Power supply loop control parameter self-correction system and method

Abstract

The invention discloses a power supply loop control parameter self-correction system and method. The system comprises a summator module, a compensator, a controlled object, a first sampler and an automatic correction module. One input end of the automatic correction module is connected with the output end of a controlled object, the other input end of the automatic correction module is connected with the input end of the summator module, and the output end of the automatic correction module is connected with the input end of the compensator; wherein the automatic correction module is used for calculating parameters of the compensator, and the compensator is used for performing compensation correction according to the parameters of the compensator. An automatic correction module is added on the basis of a basic closed-loop control system, and control parameters are automatically corrected according to a method that zero pole characteristics are calculated in an open-loop manner and then closed-loop correction is performed, so that complex loop compensation calculation and iteration can be automatically performed, and the loop control can be realized only by setting an effect required by loop control. And the correction mode can be automatically entered to correct the control coefficient.

Description

Technical Field

[0001] The present invention relates to the field of control parameter correction, and particularly to a power supply loop control parameter self-correction system and method. Background Art

[0002] The control performance of the power supply loop directly affects the overshoot and undershoot of the power supply output under short circuit, load fluctuation, input disturbance, etc. The loop control of the power supply is an important link in the design and debugging process of power supply products, and is an important factor to ensure reliable operation of the product and stable indicators.

[0003] For the power supply loop control based on a digital chip, generally a signal injection circuit is added at the output end, and a loop analyzer is used to obtain the Bode plot of the control system. The Bode plot is input into Matlab for calculation or the coefficients of the compensator are obtained by engineers according to experience. The coefficients are input into the chip for compensation and parameter iteration until the required control effect is achieved. In the above debugging process, an expensive loop analyzer and experienced engineers are required for multiple iterations, which undoubtedly increases the debugging cost and complexity. At the same time, a resistor Rx needs to be added to the peripheral hardware, and the position of Rx needs to be restored in hardware after debugging, which increases the debugging complexity and is not suitable for testing a large number of devices and under multi-temperature environmental conditions.

[0004] In addition, a method of injecting inside the module is proposed for analyzing the loop stability. Although it does not require a loop analyzer device, engineers need to first perform an open-loop frequency scan, upload the scan data to the upper computer to obtain the Bode plot, design the coefficients of the compensator according to the Bode plot and configure them to the control, and then perform a closed-loop frequency scan. The scanned data is uploaded to the upper computer, and the Bode plot of the system can be obtained by using the upper computer software in combination with the response. The parameters are optimized according to the control requirements and redownloaded for iterative testing until the control requirements are met. Although the loop analyzer is saved, computer upper computer interaction and engineer parameter optimization and parameter download are still required. If a large number of products need to perform loop analysis at high and low temperatures and under multiple loads, it will take a lot of time.

[0005] For the above two reasons, general power supply products are only tested at specific temperatures and loads for individual products during the R & D stage or spot checks. Due to the deviation of the parameters of the inductor and capacitor in the main circuit, the difference in Hp of different products will be caused, and thus the performance consistency of the whole batch of products under multiple loads and multiple temperatures is unknown, posing a very large quality hazard. Summary of the Invention

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention proposes a power loop control parameter self-correction system, which neither requires a loop analyzer nor a power engineer to perform complex loop compensation calculations and iterations. Only by setting the desired effect to be achieved by the loop control, it can automatically enter the correction mode to correct the control coefficients.

[0007] The present invention also proposes a power loop control parameter self-correction method applied to the above power loop control parameter self-correction system;

[0008] The present invention also proposes a computer-readable storage medium for implementing the above power loop control parameter self-correction method.

[0009] The power loop control parameter self-correction system according to the embodiment of the first aspect of the present invention includes:

[0010] A summing module, the data input end of the summing module is used to receive an input signal;

[0011] A compensator, the input end of the compensator is connected to the output end of the summing module;

[0012] A controlled object, the input end of the controlled object is connected to the output end of the compensator, and the output end of the controlled object is used to output a signal;

[0013] A first sampler, the input end of the first sampler is connected to the output end of the controlled object, and the output end of the first sampler is connected to the input end of the summing module;

[0014] An automatic correction module, one input end of the automatic correction module is connected to the output end of the controlled object, the other input end of the automatic correction module is connected to the output end of the summing module, the output end of the automatic correction module is connected to the input end of the summing module, and the output end of the automatic correction module is also connected to the input end of the compensator; wherein, the automatic correction module is used to calculate the compensator parameters according to the input signal and the output signal, and the compensator is used to compensate and correct the system according to the compensator parameters.

[0015] According to some embodiments of the present invention, the summing module includes:

[0016] A first summing unit, the data input end of the first summing unit is connected to the output end of the first sampler, and is used to receive the input signal and the first sampler signal, and subtract the first sampler signal from the input signal to obtain a first summing signal;

[0017] The first switching switch, the first input contact of the first switching switch is connected to a constant voltage value, and the second input contact of the first switching switch is connected to the output end of the first summing device;

[0018] The second summing device, the data input end of the second summing device is connected to the output end of the first switching switch, the input end of the second summing device is further connected to the automatic correction module, the output end of the second summing device is connected to the input end of the compensator, and the second summing device is used for receiving the first summing signal and the automatic correction module signal, and summing the first summing signal and the automatic correction module signal to obtain a second summing signal.

[0019] According to some embodiments of the present invention, the automatic correction module includes:

[0020] The second sampler, the input end of the second sampler is connected to the output end of the controlled object;

[0021] The data acquisition module, the data input end of the data acquisition module is connected to the output end of the second sampler;

[0022] The data calculation module, the input end of the data calculation module is connected to the output end of the data acquisition module, the output end of the data calculation module is connected to the input end of the compensator, and the data calculation module is used for calculating compensator parameters;

[0023] The first PWM module, one output end of the first PWM module is connected to the control end of the second sampler, the other output end of the first PWM module is connected to the control end of the rated signal input module, and the first PWM module is used for periodically triggering the data acquisition module and the rated signal input module;

[0024] The second switching switch, the first input contact of the second switching switch is connected to the output end of the rated signal input module, the second input contact of the second switching switch is connected to the zero input module, the output end of the second switching switch is connected to the input end of the summing device module, and is further connected to the data input end of the data acquisition module.

[0025] According to some embodiments of the present invention, it further includes:

[0026] The second PWM module, arranged between the compensator and the controlled object, the output end of the second PWM module is connected to the control end of the first sampler, and is used for periodically triggering the first sampler;

[0027] A third switching switch is disposed between the second summing device and the second PWM module. A first input contact of the third switching switch is connected to an input end of the compensator, a second input contact of the third switching switch is connected to an output end of the compensator, and an output end of the third switching switch is connected to a controlled object through the second PWM module;

[0028] A low-pass filter is disposed between the first sampler and the summing device module. An input end of the low-pass filter is connected to an output end of the first sampler;

[0029] A fourth switching switch is disposed between the first summing device and the first sampler. A first input contact of the fourth switching switch is connected to the low-pass filter, a second input contact of the fourth switching switch is connected to an output end of the first sampler, and an output end is connected to an inverting input end of the first summing device.

[0030] A power supply loop control parameter self-correction method according to a second aspect embodiment of the present invention is applied to the power supply loop control parameter self-correction system as described in any one of the above embodiments. The power supply loop control parameter self-correction method includes:

[0031] Making the power supply loop control parameter self-correction system in an open-loop state, calculating a system input value and an output value through an automatic correction module to obtain open-loop zero-pole characteristics of the system;

[0032] Making the power supply loop control parameter self-correction system in a closed-loop state, adjusting the open-loop zero-pole characteristics through the automatic correction module to obtain compensated zero-pole characteristics;

[0033] Determining compensator parameters according to the compensated zero-pole characteristics through the automatic correction module, transmitting the compensator parameters to the compensator, and performing a compensation operation according to the compensator parameters through the compensator;

[0034] Calculating a system input value and an output value through the automatic correction module to obtain a gain and a phase, and determining a gain margin and a phase margin;

[0035] If the gain margin or the phase margin does not meet a preset condition, correcting the compensated zero-pole characteristics through the automatic correction module, and returning to the following steps: determining compensator parameters according to the compensated zero-pole characteristics through the automatic correction module, transmitting the compensator parameters to the compensator, and performing a compensation operation according to the compensator parameters through the compensator;

[0036] If the gain margin or the phase margin meets the preset condition, making the power supply loop control parameter self-correction system in a normal operation state.

[0037] According to some embodiments of the present invention, the summing module includes: a first summer, a data input terminal of the first summer is used to receive an input signal; a first switch, a first input contact of the first switch is connected to a constant voltage value, a second input contact of the first switch is connected to an output terminal of the first summer; a second summer, a data input terminal of the second summer is connected to an output terminal of the first switch, and an input terminal of the second summer is connected to the automatic correction module; the automatic correction module includes: a second sampler, an input terminal of the second sampler is connected to an output terminal of a controlled object; a data acquisition module, a data input terminal of the data acquisition module is connected to an output terminal of the second sampler; a data calculation module, an input terminal of the data calculation module is connected to an output terminal of the data acquisition module, an output terminal of the data calculation module is connected to an input terminal of the compensator, and the data calculation module is used to calculate compensator parameters; a first PWM module, one output terminal of the first PWM module is connected to a control terminal of the second sampler, another output terminal of the first PWM module is connected to a control terminal of a rated signal input module, and the first PWM module is used to trigger the data acquisition module and the rated signal input module periodically; a second switch, a first input contact of the second switch is connected to an output terminal of the rated signal input module, a second input contact of the second switch is connected to a zero input module, an output terminal of the second switch is connected to a data input terminal of the data acquisition module and is also connected to an input terminal of the summing module; the power loop control parameter self-correction system further includes: a second PWM module, disposed between the compensator and the controlled object; a third switch, disposed between the second summer and the second PWM module, a first input contact of the third switch is connected to an input terminal of the compensator, a second input contact of the third switch is connected to an output terminal of the compensator, and an output terminal of the third switch is connected to the controlled object through the second PWM module; a fourth switch, disposed between the first summer and the first sampler, a first input contact of the fourth switch is connected to a low-pass filter, a second input contact of the fourth switch is connected to an output terminal of the first sampler, and an output terminal is connected to an inverting input terminal of the first summer; adjusting the power loop control self-correction system to make the power loop control parameter self-correction system in an open-loop state includes:

[0038] Adjust the first switch to make the first input contact of the first switch connected to the output terminal of the first switch;

[0039] Adjust the second switch to make the first input contact of the second switch connected to the output terminal of the second switch;

[0040] Adjust the third switching switch to connect the first input contact of the third switching switch to the output terminal of the third switching switch;

[0041] Adjust the fourth switching switch to connect the second input contact of the fourth switching switch to the output terminal of the fourth switching switch;

[0042] Making the power loop control parameter self - correction system in a closed - loop state includes:

[0043] Adjust the first switching switch to connect the second input contact of the first switching switch to the output terminal of the first switching switch;

[0044] Adjust the second switching switch to connect the first input contact of the second switching switch to the output terminal of the second switching switch;

[0045] Adjust the third switching switch to connect the second input contact of the third switching switch to the output terminal of the third switching switch;

[0046] Adjust the fourth switching switch to connect the first input contact of the fourth switching switch to the output terminal of the fourth switching switch.

[0047] According to some embodiments of the present invention, calculating the open - loop zero - pole characteristics of the system by the automatic correction module for the system input value and output value includes:

[0048] Periodically trigger the second sampler through the first PWM module;

[0049] Obtain the output value at the output terminal of the controlled object through the second sampler, and transmit the output value to the data acquisition module;

[0050] Obtain the input value at the output terminal of the rated signal input module through the data acquisition module;

[0051] Transmit the input value and the output value to the data calculation module through the data acquisition module;

[0052] Calculate the open - loop gain and open - loop phase of the system by the data calculation module according to the input value and the output value, and calculate the open - loop zero - pole characteristics according to the open - loop gain and the open - loop phase.

[0053] According to some embodiments of the present invention, adjusting the open - loop zero - pole characteristics by the automatic correction module to obtain the compensated zero - pole characteristics includes:

[0054] Place two zeros at the LC resonance frequency poles of the open-loop zero-pole characteristics, place one pole at the zero of the ESR, place one pole at the crossover frequency, and place one pole in the low-frequency band to obtain the compensated zero-pole characteristics.

[0055] According to some embodiments of the present invention, if the gain margin or the phase margin does not meet the preset conditions, correcting the compensated zero-pole characteristics through the automatic correction module includes:

[0056] If the gain margin does not meet the preset conditions, move forward the low-frequency band pole frequency of the compensated zero-pole characteristics;

[0057] If the phase margin does not meet the preset conditions, move forward any one of the zero frequencies of the compensated zero-pole characteristics;

[0058] Determining the compensator parameters through the automatic correction module according to the compensated zero-pole characteristics includes:

[0059] Substitute the sampling control frequency of the second PWM module and the compensated zero-pole characteristics into the compensation parameter calculation formula to obtain the compensation parameters;

[0060] Substitute the compensation parameters into the transfer function formula of the compensator to obtain the compensator parameters.

[0061] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the power loop control parameter self-correction method as described in any one of the above embodiments are implemented.

[0062] The power loop control parameter self-correction system according to the embodiments of the present invention has at least the following beneficial effects: By setting an automatic correction module, and connecting one input end of the automatic correction module to the output end of the controlled object, and the other input end to the input end of the summing module, and the output end to the input end of the compensator, it is possible to simultaneously obtain the input value and the output value of the system, calculate the compensator parameters according to the input and output values and the internal algorithm and transmit them to the compensator, make the compensator perform compensation, and calculate whether the gain and phase margins meet the internal preset conditions according to the input and output values, so as to realize the automatic correction of the parameters of the control system. Neither a loop analyzer nor a power engineer is required to perform complex loop compensation calculations and iterations. Only by setting the desired effect of the loop control can the control system be automatically corrected. Therefore, automatic correction can be carried out under multiple loads and multiple environmental conditions, parameters with higher performance can be obtained, the labor intensity of the debugging personnel is reduced, the test cost is saved, and the conditions for loop testing in large quantities and multiple modes are provided, which can improve the overall quality of the product.

[0063] The power loop control parameter self - calibration method according to the embodiments of the present invention has at least the following beneficial effects: The responses of the controlled object and the closed - loop control system are tested according to the method of first open - loop and then closed - loop. The response of the controlled object is measured through open - loop testing first, so as to calculate the open - loop zero - pole characteristics of the controlled object. Then, the open - loop zero - pole characteristics are adjusted, and the compensation parameters are determined according to the adjusted zero - pole characteristics and closed - loop compensation is executed. Subsequently, it is determined whether to further correct the zero - pole characteristics according to the gain and phase conditions of the system, so as to accurately and comprehensively realize the self - calibration of the control parameters.

[0064] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Brief Description of the Drawings

[0065] The present invention will be further described below in conjunction with the drawings and embodiments, where:

[0066] Figure 1 is the overall control principle block diagram of the power loop control parameter self - calibration system according to the embodiments of the present invention;

[0067] Figure 2 is Figure 1 the detailed control principle block diagram of the power loop control parameter self - calibration system shown;

[0068] Figure 3 is the overall flowchart of the power loop control parameter self - calibration method according to the embodiments of the present invention;

[0069] Figure 4 is Figure 3 the detailed flowchart of the power loop control parameter self - calibration method shown;

[0070] Figure 5 is the schematic diagram of the zero - pole characteristics of the Bode plot of the ideal analysis of the zero - pole identification strategy of the power loop control parameter self - calibration method according to the embodiments of the present invention;

[0071] Figure 6 is the schematic diagram of the zero - pole characteristics of the Bode plot of the discrete measured zero - pole identification strategy of the power loop control parameter self - calibration method according to the embodiments of the present invention;

[0072] Figure 7 is the schematic diagram of the calculated zero - poles of the zero - pole identification strategy of the power loop control parameter self - calibration method according to the embodiments of the present invention;

[0073] Figure 8 is Figure 1 the equivalent transfer function block diagram of the compensator of the power loop control parameter self - calibration system shown;

[0074] Figure 9 Schematic diagram of the system stability determination condition for the power loop control parameter self - calibration method according to an embodiment of the present invention.

[0075] Reference numerals: Summing module 100, first summer 110, second summer 120; compensator 200; controlled object 300; first sampler 400; automatic calibration module 500, second sampler 510, data acquisition module 520, data calculation module 530; low - pass filter 600. Detailed implementation manners

[0076] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0077] In the description of the present invention, it should be understood that for the orientation description, such as up, down, front, back, left, right, etc., the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0078] In the description of the present invention, the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, exceeding, etc. are understood as not including the recited number, and above, below, within, etc. are understood as including the recited number. If there is a description of first and second, it is only for the purpose of distinguishing technical features and should not be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0079] In the description of the present invention, unless otherwise clearly defined, terms such as set, install, connect, etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0080] In the description of the present invention, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0081] The following will combine with the attached Figure 1-9 drawings to describe in detail the power loop control parameter self - calibration system and method of the embodiments of the present invention.

[0082] Referring to Figure 1 the drawings, the present invention provides a power loop control parameter self - calibration system, including:

[0083] An adder module 100, the data input terminal of the adder module 100 is used to receive an input signal;

[0084] A compensator 200, the input terminal of the compensator 200 is connected to the output terminal of the adder module 100;

[0085] A controlled object 300, the input terminal of the controlled object 300 is connected to the output terminal of the compensator 200, and the output terminal of the controlled object 300 is used to output an output signal;

[0086] A first sampler 400, the input terminal of the first sampler 400 is connected to the output terminal of the controlled object 300, and the output terminal of the first sampler 400 is connected to the input terminal of the adder module 100;

[0087] An automatic calibration module 500, one input terminal of the automatic calibration module 500 is connected to the output terminal of the controlled object 300, another input terminal of the automatic calibration module 500 is connected to the input terminal of the adder module 100, and the output terminal of the automatic calibration module 500 is connected to the input terminal of the compensator 200; wherein, the automatic calibration module 500 is used to calculate compensator parameters according to the input signal and the output signal, and the compensator 200 is used to compensate and correct the system according to the compensator parameters.

[0088] Specifically, in this embodiment, compared with the control system of a general numerically controlled power supply, the present invention adds an automatic calibration module 500, also known as the ACC (auto calibration control) module, thus constituting the power loop control parameter self - calibration system of this embodiment. Referring to Figure 2 the drawings, the compensator 200 is Figure 2 Hc in Figure 2 , the controlled object 300 is Figure 2 Hp in The equivalent small signal output is That is Therefore, the open-loop characteristics of the loop can be obtained through (where s is the waveform of the disturbance small signal output by the ACC, and w is the sampling channel of the output voltage u configured by the ACC).

[0089] To improve the resolution of the injected waveform and the output voltage of the sampling, the first PWM module PWM2 inside the ACC can have a higher frequency than PWM1 of the control system, and the ADC2 for sampling the output voltage also has a higher sampling frequency than ADC1.

[0090] In each test process, the first PWM module PWM2 triggers the Vs module according to a preset period to generate the sine value at the corresponding moment, and superimposes the sine signal on the position before the compensator Hc, that is, to form Figure 1 the shown disturbance source. The above is equivalent to injecting a small signal into the controller, and generating a response at Out after passing through the controller Hc and the controlled object Hp. The first PWM module PWM2 will synchronously trigger the latching of the signal s, Data_s, and the AD sampling latching of Vout, Data_w.

[0091] In each injection frequency x, perform FFT calculations on Data_w and Data_s to obtain the real and imaginary parts of w(x) and s(x) at the x frequency respectively. Take the square root of the real and imaginary parts to obtain w(x)_rms and s(x)_rms, and take arctan of the real and imaginary parts to obtain w(x)_Φ and s(x)_Φ.

[0092]

[0093] φ(x) = w(x)_φ - s(x)_φ,

[0094] Then the gain and phase at a certain frequency can be obtained.

[0095] If the switching frequency of the normal controller is 50k, the scanned frequency range is: 10k, 9k, 8k, 7k, 6k, 5k, 4k, 3k, 2k, 1k, 900, 800, 700, 600, 500, 400, 300, 200, 100, 90, 80, 70, 60, 50.

[0096] Let the number of points N of the FFT be 128 points, then for the small signal with fs = 10k, the ADC trigger frequency fp = fs * N = 1.28MHz, that is, the trigger frequency of PWM2 is 1.28MHz.

[0097] Before the closed-loop scan, an open-loop system characteristic scan needs to be performed. When performing the open-loop scan, the switches K need to be switched to K1-1, K2-1, K3-1, K4-2.

[0098] Control the closed-loop scanning switch K to switch K1-2, K2-1, K3-2, K4-1.

[0099] The K switch that operates normally after system calibration is set to K1-1, K2-2, K3-2, K4-2.

[0100] By setting up an automatic calibration module, connecting one input terminal of the automatic calibration module 500 to the output terminal of the controlled object 300, the other input terminal to the input terminal of the summing module 100, and the output terminal to the input terminal of the compensator 200, it is possible to simultaneously obtain the input value and output value of the system, calculate the compensator parameters according to the input and output values and the internal algorithm, and transmit them to the compensator 200, enabling the compensator 200 to perform compensation. Also, calculate whether the gain and phase margin meet the internal preset conditions based on the input and output values, thereby realizing the automatic calibration of the control system parameters. This eliminates the need for a loop analyzer and complex loop compensation calculations and iterations by power engineers. Simply setting the desired effect of loop control can automatically calibrate the control system. Thus, automatic calibration can be carried out under multiple loads and various environmental conditions, obtaining parameters with higher performance, reducing the labor intensity of debugging personnel, saving testing costs, enabling loop testing in large quantities under multiple modalities, and improving the overall quality of the product.

[0101] Refer to Figure 2 , Further, in some embodiments of the present invention, the summing module 100 includes:

[0102] The first summing unit 110, whose data input terminal is connected to the output terminal of the first sampler 400, is used to receive the input signal and the first sampler signal, and subtract the input signal and the first sampler signal to obtain the first summing signal;

[0103] The first switching switch K1, the first input contact K1-1 of the first switching switch is connected to the constant voltage value, and the second input contact K1-2 of the first switching switch is connected to the output terminal of the first summing unit 110;

[0104] The second summing unit 120, whose data input terminal is connected to the output terminal of the first switching switch K1, and the input terminal of the second summing unit 120 is also connected to the automatic calibration module 500, the output terminal of the second summing unit 120 is connected to the input terminal of the compensator. The second summing unit 120 is used to receive the first summing signal and the automatic calibration module signal, and sum the first summing signal and the automatic calibration module signal to obtain the second summing signal.

[0105] Specifically, in this embodiment, the first summator 110 is used to implement the closed-loop negative feedback of the system. The second summator 120 is used to receive the corresponding sine value generated by the first PWM module PWM2 of the automatic correction module 500 triggering the rated signal input module Vs according to a preset period. When the system needs to be in an open-loop state, the first input contact K1-1 of the first switch K1 is connected to the output terminal, and thus this sine value determines the input value of the open-loop system.

[0106] Referring to Figure 1 and Figure 2 , further, in some embodiments of the present invention, the automatic correction module 500 includes:

[0107] A second sampler 510, the input terminal of the second sampler 510 is connected to the output terminal of the controlled object 300;

[0108] A data acquisition module 520, the data input terminal of the data acquisition module 520 is connected to the output terminal of the second sampler 510;

[0109] A data calculation module 530, the input terminal of the data calculation module 530 is connected to the output terminal of the data acquisition module 520, the output terminal of the data calculation module 530 is connected to the input terminal of the compensator 200, and the data calculation module 530 is used to calculate the compensator parameters;

[0110] The first PWM module PWM2, one output terminal of the first PWM module PWM2 is connected to the control terminal of the second sampler 510, and the other output terminal of the first PWM module PWM2 is connected to the control terminal of the rated signal input module Vs. The first PWM module PWM2 is used to trigger the data acquisition module 520 and the rated signal input module Vs periodically;

[0111] A second switch K2, the first input contact K2-1 of the second switch K2 is connected to the output terminal of the rated signal input module Vs, the second input contact K2-2 of the second switch K2 is connected to the zero input module, and the output terminal of the second switch K2 is connected to the input terminal of the summator module 100 and also to the data input terminal of the data acquisition module 520.

[0112] Specifically, in this embodiment, the data acquisition module 520 is Figure 2 the data integration and acquisition module of Data_w&Data_s in Figure 2Among them: FFT, arctan, RMS, F_Zero&F_Pole, S-Z module. Among them, the data acquisition module 520 is used to obtain the input value Data_s and the output value Data_w. The data calculation module 530 is used to perform the following calculation operations: at each injection frequency x, perform FFT calculations on Data_w and Data_s respectively to obtain the real and imaginary parts of w(x) and s(x) at the x frequency, take the square root of the real and imaginary parts to obtain w(x)_rms, s(x)_rms, and take the arctan of the real and imaginary parts to obtain w(x)_Φ, s(x)_Φ;

[0113]

[0114] φ(x) = w(x)_φ - s(x)_φ,

[0115] the gain and phase at a certain frequency can be obtained;

[0116] If the switching frequency of the normal controller is 50k, the scanned frequency range is: 10k, 9k, 8k, 7k, 6k, 5k, 4k, 3k, 2k, 1k, 900, 800, 700, 600, 500, 400, 300, 200, 100, 90, 80, 70, 60, 50.

[0117] Let the number of points N of the FFT be 128 points, then for the small signal with fs = 10k, the ADC trigger frequency is fp = fs * N = 1.28MHz, that is, the trigger frequency of the first PWM module PWM2 is 1.28MHz.

[0118] When the system needs to perform open-loop or closed-loop scanning, the first input contact K2-1 of the second switching switch K2 is connected to the output end; when the system needs to resume normal operation, the second input contact K2-2 of the second switching switch K2 is connected to the output end.

[0119] Refer to Figure 1 and Figure 2 Furthermore, in some embodiments of the present invention, it further includes:

[0120] The second PWM module PWM1 is disposed between the compensator 200 and the controlled object 300, and the output end of the second PWM module PWM1 is connected to the control end of the first sampler 400 for periodically triggering the first sampler 400;

[0121] The third switching switch K3 is arranged between the second summator 120 and the second PWM module PWM1. The first input contact K3-1 of the third switching switch K3 is connected to the input end of the compensator 200, the second input contact K3-2 of the third switching switch K3 is connected to the output end of the compensator 200, and the output end of the third switching switch K3 is connected to the controlled object 300 through the second PWM module PWM1;

[0122] The low-pass filter 600 is arranged between the first sampler 400 and the summator module 100. The input end of the low-pass filter 600 is connected to the output end of the first sampler 400;

[0123] The fourth switching switch K4 is arranged between the first summator 110 and the first sampler 400. The first input contact K4-1 of the fourth switching switch K4 is connected to the low-pass filter 600, the second input contact K4-2 of the fourth switching switch K4 is connected to the output end of the first sampler 400, and the output end is connected to the inverting input end of the first summator 110.

[0124] Specifically, in this embodiment, when the system needs to perform open-loop scanning, the first input contact K3-1 of the third switching switch K3 is connected to the output end, and the second input contact K4-2 of the fourth switching switch K4 is connected to the output end, so as to accurately calculate the open-loop zero-pole characteristics of the system, that is, the zero-pole characteristics of the controlled object 300; when the system needs to perform closed-loop scanning, the second input contact K3-2 of the third switching switch K3 is connected to the output end, and the first input contact K4-1 of the fourth switching switch K4 is connected to the output end; when the system needs to resume normal operation, the second input contact K3-2 of the third switching switch K3 is connected to the output end, and the second input contact K4-2 of the fourth switching switch K4 is connected to the output end.

[0125] Refer to Figure 3 and Figure 4 Moreover, the present invention also provides a method for self-correcting power loop control parameters, which is applied to the power loop control parameter self-correcting system in any one of the above embodiments. The method for self-correcting power loop control parameters includes the following steps:

[0126] S100: Set the power loop control parameter self-correcting system to the open-loop state, and calculate the input value and output value of the system through the automatic correction module 500 to obtain the open-loop zero-pole characteristics of the system;

[0127] S200: Set the power loop control parameter self-correcting system to the closed-loop state, and adjust the open-loop zero-pole characteristics through the automatic correction module 500 to obtain the compensated zero-pole characteristics;

[0128] S300: The automatic calibration module 500 determines compensator parameters according to the compensated zero-pole characteristics, and transmits the compensator parameters to the compensator 200. The compensator 200 performs a compensation operation according to the compensator parameters.

[0129] S400: The automatic calibration module 500 calculates the system input value and output value to obtain the gain and phase, and determines the gain margin and phase margin.

[0130] S500: If the gain margin or phase margin does not meet the preset conditions, the automatic calibration module 500 corrects the compensated zero-pole characteristics and returns to the following step S300: The automatic calibration module 500 determines compensator parameters according to the compensated zero-pole characteristics, and transmits the compensator parameters to the compensator 200. The compensator 200 performs a compensation operation according to the compensator parameters. If the gain margin or phase margin meets the preset conditions, the power loop control parameter self-calibration system is set to the normal operation state.

[0131] Specifically, in this embodiment, the specific process refers to Figure 4 , step S100 is specifically as follows: After entering the control parameter calibration process, the system automatically sets an open-loop characteristic scanning parameter and assigns it the value Y. Subsequently, it is judged whether to enter the open-loop characteristic scanning process (that is, whether the value of the open-loop characteristic scanning parameter is Y). If it is judged to perform the open-loop characteristic scanning, the switches are adjusted to K1-1, K2-1, K3-1, K4-2. Subsequently, the system input and output values at all frequency points are scanned, and the gain and phase of the corresponding open-loop system are calculated. Subsequently, it is judged again whether to enter the open-loop characteristic scanning process (that is, whether the value of the open-loop characteristic scanning parameter is Y). If it is judged to perform the open-loop characteristic scanning, the zero-pole identification strategy is executed, that is, the open-loop zero-pole characteristics of the system as shown in Figure 5 、 Figure 6 、 Figure 7 are calculated, and the open-loop characteristic scanning parameter is assigned the value N.

[0132] Steps S200 to S400 are specifically as follows: Return to the first judgment of whether to enter the open-loop characteristic scanning process (that is, whether the value of the open-loop characteristic scanning parameter is Y). At this time, since the value of the open-loop characteristic scanning parameter is N, it is judged not to perform the open-loop characteristic scanning, that is, the system closed-loop characteristic scanning process is started, and the switches are adjusted to K1-2, K2-1, K3-2, K4-1; using the results calculated in step S100 as shown in Figure 5 、 Figure 6 、 Figure 7Based on the open-loop zero-pole characteristics shown, execute the initial parameter strategy to obtain the compensated zero-pole characteristics, and then determine the initial compensator parameters (A0 to A3, B0 to B3) of the compensator according to the compensated zero-pole characteristics; subsequently, scan the system input and output values at all frequency points, and calculate the gain and phase of the corresponding closed-loop system. Then, determine again whether to enter the open-loop characteristic scanning process (that is, whether the open-loop characteristic scanning parameter value is Y). At this time, it is determined not to perform the open-loop characteristic scanning, so the gain margin and phase margin of the system under closed-loop operation are determined.

[0133] Step S500 is specifically as follows: Determine whether the gain margin and phase margin calculated in step S400 meet the Figure 9 preset conditions shown. If they are met, end the calibration process and restore the system to the normal operating state, that is, the switches are adjusted to K1-1, K2-2, K3-2, K4-2 and put into operation; if the operating conditions are not met, execute the compensation correction strategy, correct the compensated zero-pole characteristics and calculate the new compensator parameters. Subsequently, re-scan the system input and output values at all frequency points, calculate the gain and phase of the corresponding closed-loop system, and make a judgment again until the gain margin and phase margin meet the Figure 9 preset conditions shown.

[0134] Test the response of the controlled object 300 and the closed-loop control system according to the method of open-loop first and then closed-loop. First, measure the response of the controlled object 300 through the open-loop test to calculate the open-loop zero-pole characteristics of the controlled object 300, then adjust the open-loop zero-pole characteristics, determine the compensation parameters according to the adjusted zero-pole characteristics and perform closed-loop compensation. Subsequently, determine whether to further correct the zero-pole characteristics according to the gain and phase conditions of the system, so as to accurately and comprehensively realize the self-calibration of the control parameters.

[0135] Further, in some embodiments of the present invention, the summing module 100 includes: a first summer 110, the data input terminal of the first summer 110 is used to receive an input signal; a first switch K1, the first input contact of the first switch K1 is connected to a constant voltage value X, and the second input contact of the first switch K1 is connected to the output terminal of the first summer 110; a second summer 120, the data input terminal of the second summer 120 is connected to the output terminal of the first switch K1, and the input terminal of the second summer 120 is connected to the automatic correction module 500; the automatic correction module 500 includes: a second sampler 510, the input terminal of the second sampler 510 is connected to the output terminal of the controlled object 300; a data acquisition module 520, the data input terminal of the data acquisition module 520 is connected to the output terminal of the second sampler 510; a data calculation module 530, the input terminal of the data calculation module 530 is connected to the output terminal of the data acquisition module 520, and the output terminal of the data calculation module 530 is connected to the input terminal of the compensator 200, and the data calculation module 530 is used to calculate compensator parameters; a first PWM module, one output terminal of the first PWM module is connected to the control terminal of the second sampler 510, and the other output terminal of the first PWM module is connected to the control terminal of the rated signal input module Vs, and the first PWM module is used to periodically trigger the data acquisition module 520 and the rated signal input module Vs; a second switch K2, the first input contact of the second switch K2 is connected to the output terminal of the rated signal input module Vs, the second input contact of the second switch K2 is connected to the zero input module, and the output terminal of the second switch K2 is connected to the data input terminal of the data acquisition module 520 and also to the input terminal of the summing module 100; the power loop control parameter self-correction system further includes: a second PWM module, disposed between the compensator 200 and the controlled object 300; a third switch K3, disposed between the second summer 120 and the second PWM module, the first input contact of the third switch K3 is connected to the input terminal of the compensator 200, the second input contact of the third switch K3 is connected to the output terminal of the compensator 200, and the output terminal of the third switch K3 is connected to the controlled object 300 through the second PWM module; a fourth switch K4, disposed between the first summer 110 and the first sampler 400, the first input contact of the fourth switch K4 is connected to the low-pass filter 600, the second input contact of the fourth switch K4 is connected to the output terminal of the first sampler 400, and the output terminal is connected to the inverting input terminal of the first summer 110; making the power loop control parameter self-correction system in an open-loop state includes:

[0136] Adjust the first switch K1 to make the first input contact of the first switch K1 connected to the output terminal of the first switch K1;

[0137] Adjust the second switching switch K2 to connect the first input contact of the second switching switch K2 to the output terminal of the second switching switch K2;

[0138] Adjust the third switching switch K3 to connect the first input contact of the third switching switch K3 to the output terminal of the third switching switch K3;

[0139] Adjust the fourth switching switch K4 to connect the second input contact of the fourth switching switch K4 to the output terminal of the fourth switching switch K4.

[0140] Furthermore, in some embodiments of the present invention, to make the power loop control parameter self-correction system in a closed-loop state, it includes:

[0141] Adjust the first switching switch K1 to connect the second input contact of the first switching switch K1 to the output terminal of the first switching switch K1;

[0142] Adjust the second switching switch K2 to connect the first input contact of the second switching switch K2 to the output terminal of the second switching switch K2;

[0143] Adjust the third switching switch K3 to connect the second input contact of the third switching switch K3 to the output terminal of the third switching switch K3;

[0144] Adjust the fourth switching switch K4 to connect the first input contact of the fourth switching switch K4 to the output terminal of the fourth switching switch K4;

[0145] To make the power loop control parameter self-correction system in a normal operation state, it includes:

[0146] Adjust the first switching switch K1 to connect the first input contact of the first switching switch K1 to the output terminal of the first switching switch K1;

[0147] Adjust the second switching switch K2 to connect the second input contact of the second switching switch K2 to the output terminal of the second switching switch K2;

[0148] Adjust the third switching switch K3 to connect the second input contact of the third switching switch K3 to the output terminal of the third switching switch K3;

[0149] Adjust the fourth switching switch K4 to connect the second input contact of the fourth switching switch K4 to the output terminal of the fourth switching switch K4.

[0150] Furthermore, in some embodiments of the present invention, step S100: Calculate the system input value and output value through the automatic correction module 500 to obtain the open-loop zero-pole characteristics of the system, including:

[0151] 1.1 The first PWM module triggers the second sampler 510 periodically. The second sampler 510 acquires the output value at the output end of the controlled object 300 and transmits the output value to the data acquisition module 520. The data acquisition module 520 also acquires the input value at the output end of the rated signal input module Vs.

[0152] 1.2 The data acquisition module 520 transmits the input value and the output value to the data calculation module 530. The data calculation module 530 calculates the open-loop gain and open-loop phase of the system based on the input value and the output value, and calculates the open-loop zero-pole characteristics based on the open-loop gain and open-loop phase.

[0153] Specifically, in this embodiment, when the data calculation module 530 executes the zero-pole identification strategy:

[0154] The zero-pole characteristics of the ideal analysis Bode plot are as Figure 5 shown; the zeros and poles of the discretely measured Bode plot are as Figure 6 shown; the schematic diagram of the calculated zeros and poles is as Figure 7 shown; after the open-loop test, the amplitude-frequency and phase-frequency characteristic arrays of the gain and phase are obtained, and the points as shown in Figure 7 can be plotted.

[0155] The parameters p2 (double-pole threshold), p1 (pole threshold), z2 (double-zero threshold), z1 (zero threshold), and j (curve slope extension) are set before the test starts. Waveform analysis is performed point by point from the previous frequency point backward. The previous j + 1 points cannot be analyzed and the analysis starts from the j + 1 point. Suppose when analyzing to the m-th point, the gain corresponding to the (m - j - 1) frequency point is y1, the gain corresponding to the (m - j) frequency point is y2, the gain corresponding to the (m + j) frequency point is y3, and the gain corresponding to the (m + j + 1) frequency point is y4. Then the slopes of the left and right straight lines are respectively: (the straight line equation is y = kx + b)

[0156]

[0157] The angles between the two straight lines and the horizontal axis are respectively:

[0158]

[0159] If k is greater than 0, then If k is less than 0, then

[0160] The angle between the two straight lines is:

[0161] The intersection position is:

[0162] When k1 > 0 and k2 < 0, if then it is the position of the imaginary-axis pole;

[0163] When k1 > 0 and k2 < 0, if it is the pole position;

[0164] When k1 > 0 and k2 > 0, if it is the pole position;

[0165] When k1 < 0 and k2 > 0, if it is the zero position;

[0166] When k1 < 0 and k2 < 0, if it is the zero position;

[0167] When k1 < 0 and k2 > 0, if it is the zero position on the imaginary axis.

[0168] The identification of the system zeros and poles is realized through the above method.

[0169] Furthermore, in some embodiments of the present invention, step S200: adjusting the open-loop zero-pole characteristics through the automatic correction module 500 to obtain the compensated zero-pole characteristics, including:

[0170] 3.1 Placing two zeros at the LC resonance frequency poles of the open-loop zero-pole characteristics, placing one pole at the zero of the ESR, placing one pole at the crossover frequency, and placing one pole in the low-frequency band to obtain the compensated zero-pole characteristics.

[0171] Specifically, in this embodiment, when implementing the initial parameter strategy based on the open-loop zero-pole characteristics, the compensated loop zeros and poles are placed according to the following rules: placing two zeros at the LC resonance frequency poles (identified by step S100); placing one pole at the zero of the ESR (identified by step S100 or a point between the LC resonance point and the crossover frequency point); placing one pole at the crossover frequency; placing one pole in the low-frequency band.

[0172] Furthermore, in some embodiments of the present invention, if the gain margin or phase margin does not meet the preset conditions, step S500: correcting the compensated zero-pole characteristics through the automatic correction module 500, including:

[0173] 5.1 If the gain margin does not meet the preset conditions, then shift forward the low-frequency band pole frequency of the compensated zero-pole characteristics;

[0174] 5.2 If the phase margin does not meet the preset conditions, then shift forward any one of the zero frequencies of the compensated zero-pole characteristics.

[0175] The automatic correction module 500 determines the compensator parameters according to the compensated zero-pole characteristics, including:

[0176] 5.3 Substitute the sampling control frequency and compensation zero-pole characteristics of the second PWM module into the compensation parameter calculation formula to obtain the compensation parameters;

[0177] 5.4 Substitute the compensation parameters into the transfer function formula of compensator 200 in the z-domain to obtain the compensator parameters.

[0178] Specifically, in this embodiment, when implementing the compensation correction strategy, when the obtained phase margin and gain margin do not meet the requirements, they are corrected according to the following rules:

[0179] In the case where the gain margin does not meet the requirements, the pole frequency of the low-frequency band can be shifted forward;

[0180] In the case where the phase margin does not meet the requirements, the frequency of one of the zeros can be shifted forward;

[0181] When calculating the coefficients of the compensator, specifically, the following compensation parameters can be obtained according to the zero-pole identification strategy, initial parameter strategy, and compensation correction strategy:

[0182] ω p1、2、3 = 2π·f p1、2、3 ω z1、2 = 2π·f z1、2 ,

[0183] where T s : Sampling control period, f s : Sampling control frequency (PWM frequency), f p1、2、3 : Pole position of the compensator, ω p1、2、3 : Angular frequency of the compensator pole, f z1、2 : Frequency of the compensator zero, ω z1、2 : Angular frequency of the compensator zero.

[0184] The transfer function of the compensator in the z-domain is in the following form:

[0185]

[0186] where A0 = 1, then the following formula can be obtained:

[0187] Y(z) = B0·E(z) + B1·z -1 E(z) + B2·z -2 E(z) + B3·z -3 E(z) - A1·z -1 Y(z) - A2·z -2 Y(z) - A3·z -3 Y(z)

[0188] where the calculation formulas of A0, A1, A2, A3, B0, B1, B2, and B3 are as follows:

[0189]

[0190] A0 = 1

[0191]

[0192] Therefore, the overall block diagram of the compensator Hc is as Figure 8 shown.

[0193] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for processing abnormal power-off data corruption as described in any one of the above embodiments are implemented.

[0194] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above embodiments can be completed by hardware, or can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium. In the context of the present invention, the computer-readable medium can be considered tangible and non-transitory. Non-limiting examples of non-transitory tangible computer-readable media include non-volatile memory circuits (such as flash memory circuits, erasable programmable read-only memory circuits, or mask read-only memory circuits), volatile memory circuits (such as static random access memory circuits or dynamic random access memory circuits), magnetic storage media (such as analog or digital tapes or hard disk drives), and optical storage media (such as CDs, DVDs, or Blu-ray discs), etc. The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to the processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing devices, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program codes can be executed entirely on the machine, partially on the machine, executed as an independent software package partially on the machine and partially on a remote machine, or executed entirely on a remote machine or server.

[0195] In addition, although the operations are depicted in a specific order, it should be understood that such operations are required to be performed in the specific order shown or in a sequential order, or that all the illustrated operations should be performed to achieve the desired result. In certain environments, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present invention. Certain features described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, the various features described in the context of a single implementation can also be implemented separately or in any suitable sub-combination in multiple implementations.

[0196] The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those of ordinary skill in the art. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A power loop control parameter self-correction system, characterized in that, Comprising: A summing module, the data input terminal of the summing module is used to receive an input signal; A compensator, the input terminal of the compensator is connected to the output terminal of the summing module; A controlled object, the input terminal of the controlled object is connected to the output terminal of the compensator, and the output terminal of the controlled object is used to output an output signal; A first sampler, the input terminal of the first sampler is connected to the output terminal of the controlled object, and the output terminal of the first sampler is connected to the input terminal of the summing module; An automatic correction module, one input terminal of the automatic correction module is connected to the output terminal of the controlled object, another input terminal of the automatic correction module is connected to the input terminal of the summing module, and the output terminal of the automatic correction module is connected to the input terminal of the compensator; wherein, the automatic correction module is used to calculate compensator parameters according to the input signal and the output signal, and the compensator is used to compensate and correct the system according to the compensator parameters.

2. The power loop control parameter self-calibration system according to claim 1, wherein The summing module includes: A first summer, the data input terminal of the first summer is connected to the output terminal of the first sampler, and is used to receive the input signal and the first sampler signal, and subtract the input signal from the first sampler signal to obtain a first sum signal; A first switch, the first input contact of the first switch is connected to a constant voltage value, and the second input contact of the first switch is connected to the output terminal of the first summer; A second summer, the data input terminal of the second summer is connected to the output terminal of the first switch, the input terminal of the second summer is further connected to the automatic correction module, the output terminal of the second summer is connected to the input terminal of the compensator, and the second summer is used to receive the first sum signal and the automatic correction module signal, and sum the first sum signal and the automatic correction module signal to obtain a second sum signal.

3. The power loop control parameter self-calibration system according to claim 1, wherein The automatic correction module includes: A second sampler, the input terminal of the second sampler is connected to the output terminal of the controlled object; A data acquisition module, the data input terminal of the data acquisition module is connected to the output terminal of the second sampler; A data calculation module, the input terminal of the data calculation module is connected to the output terminal of the data acquisition module, the output terminal of the data calculation module is connected to the input terminal of the compensator, and the data calculation module is used to calculate compensator parameters; A first PWM module, one output terminal of the first PWM module is connected to the control terminal of the second sampler, another output terminal of the first PWM module is connected to the control terminal of the rated signal input module, and the first PWM module is used to periodically trigger the data acquisition module and the rated signal input module; A second switch, the first input contact of the second switch is connected to the output terminal of the rated signal input module, the second input contact of the second switch is connected to a zero input module, and the output terminal of the second switch is connected to the input terminal of the summing module and also to the data input terminal of the data acquisition module.

4. The power loop control parameter self-calibration system according to claim 2, wherein Further comprising: A second PWM module, disposed between the compensator and the controlled object, wherein an output end of the second PWM module is connected to a control end of the first sampler, and is configured to trigger the first sampler periodically; A third switching switch, disposed between the second summator and the second PWM module, wherein a first input contact of the third switching switch is connected to an input end of the compensator, a second input contact of the third switching switch is connected to an output end of the compensator, and an output end of the third switching switch is connected to the controlled object through the second PWM module; A low-pass filter, disposed between the first sampler and the summator module, wherein an input end of the low-pass filter is connected to an output end of the first sampler; A fourth switching switch, disposed between the first summator and the first sampler, wherein a first input contact of the fourth switching switch is connected to the low-pass filter, a second input contact of the fourth switching switch is connected to an output end of the first sampler, and an output end is connected to an inverting input end of the first summator.

5. A method for self - calibrating power loop control parameters, characterized in that, Applied to the power loop control parameter self-correction system according to any one of claims 1-4, the power loop control parameter self-correction method includes: Making the power loop control parameter self-correction system in an open-loop state, calculating system input values and output values through an automatic correction module to obtain open-loop zero-pole characteristics of the system; Making the power loop control parameter self-correction system in a closed-loop state, adjusting the open-loop zero-pole characteristics through the automatic correction module to obtain compensated zero-pole characteristics; Determining compensator parameters according to the compensated zero-pole characteristics through the automatic correction module, transmitting the compensator parameters to the compensator, and performing a compensation operation by the compensator according to the compensator parameters; Calculating system input values and output values through the automatic correction module to obtain a gain and a phase, and determining a gain margin and a phase margin; If the gain margin or the phase margin does not meet a preset condition, correcting the compensated zero-pole characteristics through the automatic correction module, and returning to the following steps: determining compensator parameters according to the compensated zero-pole characteristics through the automatic correction module, transmitting the compensator parameters to the compensator, and performing a compensation operation by the compensator according to the compensator parameters; if the gain margin or the phase margin meets the preset condition, making the power loop control parameter self-correction system in a normal operation state.

6. The power supply loop control parameter self-correction method according to claim 5, wherein The summing module includes: a first summer, the data input terminal of the first summer is used to receive an input signal; a first switch, the first input contact of the first switch is connected to a constant voltage value, and the second input contact of the first switch is connected to the output terminal of the first summer; a second summer, the data input terminal of the second summer is connected to the output terminal of the first switch, and the input terminal of the second summer is connected to the automatic correction module; the automatic correction module includes: a second sampler, the input terminal of the second sampler is connected to the output terminal of the controlled object; a data acquisition module, the data input terminal of the data acquisition module is connected to the output terminal of the second sampler; a data calculation module, the input terminal of the data calculation module is connected to the output terminal of the data acquisition module, and the output terminal of the data calculation module is connected to the input terminal of the compensator, and the data calculation module is used to calculate compensator parameters; a first PWM module, one output terminal of the first PWM module is connected to the control terminal of the second sampler, and the other output terminal of the first PWM module is connected to the control terminal of the rated signal input module, and the first PWM module is used to periodically trigger the data acquisition module and the rated signal input module; a second switch, the first input contact of the second switch is connected to the output terminal of the rated signal input module, the second input contact of the second switch is connected to the zero input module, and the output terminal of the second switch is connected to the data input terminal of the data acquisition module and also to the input terminal of the summing module; the power loop control parameter self-correction system further includes: a second PWM module, arranged between the compensator and the controlled object; a third switch, arranged between the second summer and the second PWM module, the first input contact of the third switch is connected to the input terminal of the compensator, the second input contact of the third switch is connected to the output terminal of the compensator, and the output terminal of the third switch is connected to the controlled object through the second PWM module; a fourth switch, arranged between the first summer and the first sampler, the first input contact of the fourth switch is connected to the low-pass filter, the second input contact of the fourth switch is connected to the output terminal of the first sampler, and the output terminal is connected to the inverting input terminal of the first summer; Making the power loop control parameter self-correction system in an open-loop state includes: Adjust the first switch to make the first input contact of the first switch connected to the output terminal of the first switch; Adjust the second switch to make the first input contact of the second switch connected to the output terminal of the second switch; Adjust the third switch to make the first input contact of the third switch connected to the output terminal of the third switch; Adjust the fourth switch to make the second input contact of the fourth switch connected to the output terminal of the fourth switch. Putting the power loop control parameter self - calibration system in a closed - loop state includes: Adjusting the first switching switch to connect the second input contact of the first switching switch to the output end of the first switching switch; Adjusting the second switching switch to connect the first input contact of the second switching switch to the output end of the second switching switch; Adjusting the third switching switch to connect the second input contact of the third switching switch to the output end of the third switching switch; Adjusting the fourth switching switch to connect the first input contact of the fourth switching switch to the output end of the fourth switching switch.

7. The power supply loop control parameter self-calibration method according to claim 6, wherein Calculating the open - loop zero - pole characteristics of the system by the automatic calibration module for the system input value and output value, including: Periodically triggering the second sampler through the first PWM module; Obtaining the output value at the output end of the controlled object through the second sampler and transmitting the output value to the data acquisition module; Obtaining the input value at the output end of the rated signal input module through the data acquisition module; Transmitting the input value and the output value to the data calculation module through the data acquisition module; Calculating the open - loop gain and open - loop phase of the system by the data calculation module according to the input value and the output value, and calculating the open - loop zero - pole characteristics according to the open - loop gain and the open - loop phase.

8. The power supply loop control parameter self-calibration method according to claim 5, wherein Adjusting the open - loop zero - pole characteristics by the automatic calibration module to obtain the compensated zero - pole characteristics, including: Placing two zeros at the LC resonance frequency poles of the open - loop zero - pole characteristics, placing one pole at the zero of ESR, placing one pole at the crossover frequency, and placing one pole in the low - frequency band to obtain the compensated zero - pole characteristics.

9. The power supply loop control parameter self-correction method according to claim 5, characterized in that If the gain margin or the phase margin does not meet the preset conditions, correcting the compensated zero - pole characteristics by the automatic calibration module, including: If the gain margin does not meet the preset conditions, moving forward the low - frequency band pole frequency of the compensated zero - pole characteristics; If the phase margin does not meet the preset conditions, moving forward any one of the zero frequencies of the compensated zero - pole characteristics; Determining the compensator parameters by the automatic calibration module according to the compensated zero - pole characteristics, including: Substituting the sampling control frequency of the second PWM module and the compensated zero - pole characteristics into the compensation parameter calculation formula to obtain the compensation parameters; Substituting the compensation parameters into the transfer function formula of the compensator to obtain the compensator parameters.

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

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