Bus current estimation method, device, equipment and storage medium

Abstract

This application proposes a method, apparatus, device, and storage medium for estimating bus current. The method includes: acquiring the q-axis current I of a sensorless FOC control module. q The estimated bus current I is obtained by conversion. dc The actual bus current I of the electronic speed controller under different bus voltages and different motor speeds. dc_Real First and second measuring points are established. Based on the first measuring point, a first fitting function f1(k2, S1, S2) is constructed, and the motor speed compensation coefficient k2 is obtained through fitting calculation and adjustment. Based on the first fitting function and the second measuring point, a second fitting function f2(k3, U1, U2) is constructed, and the bus voltage compensation coefficient k3 is obtained through fitting calculation and adjustment. Based on the motor speed compensation coefficient k2 and the bus voltage compensation coefficient k3, the estimated bus current I is calculated. dc Perform current compensation to obtain the compensation bus current I' dc This application uses a current compensation method to estimate the bus current, which reduces hardware costs and improves reliability.

Description

Technical Field

[0001] This application relates to the field of motor control technology, specifically to a method, apparatus, equipment, and storage medium for estimating bus current. Background Technology

[0002] Bus current is a crucial control variable in motor control. Current methods for obtaining bus current primarily involve measuring it using a current sensor mounted on the bus, directly outputting the bus current. While using a current sensor allows for real-time acquisition of the bus current value, it suffers from high hardware costs, and the current sensor may be damaged by environmental factors. Summary of the Invention

[0003] To address the aforementioned technical problems, this application proposes a bus current estimation method, apparatus, device, and storage medium. The estimation method calculates the bus current, effectively saving hardware costs.

[0004] According to a first aspect of this application, a bus current estimation method is proposed for use in a sensorless FOC control module, the method comprising:

[0005] Obtain the q-axis current I of the sensorless FOC control module q For the q-axis current I q The estimated bus current I is obtained by conversion. dc , among which, I dc =k1*I q k1 is a constant;

[0006] The actual bus current I of the electronic speed controller under a specified bus voltage and different motor speeds. dc_Real A series of first measuring points are formed to measure the actual bus current I of the electronic speed controller at a specified motor speed and different bus voltages. dc_Real A series of second measuring points are formed;

[0007] Based on the first measuring point, a first fitting function f1(k2, S1, S2) for the bus current is constructed. The motor speed compensation coefficient k2 is obtained by fitting calculation and adjustment, where S1 is the motor speed and S2 is the maximum rated motor speed.

[0008] Based on the first fitting function and the second measuring point, a second fitting function f2(k3, U1, U2) for the bus current is constructed. The bus voltage compensation coefficient k3 is obtained by fitting calculation and adjustment, where U1 is the bus voltage and U2 is the maximum rated bus voltage.

[0009] Based on the motor speed compensation coefficient k2 and the bus voltage compensation coefficient k3, the estimated bus current I is... dcPerform current compensation to obtain the final compensated bus current I'. dc .

[0010] Preferably, the expression for the first fitting function is as follows:

[0011] f1(k2, S1, S2) = I dc_Real1 =I dc +k2*S1 2 / S2

[0012] Among them, I dc_Real1 This is the bus current after motor speed compensation.

[0013] Preferably, the expression for the second fitting function is as follows:

[0014] f2(k3, U1, U2) = I dc_Real2 =I dc_Real1 *(1+k3*(1-U1 / U2))

[0015] Among them, I dc_Real2 This refers to the bus current after motor speed compensation and bus voltage compensation, which is also the final compensated bus current I'. dc .

[0016] Preferably, the method for adjusting the motor speed compensation coefficient k2 includes:

[0017] Set the bus voltage U1 to the maximum rated bus voltage U2;

[0018] Adjust the motor speed to reach the set steady state, and record the corresponding estimated bus current I. dc and actual bus current I dc_Real ;

[0019] Adjust the value of the motor speed compensation coefficient k2 until the output value I of the first fitting function is reached. dc_Real1 Approximating the actual bus current I dc_Real .

[0020] Preferably, the method for adjusting the bus voltage compensation coefficient k3 includes:

[0021] Set the motor speed S1 to any rated speed;

[0022] Adjust the bus voltage U1 to reach the set steady state, and record the corresponding estimated bus current I. dc and actual bus current I dc_Real ;

[0023] Adjust the value of the bus voltage compensation coefficient k3 until the output value I of the second fitting function is reached. dc_Real2 Approximating the actual bus current Idc_Real .

[0024] Preferably, the calculation process of k1 includes:

[0025] According to the law of conservation of power, we can obtain:

[0026] U1*I dc =U q *I q +U d *I d

[0027] Among them, U q U is the q-axis voltage. d I is the d-axis voltage. d This refers to the d-axis current.

[0028] During normal operation of the sensorless FOC control module, U d *I d Since it is approximately 0, we can obtain:

[0029] I dc =U q *I q / U1

[0030] That is, k1=U q / U1.

[0031] According to a second aspect of this application, a bus current estimation device is proposed for use in a sensorless FOC control module, the device comprising:

[0032] The estimation module is configured to acquire the q-axis current I of the sensorless FOC control module. q For the q-axis current I q The estimated bus current I is obtained by conversion. dc , among which, I dc =k1*I q k1 is a constant;

[0033] The sampling module is configured to input the actual bus current I of the electronic speed controller under a specified bus voltage and different motor speeds. dc_Real A series of first measuring points are formed to measure the actual bus current I of the electronic speed controller at a specified motor speed and different bus voltages. dc_Real A series of second measuring points are formed;

[0034] The first fitting module is configured to construct a first fitting function f1(k2, S1, S2) for the bus current based on the first measuring point, and to obtain the motor speed compensation coefficient k2 through fitting calculation, where S1 is the motor speed and S2 is the maximum rated motor speed.

[0035] The second fitting module is configured to construct a second fitting function f2(k3, U1, U2) for the bus current based on the first fitting function and the second measurement point, and to obtain the bus voltage compensation coefficient k3 through fitting calculation, where U1 is the bus voltage and U2 is the maximum rated bus voltage.

[0036] The compensation module is configured to adjust the estimated bus current I based on the motor speed compensation coefficient k2 and the bus voltage compensation coefficient k3. dc Perform current compensation to obtain the final compensated bus current I'. dc .

[0037] According to a third aspect of this application, an embedded device is provided, comprising: one or more processors; and a memory for storing one or more programs, which, when executed by the one or more processors, cause the embedded device to implement the bus current estimation method provided in any embodiment of the first aspect above.

[0038] According to a fourth aspect of this application, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the bus current estimation method provided in any embodiment of the first aspect above.

[0039] This application proposes a method, apparatus, device, and storage medium for estimating bus current. By analyzing the main factors affecting bus current, including static power consumption of electronic components and physical losses such as motor losses, this method correlates these physical losses with motor speed and bus voltage, which can be directly measured by an electronic speed controller. The compensation amounts for motor speed and bus voltage are calculated using a fitting method, thereby re-estimating the bus current. This application employs a current compensation method for bus current estimation, which reduces the need for a current sensor in hardware. This reduces costs and improves reliability without relying on hardware and while ensuring estimation accuracy. Attached Figure Description

[0040] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and, together with the description, serve to explain the principles of the invention. Other embodiments and many anticipated advantages of the embodiments will be readily recognized as they become better understood through reference to the following detailed description. Elements in the drawings are not necessarily to scale. The same reference numerals refer to corresponding similar parts.

[0041] Figure 1 This is a flowchart of a bus current estimation method according to a specific embodiment of this application;

[0042] Figure 2This is a schematic diagram of a bus current estimation device according to an embodiment of this application;

[0043] Figure 3 This is a schematic diagram of an embedded device according to a specific embodiment of the present application. Detailed Implementation

[0044] The features and exemplary embodiments of various aspects of the present invention will now be described in detail. To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are not configured to limit the present invention. For those skilled in the art, the present invention can be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the invention.

[0045] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0046] This application proposes a method for estimating bus current. Figure 1 A flowchart of a bus current estimation method according to a specific embodiment of this application is shown, as follows: Figure 1 As shown, this method is applied to a sensorless FOC control module, and the method includes the following steps:

[0047] Step S101: Obtain the q-axis current I of the sensorless FOC control module q For the q-axis current I q The estimated bus current I is obtained by conversion. dc , among which, I dc =k1*I q k1 is a constant.

[0048] Specifically, according to the law of conservation of power, we can obtain:

[0049] U1*I dc =U q *Iq +U d *I d

[0050] Where U1 is the bus voltage, U q U is the q-axis voltage. d I is the d-axis voltage. d This represents the d-axis current.

[0051] During the normal operation of the sensorless FOC control module, U d *I d Since it is approximately 0, we can obtain:

[0052] I dc ≈U q *I q / U1

[0053] That is, k1≈U q / U1.

[0054] In this embodiment, we take:

[0055] I dc =U q *I q / U1

[0056] That is, k1=U q / U1.

[0057] In one specific embodiment, k1 = 2 / 3.

[0058] Step S102: Calculate the actual bus current I of the electronic speed controller under specified bus voltage and different motor speeds. dc_Real A series of first measuring points are formed to measure the actual bus current I of the electronic speed controller at a specified motor speed and different bus voltages. dc_Real This forms a series of second measuring points.

[0059] Specifically, during the normal operation of the sensorless FOC, the bus current, in addition to being related to the q-axis current I of the sensorless FOC control module, is also affected by other factors. q There are roughly I dc =k1*I q In addition to the relationship between the electronic components and the motor, the physical losses are also related to the static power consumption of electronic components and motor losses. After a large number of tests, it was found that the above physical losses can be related to the motor speed and bus voltage directly measured by the electronic speed controller.

[0060] Therefore, in one specific embodiment, a test bench can be built, and a current sensor can be installed on the electronic speed controller under test. Based on the test bench recording of the motor speed and bus voltage fed back by the MCU (motor controller), the actual bus current I can be directly read through the current sensor. dc_RealBased on the above settings, a series of first measurement points are obtained by adjusting different motor speeds under a specified bus voltage, and a series of second measurement points are obtained by adjusting different bus voltages under a specified motor speed.

[0061] Step S103: Based on the first measuring point, construct the first fitting function f1(k2, S1, S2) for the bus current, and obtain the motor speed compensation coefficient k2 by fitting calculation and adjustment, where S1 is the motor speed and S2 is the maximum rated motor speed.

[0062] In one specific embodiment, the actual bus current I dc_Real Using the y-axis as the axis and the motor speed as the x-axis, an observation curve is obtained by plotting a series of first measurement points. A true function that closely approximates this observation curve can be found. Based on this true function, a function relating the actual bus current I is constructed. dc_Real The first fitting function is obtained, and then the coefficient vector of the first fitting function, i.e. the motor speed compensation coefficient k2, is continuously adjusted to make the output value of the first fitting function approximate the actual bus current I. dc_Real .

[0063] In this embodiment, the expression of the first fitting function is as follows:

[0064] f1(k2, S1, S2) = I dc_Real1 =I dc +k2*S1 2 / S2

[0065] Among them, I dc_Real1 This is the bus current after motor speed compensation, which is also the output value of the first fitting function.

[0066] After determining the first fitting function, the least squares method with non-negativity constraints is used for fitting, that is, I... dc_Real1 -I dc -k2*S1 2 The error of / S2 is minimized in the sense of the second norm, and k2 is obtained by using this as the objective function.

[0067] Step S104: Based on the first fitting function and the second measurement point, construct a second fitting function f2(k3, U1, U2) for the bus current. The bus voltage compensation coefficient k3 is obtained by fitting calculation and adjustment, where U1 is the bus voltage and U2 is the maximum rated bus voltage.

[0068] In one specific embodiment, the actual bus current I dc_Real Using the y-axis as the axis and the bus voltage as the x-axis, an observation curve is obtained by plotting a series of second measurement points. A true function that closely approximates this observation curve can be found. Based on this true function, a function relating the actual bus current I can be constructed. dc_RealThe second fitting function is then used, and by continuously adjusting the coefficient vector of the second fitting function, that is, the bus voltage compensation coefficient k3, the output value of the second fitting function is made to approximate the actual bus current I. dc_Real .

[0069] In this embodiment, the expression for the second fitting function is as follows:

[0070] f2(k3, U1, U2) = I dc_Real2 =I dc_Real1 *(1+k3*(1-U1 / U2))

[0071] Among them, I dc_Real2 This is the bus current after motor speed compensation and bus voltage compensation.

[0072] After determining the second fitting function, the least squares method with non-negativity constraints is used for fitting, that is, I... dc_Real2 -I dc_Real1 The error of *(1+k3*(1-U1 / U2)) is minimized in the sense of the second norm, and k3 is obtained by using this as the objective function.

[0073] Step S105: Based on the motor speed compensation coefficient k2 and the bus voltage compensation coefficient k3, estimate the bus current I. dc Perform current compensation to obtain the final compensated bus current I'. dc .

[0074] Specifically, for estimating the bus current I dc Motor speed and current compensation and bus voltage and current compensation are performed, and the output value I of the second fitting function is obtained. dc_Real2 This is the final compensation bus current I' dc .

[0075] In a specific embodiment, the method for adjusting the motor speed compensation coefficient k2 is as follows:

[0076] 1) Set the bus voltage U1 to the maximum rated bus voltage U2. At this time, the calculation result of (1+k3*(1-U1 / U2)) is 1, that is, the bus voltage current compensation term is 0;

[0077] 2) Adjust the motor speed to reach the set steady state, and record the corresponding estimated bus current I. dc and actual bus current I dc_Real ;

[0078] 3) Adjust the value of the motor speed compensation coefficient k2 until the output value I of the first fitting function is reached. dc_Real1 Approximating the actual bus current I dc_Real .

[0079] In a specific embodiment, the method for adjusting the bus voltage compensation coefficient k3 is as follows:

[0080] 1) Set the motor speed S1 to any rated speed, and set the motor speed compensation coefficient k2 to the value obtained in the above steps. dc_Real1 It can be calculated directly;

[0081] 2) Adjust the bus voltage U1 to reach the set steady state, and record the corresponding estimated bus current I. dc and actual bus current I dc_Real ;

[0082] 3) Adjust the value of the bus voltage compensation coefficient k3 until the output value I of the second fitting function is reached. dc_Real2 Approximating the actual bus current I dc_Real .

[0083] It should be noted that in existing technologies, several variables are typically selected, fitted, and calculated to obtain a fitting coefficient vector, which is then used to compensate for the bus current. However, in this embodiment, the main factors affecting the bus current in sensorless FOC motor control are comprehensively analyzed. Based on the first fitting function obtained from the first measuring point, a second fitting function is obtained from the second measuring point. Because there are more constraints, the final fitted result is more accurate, thus improving the estimation of the bus current I. dc The compensation bus current I' obtained by performing secondary current compensation dc The calculation results are more reliable.

[0084] In summary, the bus current estimation method proposed in this application achieves the following beneficial effects:

[0085] By analyzing the main factors affecting bus current, including static power consumption of electronic components and physical losses such as motor losses, this paper correlates these physical losses with motor speed and bus voltage, which can be directly measured by the electronic speed controller. A fitting method is used to calculate the current compensation coefficients for motor speed and bus voltage, thereby re-estimating the bus current. This application uses a current compensation method to estimate bus current, which reduces the need for a current sensor in hardware. This reduces costs and improves reliability without relying on hardware and while ensuring estimation accuracy.

[0086] Based on the aforementioned bus current estimation method, and using the same inventive concept, this application also proposes a bus current estimation method apparatus. Figure 2 A schematic diagram of a bus current estimation device according to an embodiment of this application is shown, as follows: Figure 2 As shown, this device is used in a sensorless FOC control module, and the device includes:

[0087] Estimation module 201 is configured to acquire the q-axis current I of the sensorless FOC control module. q For the q-axis current I q Transpose to obtain the estimated bus current I dc , among which, I dc =k1*I q k1 is a constant.

[0088] Sampling module 202 is configured to input the actual bus current I of the electronic speed controller under a specified bus voltage and different motor speeds. dc_Real A series of first measuring points are formed to measure the actual bus current I of the electronic speed controller at a specified motor speed and different bus voltages. dc_Real This forms a series of second measuring points.

[0089] The first fitting module 203 is configured to construct a first fitting function f1(k2, S1, S2) for the bus current based on the first measuring point, and to obtain the motor speed compensation coefficient k2 through fitting calculation, where S1 is the motor speed and S2 is the maximum rated motor speed.

[0090] The second fitting module 204 is configured to construct a second fitting function f2(k3, U1, U2) for the bus current based on the first fitting function and the second measurement point, and to obtain the bus voltage compensation coefficient k3 through fitting calculation, where U1 is the bus voltage and U2 is the maximum rated bus voltage.

[0091] Compensation module 205 is configured to estimate bus current I based on motor speed compensation coefficient k2 and bus voltage compensation coefficient k3. dc Perform current compensation to obtain the final compensated bus current I'. dc .

[0092] Based on the above-described bus current estimation method, and with the same inventive concept, this application also proposes an embedded device.

[0093] Figure 3 A schematic diagram of an embedded device according to a specific embodiment of this application is shown, such as... Figure 3 As shown, the embedded device includes one or more processors 301, a memory 302, a bus 303, and a communication interface 304. The one or more processors 301, the memory 302, and the communication interface 304 are connected via the bus 303. The memory 302 stores one or more programs, which, when executed by one or more processors 301, cause the embedded device to implement the bus current estimation method provided in any of the above embodiments.

[0094] Based on the above-described bus current estimation method, and with the same inventive concept, this application also proposes a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the bus current estimation method provided in any of the above embodiments.

[0095] In the embodiments of this application, it should be understood that the disclosed technical content can be implemented in other ways. The device / system / method embodiments described above are merely illustrative. For example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0096] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0097] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0098] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0099] It is evident that those skilled in the art can make various modifications and alterations to the embodiments of the present invention without departing from the spirit and scope of the invention. In this way, the invention is also intended to cover such modifications and alterations if they fall within the scope of the claims and their equivalents. The word "comprising" does not exclude the presence of other elements or steps not listed in the claims. The simple fact that certain measures are described in mutually different dependent claims does not indicate that a combination of these measures cannot be used for profit. Any reference numerals in the claims should not be considered as limiting the scope.

Claims

1. A method for estimating bus current, characterized in that, The method, applied to a sensorless FOC control module, includes: Obtain the q-axis current I of the sensorless FOC control module q For the q-axis current I q The estimated bus current I is obtained by conversion. dc , among which, I dc =k1*I q k1 is a constant; The actual bus current I of the electronic speed controller under a specified bus voltage and different motor speeds. dc_Real A series of first measuring points are formed to measure the actual bus current I of the electronic speed controller at a specified motor speed and different bus voltages. dc_Real A series of second measuring points are formed; Based on the first measuring point, a first fitting function f1(k2, S1, S2) for the bus current is constructed. The motor speed compensation coefficient k2 is obtained by fitting calculation and adjustment, where S1 is the motor speed and S2 is the maximum rated motor speed. Based on the first fitting function and the second measuring point, a second fitting function f2(k3, U1, U2) for the bus current is constructed. The bus voltage compensation coefficient k3 is obtained by fitting calculation and adjustment, where U1 is the bus voltage and U2 is the maximum rated bus voltage. Based on the motor speed compensation coefficient k2 and the bus voltage compensation coefficient k3, the estimated bus current I is... dc Perform current compensation to obtain the final compensated bus current I'. dc .

2. The method according to claim 1, characterized in that, The expression for the first fitting function is as follows: f1(k2,S1,S2)=I dc_Real1 =I dc +k2*S1 2 / S2 Among them, I dc_Real1 This is the bus current after motor speed compensation.

3. The method according to claim 2, characterized in that, The expression for the second fitting function is as follows: f2 (k3, U1, U2) = I dc_Real2 =I dc_Real1 *(1+k3*(1-U1 / U2)) Among them, I dc_Real2 This refers to the bus current after motor speed compensation and bus voltage compensation, which is also the final compensated bus current I'. dc .

4. The method according to claim 3, characterized in that, The method for adjusting the motor speed compensation coefficient k2 includes: Set the bus voltage U1 to the maximum rated bus voltage U2; Adjust the motor speed to reach the set steady state, and record the corresponding estimated bus current I. dc and actual bus current I dc_Real ; Adjust the value of the motor speed compensation coefficient k2 until the output value I of the first fitting function is reached. dc_Real1 Approximating the actual bus current I dc_Real .

5. The method according to claim 4, characterized in that, The adjustment method for the bus voltage compensation coefficient k3 includes: Set the motor speed S1 to any rated speed; Adjust the bus voltage U1 to reach the set steady state, and record the corresponding estimated bus current I. dc and actual bus current I dc_Real ; Adjust the value of the bus voltage compensation coefficient k3 until the output value I of the second fitting function is reached. dc_Real2 Approximating the actual bus current I dc_Real .

6. The method according to claim 1, characterized in that, The calculation process of k1 includes: According to the law of conservation of power, we can obtain: U1*I dc =U q *I q +U d *I d Among them, U q U is the q-axis voltage. d I is the d-axis voltage. d This refers to the d-axis current. During normal operation of the sensorless FOC control module, U d *I d Since it is approximately 0, we can obtain: I dc =U q *I q / U1 That is, k1=U q / U1.

7. A bus current estimation device, characterized in that, The device, applied to a sensorless FOC control module, includes: The estimation module is configured to acquire the q-axis current I of the sensorless FOC control module. q For the q-axis current I q The estimated bus current I is obtained by conversion. dc , among which, I dc =k1*I q k1 is a constant; The sampling module is configured to input the actual bus current I of the electronic speed controller under a specified bus voltage and different motor speeds. dc_Real A series of first measuring points are formed to measure the actual bus current I of the electronic speed controller at a specified motor speed and different bus voltages. dc_Real A series of second measuring points are formed; The first fitting module is configured to construct a first fitting function f1(k2, S1, S2) for the bus current based on the first measuring point, and to obtain the motor speed compensation coefficient k2 through fitting calculation, where S1 is the motor speed and S2 is the maximum rated motor speed. The second fitting module is configured to construct a second fitting function f2(k3, U1, U2) for the bus current based on the first fitting function and the second measurement point, and to obtain the bus voltage compensation coefficient k3 through fitting calculation, where U1 is the bus voltage and U2 is the maximum rated bus voltage. The compensation module is configured to adjust the estimated bus current I based on the motor speed compensation coefficient k2 and the bus voltage compensation coefficient k3. dc Perform current compensation to obtain the final compensated bus current I'. dc .

8. An embedded device, characterized in that, include: One or more processors; A memory for storing one or more programs, which, when executed by the one or more processors, cause the embedded device to implement the method as described in any one of claims 1 to 6.

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 method as described in any one of claims 1 to 6.

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