Multi-gun charging pile power flexible allocation method and collaborative control system

Abstract

The application discloses a multi-gun charging pile power flexible distribution method and a cooperative control system, and particularly relates to the technical field of charging and battery swapping services, and aims to solve the technical problem that the existing power distribution method causes electrical transient impact on the battery system and power due to power step change; by monitoring the state of each charging gun in real time, the power value to be distributed is corrected based on the state coupling characteristics of the running charging gun when the gun state changes, and the injection spectrum characteristics and system impedance characteristics determined by the candidate object battery state are combined to avoid the resonance frequency band as a constraint to divide the power into multiple sub-values for flexible distribution according to time intervals, so that smooth power transition is realized; the transient impact can be effectively inhibited, and the system operation reliability is improved.

Description

Technical Field

[0001] This invention relates to the field of charging and battery swapping services, and in particular to a method for flexible power allocation and a collaborative control system for multi-gun charging piles. Background Technology

[0002] Multi-gun charging piles are key equipment in the electric vehicle charging and swapping service system. In practical applications, their total output power is often limited. When the total number of connected vehicles requires more power than the total capacity of the pile, or when the status of some charging guns changes during operation, power allocation is required. Existing technologies have involved various power allocation strategies, such as dynamic power scheduling based on the vehicle's battery state of charge or access priority. The core objective is to improve overall charging efficiency or meet specific scheduling needs, and the focus is mainly on the static optimization of power allocation results.

[0003] However, existing power allocation methods generally focus on the immediate redistribution of power values ​​during dynamic adjustment, while paying insufficient attention to the dynamic characteristics of power changes themselves. When power resources are switched or redistributed between different charging guns, especially when the power occupied by a charging gun is quickly transferred to other charging guns due to the cessation of charging, it will cause drastic step changes in output power, which will generate electrical transient impacts on the vehicle battery system and the charging pile itself. Essentially, this is an inherent contradiction in power allocation strategies between the pursuit of improving short-term efficiency and ensuring the long-term operational reliability and equipment safety of the system. Summary of the Invention

[0004] This invention addresses the technical problems existing in the prior art by providing a flexible power allocation method and a collaborative control system for multi-gun charging piles.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0006] A flexible power allocation method for multi-gun charging piles includes:

[0007] S1. Monitor and obtain the current working status and real-time output power value of each charging gun in the multi-gun charging pile in real time.

[0008] S2. When the working state of any charging gun changes from charging state to non-charging state, the state coupling characteristics are obtained based on the operating states of all charging guns in the charging state.

[0009] S3. Based on the state coupling characteristics, the real-time output power value of the charging gun with state change is corrected to determine the power value to be allocated.

[0010] S4. Identify all charging guns currently in a charging state as candidate power receiving objects;

[0011] S5. Based on the power value to be allocated and the battery status of the candidate power receiving object, determine the injection spectrum characteristics of the power value to be allocated in the time domain, and simultaneously obtain the system impedance characteristics of the multi-gun charging pile under the current operating conditions.

[0012] S6. Using the injection spectrum characteristics to avoid the resonant frequency band of the system impedance characteristics as a constraint, the power value to be allocated is divided into multiple power allocation sub-values, and the time interval between each power allocation sub-value is determined. Then, the multiple power allocation sub-values ​​are sequentially allocated to one or more candidate power receiving objects according to the time interval.

[0013] Furthermore, the system monitors and acquires the current operating status and real-time output power value of each charging gun in the multi-gun charging pile in real time, including:

[0014] Monitor the electrical connection status of each charging gun to determine whether it is charging or not.

[0015] The instantaneous output power value of each charging gun in the charging state is continuously measured and recorded as the real-time output power value;

[0016] Meanwhile, the DC bus voltage inside the charging pile is monitored as a benchmark for system operation.

[0017] Furthermore, when the operating state of any charging gun changes from charging to non-charging, state coupling characteristics are obtained based on the operating states of all charging guns, including:

[0018] When the working state of any charging gun changes from charging state to non-charging state, the real-time output power values ​​of all charging guns in the charging state are collected to form a set of parameters characterizing the current operating state.

[0019] Calculate the covariance matrix of the parameter set and obtain the principal eigenvalues ​​of the covariance matrix;

[0020] The principal feature value is used as the state coupling feature for quantifying the synchronization degree of the charging gun group's operating state.

[0021] Further, the covariance matrix of the parameter set is calculated, and the principal eigenvalues ​​of the covariance matrix are obtained, including: based on the real-time output power values ​​contained in the parameter set, the covariance between each pair of power values ​​is calculated according to the covariance formula to fill the matrix elements, thereby constructing the covariance matrix; then, by solving the characteristic equation of the covariance matrix, the magnitudes of all eigenvalues ​​are calculated and compared, and the eigenvalue with the largest value is determined as the principal eigenvalue.

[0022] Furthermore, based on the state coupling characteristics, the real-time output power value of the charging gun undergoing state changes is corrected to determine the power value to be allocated, including:

[0023] The state coupling characteristics are matched with multiple preset coupling degree intervals to determine the corresponding power correction coefficients;

[0024] Multiply the real-time output power value of the charging gun after the state change by the determined power correction coefficient to obtain the corrected power value.

[0025] The corrected power value is determined as the power value to be allocated.

[0026] Furthermore, the preset multiple coupling degree intervals are established in the following way: based on the analysis of the correlation between the numerical values ​​of different state coupling characteristics and the risk of system oscillation based on historical operating data, the numerical range of state coupling characteristics is divided into multiple continuous intervals corresponding to different risk levels; each interval is pre-assigned an empirical power correction coefficient, and the power correction coefficient decreases as the risk level represented by the interval increases.

[0027] Furthermore, all charging guns currently in a charging state are identified as candidate power receivers, including:

[0028] Based on the real-time monitoring of the charging gun's working status, all charging guns that are in the charging state are filtered out.

[0029] Verify that the electrical connection of the charging gun remains valid while it is charging.

[0030] The verified charging guns are identified as candidate power receivers.

[0031] Furthermore, based on the power value to be allocated and the battery status of the candidate power receiving objects, the injection spectrum characteristics of the power value to be allocated in the time domain are determined, and the system impedance characteristics of the multi-gun charging pile under the current operating conditions are simultaneously obtained, including:

[0032] Obtain the battery state of charge and battery temperature of the candidate power receiving object, and determine the battery relaxation time constant based on the battery state of charge and battery temperature;

[0033] Based on the amplitude of the power value to be allocated and the relaxation time constant of the battery, the boundary of the highest frequency component during the injection process of the power value to be allocated is determined to characterize the injection spectrum characteristics.

[0034] A small AC test signal of a specific frequency is injected into the DC bus of a multi-gun charging pile, and the voltage and current responses of the DC bus are detected.

[0035] Based on the amplitude ratio and phase difference of the voltage response and current response, the system impedance characteristics of the multi-gun charging pile under the current operating conditions are calculated.

[0036] Furthermore, using the constraint that the injected spectral characteristics avoid the resonant frequency band of the system impedance characteristics, the power value to be allocated is divided into multiple power allocation sub-values, and the time interval between each power allocation sub-value is determined. Then, the multiple power allocation sub-values ​​are sequentially allocated to one or more candidate power receivers according to the time interval, including:

[0037] The boundary of the highest frequency component characterized by the injected spectral characteristics is converted into the corresponding minimum time unit, and the resonant frequency band of the system impedance characteristics is converted into the corresponding periodic time window.

[0038] The first constraint is to ensure that the jump moment of the power allocation sub-value avoids the periodic time window, and the second constraint is to ensure that the time interval between adjacent power allocation sub-values ​​is an integer multiple of the smallest time unit.

[0039] In the feasible solution set that satisfies the first and second constraints, select the set of solutions that makes the cumulative change of the power allocation sub-value sequence the most gradual, thereby determining multiple power allocation sub-values ​​and the time interval between each power allocation sub-value;

[0040] Based on the determined power allocation sub-value sequence and the corresponding time interval, a time sequence of power allocation instructions is generated;

[0041] Based on the time series, each power allocation sub-value is sequentially used as incremental power and allocated to one or more candidate power receiving objects according to the real-time load ratio of the candidate power receiving objects.

[0042] On the other hand, the present invention provides a multi-gun charging pile power coordination control system, comprising:

[0043] The information monitoring unit is configured to monitor and acquire the current working status and real-time output power value of each charging gun in the multi-gun charging pile in real time.

[0044] The feature acquisition unit is configured to acquire state coupling features based on the operating states of all charging guns in the charging state when the operating state of any charging gun changes from the charging state to the non-charging state.

[0045] The power determination unit is configured to correct the real-time output power value of the charging gun with changing state based on the state coupling characteristics, and determine the power value to be allocated.

[0046] The object determination unit is configured to identify all charging guns currently in a charging state as candidate power receiving objects;

[0047] The feature acquisition unit is configured to determine the injection spectrum characteristics of the power value to be allocated in the time domain based on the power value to be allocated and the battery status of the candidate power receiving object, and simultaneously acquire the system impedance characteristics of the multi-gun charging pile under the current operating conditions.

[0048] The power allocation unit is configured to divide the power value to be allocated into multiple power allocation sub-values ​​under the constraint that the injected spectrum characteristics avoid the resonant frequency band of the system impedance characteristics, and determine the time interval between each power allocation sub-value, and then allocate the multiple power allocation sub-values ​​to one or more candidate power receiving objects in sequence according to the time interval.

[0049] The beneficial effects of this invention are:

[0050] 1. By refining the time-domain characteristics of the dynamic power allocation process, the contradiction between charging efficiency and system safety is effectively resolved. Power redistribution is regarded as a dynamic process rather than an instantaneous action. The overall stability of the system is evaluated by introducing state coupling characteristics, and the spectrum of power injection is constrained by the battery response characteristics and system impedance characteristics. This allows the power allocation process to actively avoid frequency components that may cause resonance. The power change curve is designed as a flexible transition that matches the dynamic characteristics of the system, which significantly reduces the impact stress of power step changes on battery electrodes and power devices. Thus, while optimizing the allocation of power resources, the power stability of the charging pile and the long-term operational reliability of the vehicle battery system are ensured.

[0051] 2. Compared with traditional methods that only focus on static optimization of allocation results, this approach reconstructs the power allocation problem from the perspective of dynamic system control. By establishing a correlation mechanism between state coupling characteristics and power correction coefficients, it achieves adaptive matching between allocation intensity and system steady state. By jointly optimizing the injection spectrum and system impedance characteristics, it ensures that the power change process satisfies the battery's dynamic response limit while avoiding the network's resonant frequency band. This makes the power allocation process itself an effective means of improving system robustness, reducing voltage and current overshoot during electrical transients and lowering the performance requirements for filters and protection circuits. This enables multi-gun charging piles to operate safely and efficiently under complex conditions. Attached Figure Description

[0052] Figure 1 This is a flowchart of the multi-gun charging pile power flexible allocation method of the present invention;

[0053] Figure 2 This is a schematic diagram of the multi-gun charging pile power collaborative control system of the present invention. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] Example 1

[0056] Figure 1 The present invention provides a method for flexible power allocation of multi-gun charging piles, comprising:

[0057] S1. Monitor and obtain the current working status and real-time output power value of each charging gun in the multi-gun charging pile in real time.

[0058] S2. When the working state of any charging gun changes from charging state to non-charging state, the state coupling characteristics are obtained based on the operating states of all charging guns in the charging state.

[0059] S3. Based on the state coupling characteristics, the real-time output power value of the charging gun with state change is corrected to determine the power value to be allocated.

[0060] S4. Identify all charging guns currently in a charging state as candidate power receiving objects;

[0061] S5. Based on the power value to be allocated and the battery status of the candidate power receiving object, determine the injection spectrum characteristics of the power value to be allocated in the time domain, and simultaneously obtain the system impedance characteristics of the multi-gun charging pile under the current operating conditions.

[0062] S6. Using the injection spectrum characteristics to avoid the resonant frequency band of the system impedance characteristics as a constraint, the power value to be allocated is divided into multiple power allocation sub-values, and the time interval between each power allocation sub-value is determined. Then, the multiple power allocation sub-values ​​are sequentially allocated to one or more candidate power receiving objects according to the time interval.

[0063] S1. Real-time monitoring and acquisition of the current working status and real-time output power value of each charging gun in the multi-gun charging pile, specifically implemented as follows:

[0064] The system monitors and acquires the current operating status and real-time output power of each charging gun in a multi-gun charging station in real time. It determines whether the charging gun is in a charging or non-charging state by monitoring the electrical connection status of each charging gun. The electrical connection status refers to the comprehensive judgment result of the physical connection and electrical conduction between the charging gun and the electric vehicle. This status is jointly obtained by detecting the insertion / removal confirmation signal of the charging gun and the vehicle handshake communication protocol status. Specifically, a microswitch or Hall sensor is installed at the insertion mechanism of the charging gun to detect the mechanical insertion signal. Simultaneously, the charging station controller monitors the communication link status established with the vehicle's battery management system through the control guidance circuit. For example, when the microswitch detects insertion and the control guidance circuit detects successful low-voltage auxiliary power handshake and communication link establishment between the charging station and the vehicle, the electrical connection status is deemed valid, and the charging gun is in a charging state. Conversely, if the microswitch detects no insertion or the control guidance circuit detects a communication interruption exceeding 5 seconds, the electrical connection status is deemed invalid, and the charging gun is in a non-charging state. During monitoring, the charging pile's main controller periodically reads the status data of each charging gun node via the controller area network bus, with a sampling frequency of no less than 10 Hz, thereby updating the working status of each charging gun in real time. This monitoring method based on multiple signal verification ensures the accuracy and reliability of status determination, providing basic data support for subsequent power allocation decisions.

[0065] The system continuously measures and records the instantaneous output power of each charging gun in a charging state as the real-time output power value. The instantaneous output power value refers to the electrical power output by the charging gun to the electric vehicle at a specific moment, obtained by simultaneously measuring the DC voltage and DC current values ​​at the charging gun's output terminal and calculating their product. Specifically, a voltage sensor and a current sensor with an accuracy class of no less than 0.5 are installed in the output circuit of each charging gun. The voltage sensor uses a voltage divider resistor network for voltage sampling, covering a DC voltage range of 0 to 1000 volts. The current sensor uses the closed-loop Hall effect principle for current isolation measurement, covering a DC current range of 0 to 500 amperes. The data acquisition unit synchronously acquires analog voltage and current signals at a sampling frequency of 100 times per second. After being converted into digital quantities by an analog-to-digital converter, the embedded processor calculates the power value in real time. The calculation formula is that the instantaneous power equals the product of the instantaneous voltage and the instantaneous current. The calculated power value, along with a timestamp accurate to the millisecond, is stored in the charging pile's real-time database. During the recording process, a circular buffer is used to store the power data for the most recent 300 seconds, ensuring that historical data can be preserved without exhausting storage space. This high-frequency continuous measurement method can fully capture the dynamic changes in charging power, providing a high-quality time-series data foundation for subsequent analysis of the state coupling characteristics of the charging gun group.

[0066] Simultaneously, the DC bus voltage inside the charging pile is monitored as a system operating benchmark. The DC bus voltage refers to the voltage value of the common DC power bus connecting all charging units and charging guns within the charging pile; it reflects the real-time energy supply level and stability of the entire charging pile system. During monitoring, a high-impedance differential amplifier circuit is connected between the positive and negative conductors of the DC bus. This circuit is directly connected to the bus via an optocoupler isolator, and a 16-bit precision analog-to-digital converter is used to measure the instantaneous value of the bus voltage at a sampling frequency of 1000 times per second. The measurement range is set according to the charging pile specifications; for example, for a charging pile with a rated voltage of 750 volts, the measurement range is set to 0 to 1000 volts DC voltage. The monitoring system calculates the 1-second moving average of the DC bus voltage in real time, and automatically triggers an anomaly record when a voltage fluctuation exceeds 5% of the rated value. The monitored DC bus voltage data is time-synchronized and aligned with the real-time output power values ​​of each charging gun before being stored, forming a complete system operating status dataset. This dataset is used in subsequent analysis to evaluate the overall stability of the charging pile system and provides a benchmark reference value for calculating the system impedance characteristics. For example, when making power allocation decisions, the system will adjust the power injection strategy based on the current fluctuation of the DC bus voltage to ensure that the system operates within a safe and stable range.

[0067] S2. When the operating state of any charging gun changes from charging to non-charging, the state coupling characteristics are obtained based on the operating states of all charging guns. Specifically, the implementation is as follows:

[0068] When any charging gun is detected to have changed its operating state from charging to non-charging, the process of obtaining state coupling characteristics based on the operating states of all charging guns is immediately triggered. The specific triggering event is determined by a specific change in the status flag bits of each charging gun, continuously monitored by the charging pile's main controller. For example, when the status flag bit of a charging gun jumps from a value of 1 (representing charging) to a value of 0 (representing non-charging), the system confirms a state transition event. At this point, the system immediately initiates the state coupling characteristic calculation process, which aims to quantify the coordination and interrelationship of the remaining charging guns' operating states. After triggering, the system first performs an environmental check to confirm that the current system time is within a period that allows power adjustment, such as avoiding peak grid load periods to ensure the safety of power adjustment.

[0069] The system aggregates the real-time output power values ​​of all charging guns currently charging to form a parameter set characterizing the current operating status. This parameter set is a one-dimensional array containing the power readings of all operating charging guns at the current moment. Specifically, the system retrieves the power data of each charging gun from the real-time database at the most recent valid sampling time; for example, if the system sampling frequency is 100 Hz, the power readings within the most recent 10 milliseconds are used. The aggregation process ensures that only data from charging guns currently charging is included; data from guns that have just transitioned to a non-charging state is strictly excluded. After data aggregation, the system performs a data integrity check on the parameter set, checking for missing or outlier values. For example, it checks if a charging gun's power reading exceeds the normal range of 0 to 500 kilowatts. If outlier data is found, it is replaced with the valid value from the previous normal sampling period. For newly connected charging guns, if historical data is insufficient, the system's default initial power value is used to supplement it. The final parameter set serves as input data for subsequent calculations; its size dynamically changes depending on the number of charging guns currently charging.

[0070] Calculate the covariance matrix of the parameter set and obtain its principal eigenvalues. The covariance matrix describes the degree of linear correlation and the trend of change among the power values ​​of each charging gun in the parameter set. The calculation process first performs standardization preprocessing on the parameter set, subtracting the arithmetic mean of all power values ​​from each power value and then dividing by the standard deviation of all power values ​​to eliminate the influence of dimensions and make the data have zero mean and unit variance. Next, calculate the covariance between each pair of power values ​​according to the covariance calculation formula. For example, for any two charging gun power value sequences, the covariance is equal to the sum of the products of their standardized values ​​divided by the number of data points minus one. Fill all the pairwise covariance values ​​into the corresponding positions of the matrix according to the index order of the corresponding charging gun, forming a symmetric square matrix, which is the covariance matrix.

[0071] The covariance matrix is ​​then solved using an iterative algorithm. This iterative process begins with an identity matrix as the initial estimate of the eigenvector matrix and initializes an iteration counter. In each iteration, the algorithm searches for the off-diagonal element with the largest absolute value on the off-diagonal of the covariance matrix to determine the coordinate plane requiring rotation. Next, a specific rotation angle is calculated, with its tangent, sine, and cosine values ​​derived from the corresponding element values ​​in the current matrix. Then, an orthogonal similarity transformation is performed on the covariance matrix, updating the current matrix using a rotation matrix composed of sine and cosine values ​​to reduce the values ​​of the selected off-diagonal elements. Simultaneously, the same rotation transformation is performed on the matrix recording the eigenvectors. After each iteration, the iteration counter is incremented. This process repeats until the sum of the absolute values ​​of all off-diagonal elements of the covariance matrix is ​​less than a pre-set convergence threshold, such as 0.000001, or the iteration counter reaches a pre-set maximum number of iterations, such as 100. When the iteration terminates, the elements on the diagonal of the covariance matrix are the desired eigenvalues. Finally, the largest eigenvalue is selected from all calculated eigenvalues ​​and determined as the principal eigenvalue. The magnitude of the principal eigenvalue directly reflects the overall coordination of the power changes in the charging gun group; a larger principal eigenvalue indicates stronger consistency in the power fluctuations of each gun and a higher degree of system coupling.

[0072] The principal characteristic value is used as the state coupling feature to quantify the synchronization degree of the charging gun group's operating status. The state coupling feature is a dimensionless numerical index, whose physical meaning characterizes the inherent correlation strength of the charging gun group as a whole system. The specific numerical range of this feature value is related to the actual number of charging guns; for example, for a system containing 10 charging guns, the theoretical range of the state coupling feature is between 0 and 10. The system compares and analyzes the calculated state coupling feature value with historical operating data. For example, when the feature value exceeds twice the standard deviation of the historical average, the system is considered to be in a highly coupled state. The state coupling feature serves as a key input parameter for subsequent power correction, and its magnitude directly determines the conservatism of the power allocation strategy. The entire calculation process is completed within 100 milliseconds after the state transition event is triggered, ensuring the real-time nature of the power allocation decision. The system records each calculated state coupling feature value and updates the historical database for long-term operating trend analysis and algorithm optimization. A feature value validity check mechanism is also set up. When the calculated feature value is abnormal, such as a negative value or exceeding the theoretical range, the system will adopt the previous valid feature value and trigger an alarm signal, prompting maintenance personnel to check the system's operating status.

[0073] S3. Based on the state coupling characteristics, the real-time output power value of the charging gun under state change is corrected to determine the power value to be allocated. The specific implementation is as follows:

[0074] The process of correcting the real-time output power value of a charging gun undergoing a state change and determining the power value to be allocated based on state coupling characteristics begins with acquiring the state coupling characteristics calculated by the state monitoring stage. This state coupling characteristic is a dimensionless value characterizing the degree of synchronization in the operating states of the charging gun group. The core purpose of the correction process is to adaptively adjust the power value to be reallocated according to the real-time coupling degree of the charging pile system. The higher the coupling degree, the more conservative the power adjustment strategy, effectively suppressing the risk of system oscillations that may be caused by sudden power changes.

[0075] The power correction coefficient is determined by matching state coupling characteristics with multiple preset coupling degree intervals. These preset coupling degree intervals were established through in-depth analysis of long-term historical operating data of the charging pile system. The specific establishment method involves first collecting a series of continuously recorded state coupling characteristic values ​​over several months or even longer, while simultaneously recording key system operating indicators at each value's corresponding moment, such as the fluctuation amplitude of the DC bus voltage and the harmonic distortion rate of the output current of each charging gun—parameters used to characterize system stability. Through correlation and regression analysis of massive amounts of data, the quantitative relationship between the magnitude of state coupling characteristic values ​​and the probability of system oscillation risk is precisely quantified. Based on this quantitative relationship, the entire possible range of state coupling characteristic values ​​is scientifically divided into several continuous intervals, each corresponding to a specific risk level. The determination of the division boundaries must ensure that the risk probability within the same interval is similar, while the risk probability between different intervals differs significantly. For example, for state coupling characteristics with a theoretical range between 0 and 10, based on a large amount of data analysis, it may be found that when the value is below 3.0, the probability of system oscillation is less than 5%, which is defined as a low-risk level range; when the value is between 3.0 and 6.0, the probability of oscillation rises to 5% to 20%, which is defined as a medium-risk level range; and when the value is above 6.0, the probability of oscillation exceeds 20%, which is defined as a high-risk level range.

[0076] Each risk level interval is pre-assigned a validated power correction coefficient. This coefficient decreases as the risk level increases to reflect stronger power suppression. For example, a low-risk interval corresponds to a power correction coefficient of 1.0, allowing full power allocation; a medium-risk interval corresponds to a power correction coefficient of 0.8 for moderate suppression; and a high-risk interval corresponds to a power correction coefficient of 0.5 for strict suppression. The matching process involves comparing the currently calculated state coupling characteristic values ​​with the preset interval boundary values ​​one by one to accurately determine which specific interval it falls into, and then selecting the power correction coefficient corresponding to that interval as the current control parameter.

[0077] The real-time output power value of the state-changing charging gun is multiplied by a determined power correction coefficient to obtain the corrected power value. The real-time output power value of the state-changing charging gun refers to the last valid power reading recorded just before its operating state changes from charging to non-charging. This multiplication operation is performed directly, and the rule is that the corrected power value equals the real-time output power value multiplied by the power correction coefficient. For example, if the real-time output power value of the state-changing charging gun is 60 kW, and the power correction coefficient matched by the system based on the current state coupling characteristics is 0.8, then the calculated corrected power value is 60 × 0.8 = 48 kW. This calculation process achieves quantitative scaling of the original power value to be released, and the scaling ratio is dynamically determined by the current real-time coupling state of the charging pile system.

[0078] The corrected power value is formally determined as the power value to be allocated. This step explicitly defines the power value, after adaptive correction of the coupled state, as the sole processing object and data basis for the subsequent power allocation process. The power value to be allocated is a quantity with a clear physical meaning and SI unit, namely kilowatt. The system stores this finalized power value to be allocated, along with its precise timestamp information, into the power allocation task queue, awaiting subsequent candidate object identification and flexible allocation strategy processing. The entire correction process, from data acquisition and interval matching to coefficient application and result determination, forms a complete and logically rigorous technical chain, ensuring that the power scale to be redistributed accurately matches the current dynamic stability of the charging pile system, laying a solid data foundation for the subsequent realization of safe and reliable flexible power allocation.

[0079] S4. Identify all charging guns currently in a charging state as candidate power receiving targets. Specifically, this is implemented as follows:

[0080] The process of identifying all charging guns currently charging as candidate power receivers is initiated immediately after the power allocation value is determined. This process aims to accurately identify those charging guns from all charging stations that are eligible and safe to receive additional power allocation, ensuring the effectiveness and safety of subsequent power allocation. This process is executed by a dedicated power management logic unit in the charging station's main controller, which periodically scans the system status.

[0081] Based on the real-time monitored charging gun operating status, all charging guns in the charging state are filtered out. The real-time monitored charging gun operating status comes from a global status table continuously maintained by the charging pile main controller. This status table is updated every 100 milliseconds and records the latest operating status flag bit for each charging gun. The filtering process is implemented by automatically querying this status table. The system traverses all records in the table, checking whether the operating status flag bit of each charging gun is set to a specific value representing the charging state, for example, a value of 1 represents charging. All charging guns with a flag bit of 1 are initially filtered out, forming an initial candidate set. This filtering operation has high real-time performance, ensuring that the candidate set can dynamically reflect the latest connection status of the system. During the filtering process, the system records the timestamp of each filtering and the number of charging guns filtered out for subsequent log recording and system behavior analysis. If no charging gun is found to be charging after filtering, the system temporarily stores the power value to be allocated and waits for a new charging gun to connect, while recording this abnormal operating condition.

[0082] Verify that the electrical connection of the charging gun remains valid while it is charging. This step is a secondary confirmation of the initial screening results, aiming to eliminate charging guns that, although the software status indicator shows that they are charging, may have unreliable physical connections due to transient failures. The verification process is achieved by checking the hardware signals and communication link status directly related to the electrical connection status. The system sequentially queries the underlying hardware status register of each initially screened charging gun to confirm whether the signals of its plug-in / plug-out detection sensors are continuously valid, such as whether the microswitch is still in a stable closed state rather than frequently fluctuating. At the same time, the system checks whether the communication link between the control guidance circuit and the vehicle battery management system connected to the charging gun remains active, for example, by verifying whether a valid heartbeat signal or data frame has been successfully received from the vehicle battery management system within the last 3 seconds. This 3-second timeout threshold is set based on the minimum retry period of the communication protocol and the system's fault tolerance requirements. For each verified charging gun, the system comprehensively evaluates its physical connection signal and communication link status, and only charging guns where both are continuously stable and normal are considered to have passed the electrical connection status validity verification. Any charging gun that fails verification will be removed from the initial candidate set and trigger a low-priority diagnostic log entry.

[0083] The verified charging guns are ultimately identified as candidate power receivers. This rigorously verified set of charging guns constitutes the final, qualified candidate power receiver list. The system assigns a unique temporary session identifier to each candidate power receiver in the list and associates it with its current basic operating parameters, such as real-time output power value, rated maximum allowable charging current, and battery type identifier. These basic operating parameters, along with the candidate power receiver list, are encapsulated into a structured data packet and passed to the subsequent power allocation algorithm. This determination marks the completion of the candidate object identification phase. The system updates a global allocatable object mapping table to ensure that subsequent steps can accurately obtain information on currently valid candidate power receivers. The entire identification and verification process constitutes a complete quality control step, ensuring that only charging guns with stable connections and normal communication can participate in power allocation. This fundamentally guarantees the safety and reliability of the allocation process and prepares the data for the next step of refined power allocation based on battery status and system impedance characteristics.

[0084] S5. Based on the power value to be allocated and the battery status of the candidate power receiving object, determine the injection spectrum characteristics of the power value to be allocated in the time domain, and simultaneously obtain the system impedance characteristics of the multi-gun charging pile under the current operating conditions. The specific implementation is as follows:

[0085] The process of determining the injection spectrum characteristics of the power to be allocated in the time domain based on the power value to be allocated and the battery status of the candidate power receivers, while simultaneously acquiring the system impedance characteristics of the multi-gun charging pile under the current operating conditions, is a key technical step in achieving flexible power allocation. This process performs two tasks in parallel: first, evaluating the dynamic response characteristics of the power injection end (the battery); and second, evaluating the impedance characteristics of the system network end (the charging pile itself), providing accurate input parameters for subsequently developing a power allocation strategy to avoid resonance. These two characteristic acquisitions are performed simultaneously to save system response time and ensure data temporal consistency.

[0086] The battery state of charge (SOC) and temperature of the candidate power receiving object are obtained, and the battery relaxation time constant is determined based on these parameters. SOC refers to the percentage of remaining battery capacity relative to its rated capacity. This data is periodically read from the battery management system of the electric vehicle connected to the candidate power receiving object via the controller area network (CLAN) bus, at a frequency of 10 times per second. Battery temperature is the weighted average of temperatures at multiple measurement points within the battery pack, also obtained from the battery management system. The relaxation time constant is determined by querying a pre-defined battery characteristic mapping table. This mapping table was established through extensive experiments during the battery model certification phase. The experimental method involves charging and discharging the battery at different ambient temperatures, recording the voltage relaxation curves corresponding to different SOC points, and obtaining the time constant by fitting the curves. For example, for a certain type of ternary lithium-ion battery, the relaxation time constant may be as long as 300 seconds at 0 degrees Celsius, while it may be shortened to 120 seconds at 25 degrees Celsius, and further shortened to 60 seconds at 45 degrees Celsius. The system uses real-time readings of the state of charge (accurate to one decimal place) and temperature values ​​(accurate to degrees Celsius) to perform bilinear interpolation calculations in a mapping table to determine the actual relaxation time constant of the current battery, which is in seconds.

[0087] Based on the amplitude of the power to be allocated and the battery's relaxation time constant, the highest frequency component boundary during the power injection process is determined to characterize the injection spectral characteristics. The highest frequency component boundary is a frequency value representing the upper limit of the effective frequency components contained in the frequency domain when the power to be allocated is injected in a step-like manner. Its determination method is based on the frequency domain response theory of a first-order system to a step input. Specifically, the amplitude of the power to be allocated is first normalized by dividing it by the system's maximum allowable power value, resulting in a per-unit value between 0 and 1. This per-unit value, along with the relaxation time constant, is then substituted into the calculation model. The highest frequency component boundary is equal to a scaling factor divided by the relaxation time constant. This scaling factor is related to the normalized power amplitude; the larger the power amplitude, the larger the scaling factor. For example, when the normalized power amplitude is 0.5, the scaling factor can be 0.5. If the relaxation time constant is 100 seconds, the highest frequency component boundary is 0.005 Hz. This boundary frequency value is used to define the injection spectrum characteristics, meaning that when planning the power injection waveform, it is necessary to ensure that its spectral energy is mainly concentrated below this frequency in order to avoid voltage fluctuations caused by the rapid dynamic process of exciting the battery.

[0088] A specific frequency of minute AC test signal is injected into the DC bus of a multi-gun charging station, and the voltage and current responses of the DC bus are detected. The injected test signal is a sinusoidal AC current signal with strictly limited amplitude, generated by the auxiliary power converter built into the charging station. Its amplitude is set between 1% and 5% of the system's rated DC current, with the specific value dynamically adjusted according to the system noise level to ensure accurate signal detection without interfering with system operation. Ten to twenty frequency points are selected and injected sequentially at logarithmic intervals within the range of 0.1 Hz to 1000 Hz. The signal injection process is precisely controlled by a digital signal processor, continuously injecting for 3 to 5 complete cycles at each frequency point. Simultaneously with the injection of the specific frequency test signal, a high-precision data acquisition system detects voltage and current fluctuations on the DC bus at a sampling frequency of at least 20 kHz. The voltage response is detected by a differential voltage sensor connected between the positive and negative terminals of the DC bus, with a bandwidth of at least 50 kHz. The current response is detected by a Rogowski coil surrounding the DC bus conductor, with a bandwidth of at least 100 kHz. The detected analog signal is then subjected to anti-aliasing filtering and 16-bit precision analog-to-digital conversion to obtain digitized voltage and current response sequences.

[0089] Based on the amplitude ratio and phase difference of the voltage and current responses, the system impedance characteristics of a multi-gun charging pile under current operating conditions are calculated. For each specific injected frequency, the system performs a windowed Discrete Fourier Transform on the detected voltage and current response sequences. A Hanning window is used to reduce spectral leakage, accurately extracting the fundamental amplitudes of the voltage and current responses at that frequency, as well as the phase difference between them. The amplitude of the system impedance is the ratio of the voltage response amplitude to the current response amplitude, measured in ohms. The phase of the system impedance is the calculated phase difference between the voltage and current, measured in degrees. By repeating this measurement and calculation process at all preset test frequency points, the characteristic curve of the system impedance as a function of frequency can be obtained, i.e., the system impedance characteristics. This characteristic clearly reveals the magnitude and phase of the charging pile system's impedance at different frequencies, especially showing the resonant frequency points where the impedance amplitude spikes. These resonant frequency points are frequency regions that subsequent power distribution strategies need to deliberately avoid. The entire measurement and calculation process is completed within 500 milliseconds, ensuring that the system impedance characteristics can quickly track changes in the system's operating conditions and truly reflect the dynamic characteristics of the system under the combined influence of all working charging guns, line parameters, and filter status.

[0090] S6. Using the constraint that the injected spectral characteristics avoid the resonant frequency band of the system impedance characteristics, the power value to be allocated is divided into multiple power allocation sub-values, and the time interval between each power allocation sub-value is determined. Then, the multiple power allocation sub-values ​​are sequentially allocated to one or more candidate power receiving objects according to the time interval. The specific implementation is as follows:

[0091] The final execution stage of the flexible power allocation scheme involves dividing the power to be allocated into multiple power allocation sub-values, determining the time interval between each sub-value, and then sequentially allocating these sub-values ​​to one or more candidate power receivers according to the time interval. This process, through careful time-domain waveform design, ensures that the power injection process satisfies the battery's dynamic response capability while avoiding the system's resonant frequency, thus achieving smooth and safe power redistribution. This stage transforms all the characteristic parameters obtained in the preceding steps into a specific, executable sequence of power allocation instructions.

[0092] The highest frequency component boundary, characterized by the injected spectral properties, is converted into the corresponding minimum time unit, and the resonant band of the system impedance characteristics is converted into the corresponding periodic time window. The highest frequency component boundary is a frequency value, and its corresponding period is the minimum time unit, obtained by calculating the reciprocal of this frequency value. For example, if the highest frequency component boundary is 0.01 Hz, then the minimum time unit is 100 seconds. The resonant band of the system impedance characteristics refers to the frequency range in which the system impedance amplitude exceeds the fundamental impedance by a certain proportion. For example, a continuous frequency range in which the impedance amplitude reaches more than twice the fundamental impedance is defined as the resonant band. Each resonant band corresponds to a center frequency. The reciprocal of this center frequency is used as the basic period, and then the bandwidth is extended to both sides by a certain range to obtain the corresponding periodic time window. For example, a resonant band with a center frequency of 100 Hz has a basic period of 10 milliseconds. If the bandwidth is 10 Hz, the corresponding periodic time window may be between 9.5 milliseconds and 10.5 milliseconds, providing a basic framework for subsequent power allocation timing planning.

[0093] The first constraint is to ensure that the transition time of each power allocation sub-value avoids a periodic time window, and the second constraint is to ensure that the time interval between adjacent power allocation sub-values ​​is an integer multiple of the minimum time unit. The first constraint requires that the start time of each power allocation sub-value cannot fall within any periodic time window. For example, if a periodic time window with a 10-millisecond period exists, the power command transition must avoid specific dangerous periods within each period. The second constraint requires that the time interval between two adjacent power allocation sub-values ​​must be an integer multiple of the minimum time unit. For example, if the minimum time unit is 100 seconds, the time interval can be 100 seconds, 200 seconds, 300 seconds, etc. These two constraints together constitute the time-domain design criteria for the power allocation sequence, ensuring that the spectral characteristics of the power change neither exceed the battery's response capability nor avoid the system's resonance point.

[0094] Within the feasible solution set satisfying the first and second constraints, the set of solutions that results in the smoothest cumulative change in the power allocation sub-value sequence is selected, thereby determining multiple power allocation sub-values ​​and the time intervals between them. The feasible solution set is generated by traversing all possible combinations of time intervals; each solution contains a set of power allocation sub-values ​​and their corresponding time intervals. Smoothness is quantified by calculating the sum of the quadratic differences of the power allocation sub-value sequence. This involves calculating the difference between each adjacent sub-value in the sequence, then calculating the difference between these differences, and finally summing the squares of all quadratic differences. The smaller this sum, the smoother the cumulative change in the sequence. The system calculates the smoothness index for each solution and selects the solution with the smallest index as the final solution. For example, for a power value to be allocated, a feasible allocation sequence is one where the power allocation sub-values ​​increase or decrease slowly, rather than abruptly changing. Simultaneously, the system sets a maximum allocation step limit, such as no more than 10 steps, to avoid overly complex sequences. Through this optimization selection, the final determined set of power allocation sub-values ​​and their time intervals achieves the smoothest power transition while satisfying spectral and impedance constraints.

[0095] Based on the determined power allocation sub-value sequence and corresponding time intervals, a time series of power allocation instructions is generated. Each power allocation instruction is a structured data object containing a specific power value, a precise execution timestamp, the identifier of the target charging gun, and the expected power ramp-up rate. The time series is arranged chronologically to form a complete power allocation plan. For example, the plan might specify allocating power value P1 to charging gun A at absolute timestamp T0, allocating power value P2 to charging gun B at T0+Δt1, and so on. This time series is stored in the system's circular instruction buffer, with a version identifier and checksum to ensure the integrity and traceability of the instructions. The system pre-checks the logical rationality of the time series, such as ensuring that the timestamp is monotonically increasing and that the power value does not exceed the device's limits.

[0096] Following a time sequence, each power allocation sub-value is sequentially used as an incremental power, allocated to one or more candidate power receiving objects based on their real-time load ratio. When the execution time arrives, the system first reconfirms the online status and acceptable power capacity of the target candidate power receiving objects. During allocation, the current actual output power values ​​of all candidate power receiving objects are obtained, the power of each object is calculated as a percentage of the total power, and then the power allocation sub-value of the current step is allocated according to this percentage. For example, if there are three candidate objects with current powers of 30 kW, 20 kW, and 10 kW respectively, the total power is 60 kW, and their respective load ratios are 50%, 33.3%, and 16.7%. When a 10 kW power allocation sub-value needs to be allocated, the three objects will receive incremental power of 5 kW, 3.33 kW, and 1.67 kW respectively. The allocation command is sent to the local controller of each charging gun via the real-time communication bus. After each allocation is completed, the system waits for a stabilization period and then updates the actual power values ​​of each object for the next allocation calculation. The entire allocation process has a strict timeout and anomaly monitoring mechanism. If abnormal fluctuations in system voltage or current are detected after an allocation, subsequent allocations will be suspended and a fault-safe procedure will be initiated. Through this gradual, proportional allocation method, the power to be allocated is ultimately injected into the system smoothly and safely.

[0097] Example 2

[0098] Figure 2 A schematic diagram of the multi-gun charging pile power collaborative control system of the present invention is provided. The multi-gun charging pile power collaborative control system includes:

[0099] The information monitoring unit is configured to monitor and acquire the current working status and real-time output power value of each charging gun in the multi-gun charging pile in real time.

[0100] The feature acquisition unit is configured to acquire state coupling features based on the operating states of all charging guns in the charging state when the operating state of any charging gun changes from the charging state to the non-charging state.

[0101] The power determination unit is configured to correct the real-time output power value of the charging gun with changing state based on the state coupling characteristics, and determine the power value to be allocated.

[0102] The object determination unit is configured to identify all charging guns currently in a charging state as candidate power receiving objects;

[0103] The feature acquisition unit is configured to determine the injection spectrum characteristics of the power value to be allocated in the time domain based on the power value to be allocated and the battery status of the candidate power receiving object, and simultaneously acquire the system impedance characteristics of the multi-gun charging pile under the current operating conditions.

[0104] The power allocation unit is configured to divide the power value to be allocated into multiple power allocation sub-values ​​under the constraint that the injected spectrum characteristics avoid the resonant frequency band of the system impedance characteristics, and determine the time interval between each power allocation sub-value, and then allocate the multiple power allocation sub-values ​​to one or more candidate power receiving objects in sequence according to the time interval.

[0105] The calculations involved in the embodiments are all dimensionless numerical calculations, and the preset parameters and thresholds in the calculations are set by those skilled in the art according to the actual situation.

[0106] It should be noted that this invention can be deployed on the device itself to realize embedded applications, or it can run on a PC or other terminal with a user interface, thereby meeting various hardware environments and usage requirements.

[0107] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions according to the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wireless or wired transmission; wired transmission methods include optical fiber, twisted pair, coaxial cable, etc.; wireless transmission includes infrared, microwave, etc. Computer-readable storage media can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more sets of available media. Available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. Semiconductor media can be solid-state drives.

[0108] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0109] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0110] 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; they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0111] In addition, the functional units in the various embodiments of this application 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.

[0112] If a function 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 this application, in essence, or the part that contributes to the prior art, or a 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 of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0113] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0114] In conclusion, the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for flexible power allocation of multi-gun charging piles, characterized in that, include: S1. Monitor and obtain the current working status and real-time output power value of each charging gun in the multi-gun charging pile in real time. S2. When the operating state of any charging gun changes from charging to non-charging, the state coupling characteristics are obtained based on the operating states of all charging guns, including: When the working state of any charging gun changes from charging state to non-charging state, the real-time output power values ​​of all charging guns in the charging state are collected to form a set of parameters characterizing the current operating state. Calculate the covariance matrix of the parameter set and obtain the principal eigenvalues ​​of the covariance matrix; The principal feature value is used as the state coupling feature for quantifying the synchronization degree of the operating state of the charging gun group. S3. Based on the state coupling characteristics, the real-time output power value of the charging gun with state change is corrected to determine the power value to be allocated. S4. Identify all charging guns currently in a charging state as candidate power receiving objects; S5. Based on the power value to be allocated and the battery status of the candidate power receiver, determine the injection spectrum characteristics of the power value to be allocated in the time domain, and simultaneously obtain the system impedance characteristics of the multi-gun charging pile under the current operating conditions, including: Obtain the battery state of charge and battery temperature of the candidate power receiving object, and determine the battery relaxation time constant based on the battery state of charge and battery temperature; Based on the amplitude of the power value to be allocated and the relaxation time constant of the battery, the boundary of the highest frequency component during the injection process of the power value to be allocated is determined to characterize the injection spectrum characteristics. A small AC test signal of a specific frequency is injected into the DC bus of a multi-gun charging pile, and the voltage and current responses of the DC bus are detected. Based on the amplitude ratio and phase difference of the voltage response and current response, the system impedance characteristics of the multi-gun charging pile under the current operating conditions are calculated. S6. Using the injection spectrum characteristics to avoid the resonant frequency band of the system impedance characteristics as a constraint, the power value to be allocated is divided into multiple power allocation sub-values, and the time interval between each power allocation sub-value is determined. Then, the multiple power allocation sub-values ​​are sequentially allocated to one or more candidate power receiving objects according to the time interval.

2. The method for flexible power allocation of multi-gun charging piles according to claim 1, characterized in that, Real-time monitoring and acquisition of the current operating status and real-time output power value of each charging gun in a multi-gun charging station, including: Monitor the electrical connection status of each charging gun to determine whether it is charging or not. The instantaneous output power value of each charging gun in the charging state is continuously measured and recorded as the real-time output power value; Meanwhile, the DC bus voltage inside the charging pile is monitored as a benchmark for system operation.

3. The method for flexible power allocation of multi-gun charging piles according to claim 1, characterized in that, The covariance matrix of the parameter set is calculated, and the principal eigenvalues ​​of the covariance matrix are obtained. This includes: based on the real-time output power values ​​contained in the parameter set, the covariance between each pair of power values ​​is calculated according to the covariance formula to fill the matrix elements, thereby constructing the covariance matrix; then, by solving the characteristic equation of the covariance matrix, the magnitudes of all eigenvalues ​​are calculated and compared, and the eigenvalue with the largest value is determined as the principal eigenvalue.

4. The method for flexible power allocation of multi-gun charging piles according to claim 1, characterized in that, Based on the state coupling characteristics, the real-time output power value of the charging gun under state change is corrected to determine the power value to be allocated, including: The state coupling characteristics are matched with multiple preset coupling degree intervals to determine the corresponding power correction coefficients; Multiply the real-time output power value of the charging gun after the state change by the determined power correction coefficient to obtain the corrected power value. The corrected power value is determined as the power value to be allocated.

5. The method for flexible power allocation of multi-gun charging piles according to claim 4, characterized in that, The preset coupling intervals are established in the following way: based on historical operating data analysis, the correlation between the numerical values ​​of different state coupling characteristics and the risk of system oscillation is analyzed, and the numerical range of state coupling characteristics is divided into multiple continuous intervals corresponding to different risk levels; each interval is pre-assigned an empirical power correction coefficient, and the power correction coefficient decreases as the risk level represented by the interval increases.

6. The method for flexible power allocation of multi-gun charging piles according to claim 1, characterized in that, Identify all charging guns currently charging as candidate power receivers, including: Based on the real-time monitoring of the charging gun's working status, all charging guns that are in the charging state are filtered out. Verify that the electrical connection of the charging gun remains valid while it is charging. The verified charging guns are identified as candidate power receivers.

7. The method for flexible power allocation of multi-gun charging piles according to claim 1, characterized in that, Using the constraint that the injected spectral characteristics avoid the resonant frequency band of the system impedance characteristics, the power value to be allocated is divided into multiple power allocation sub-values, and the time interval between each power allocation sub-value is determined. Then, these multiple power allocation sub-values ​​are sequentially allocated to one or more candidate power receivers according to the time interval, including: The boundary of the highest frequency component characterized by the injected spectral characteristics is converted into the corresponding minimum time unit, and the resonant frequency band of the system impedance characteristics is converted into the corresponding periodic time window. The first constraint is to ensure that the jump moment of the power allocation sub-value avoids the periodic time window, and the second constraint is to ensure that the time interval between adjacent power allocation sub-values ​​is an integer multiple of the smallest time unit. In the feasible solution set that satisfies the first and second constraints, select the set of solutions that makes the cumulative change of the power allocation sub-value sequence the most gradual, thereby determining multiple power allocation sub-values ​​and the time interval between each power allocation sub-value; Based on the determined power allocation sub-value sequence and the corresponding time interval, a time sequence of power allocation instructions is generated; Based on the time series, each power allocation sub-value is sequentially used as incremental power and allocated to one or more candidate power receiving objects according to the real-time load ratio of the candidate power receiving objects.

8. A multi-gun charging pile power collaborative control system, used to implement the multi-gun charging pile power flexible allocation method according to any one of claims 1-7, characterized in that, include: The information monitoring unit is configured to monitor and acquire the current working status and real-time output power value of each charging gun in the multi-gun charging pile in real time. The feature acquisition unit is configured to acquire state coupling features based on the operating states of all charging guns in the charging state when the operating state of any charging gun changes from the charging state to the non-charging state. The power determination unit is configured to correct the real-time output power value of the charging gun with changing state based on the state coupling characteristics, and determine the power value to be allocated. The object determination unit is configured to identify all charging guns currently in a charging state as candidate power receiving objects; The feature acquisition unit is configured to determine the injection spectrum characteristics of the power value to be allocated in the time domain based on the power value to be allocated and the battery status of the candidate power receiving object, and simultaneously acquire the system impedance characteristics of the multi-gun charging pile under the current operating conditions. The power allocation unit is configured to divide the power value to be allocated into multiple power allocation sub-values ​​under the constraint that the injected spectrum characteristics avoid the resonant frequency band of the system impedance characteristics, and determine the time interval between each power allocation sub-value, and then allocate the multiple power allocation sub-values ​​to one or more candidate power receiving objects in sequence according to the time interval.

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