value of the number of rolling times, is the predicted voltage at the load end obtained by the th rolling calculation at the th control moment, is the change amount of the phase shift angle calculated by the th rolling calculation at the th control moment; The optimized iteration mode is: Wherein, is the reference discrete phase-shifting angle, is the target voltage at the load end, is the weight for dividing the high-low difference interval, is the rolling step variable within the low difference interval at the th control moment; The optimized rolling step size is: wherein is the slow convergence coefficient, is the phase shift angle change amount when the predicted load terminal voltage obtained by rolling calculation at the th control moment is closest to the load terminal target voltage.

4. The control method of the wireless power transmission system with a bilateral LCC compensation network according to claim 3, characterized in that, The cost function is: In the formula, is the cost value of the th rolling calculation at the +1 control moment, is the target weight.

5. The control method of the wireless power transmission system with a bilateral LCC compensation network according to claim 4, characterized in that, The optimizing and solving the cost function to obtain the optimal phase-shift angle variation includes: Obtaining the output current, load terminal voltage and current of the bilateral LCC compensation network at the current control moment; Initializing the rolling step size variable within the low difference interval, the phase-shift angle variation for the first rolling calculation, and the maximum number of rolling times at the current control moment; Calculating the cost value for each rolling calculation based on the cost function, and taking the phase-shift angle variation corresponding to the rolling number with the minimum cost value as the optimal solution.

6. A control device for a wireless power transmission system with a bilateral LCC compensation network, the wireless power transmission system comprising a power supply end, a full-bridge inverter, a bilateral LCC compensation network, an active rectifier, and a load end connected in sequence, characterized in that, The control device includes: A prediction equation construction module configured to take the phase-shift angle in the active rectifier as the control variable and construct a prediction equation for the load terminal voltage; A rolling prediction construction module configured to set the phase-shift angle variation, construct a rolling calculation equation based on the prediction equation by using the FCS-MPC control method, and optimize its iteration mode and rolling step size; A cost calculation construction module configured to construct a cost function based on the deviation between the load terminal target voltage and the load terminal predicted voltage, and optimize and solve the cost function based on the rolling calculation equation to obtain the optimal phase-shift angle variation; A phase-shift angle adjustment module configured to adjust the phase-shift angle in the active rectifier based on the phase-shift angle variation, so that the wireless power transfer system outputs the target voltage.

7. The control device of the wireless power transmission system with a bilateral LCC compensation network according to claim 6, characterized in that, The construction of the prediction equation for the load terminal voltage includes: Describe the dynamic process of the load-side filtering capacitor as follows: Wherein, is the load terminal voltage and current, is the output current of the active rectifier; Average the value of the output current of the active rectifier to: In the formula, is the phase-shifting angle in the active rectifier, is the output current of the bilateral LCC compensation network; Discretizing the above dynamic process through the forward Euler formula to obtain the prediction equation for the load terminal voltage: In the formula, is the duration of the control period, is the index value of the control time, is the predicted voltage at the load end at the ([ + 1])-th control time.

8. An electronic device, characterized in that, Including a processor and a storage medium; The storage medium is used to store instructions; The processor is used to operate according to the instructions to execute the steps of the method according to any one of claims 1-5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the method according to any one of claims 1-5.

10. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, it implements the steps of the method according to any one of claims 1-5.

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