A four-port magnetic network electric energy router power wide-range linear decoupling control method, device and equipment

Abstract

The application discloses a four-port magnetic network electric energy router power wide-range linear decoupling control method, device and equipment, relates to the isolated multi-port power electronic transformer technical field.The application determines appropriate decoupling working modes according to the power response speed requirements and reference power values of each controlled port, and calculates the decoupling control variables and outer moving phase and inner moving phase of each controlled port in real time, and finally realizes the four-port magnetic network electric energy router power wide-range linear decoupling by modulating each port to output corresponding square wave or quasi-square wave voltage.The application can not only realize the effective decoupling of power among each port, but also does not depend on additional hardware devices and parameter selection, does not need to increase the system hardware cost, volume and loss, and has higher system economy;also, the application does not need to solve complex nonlinear equations, only needs to perform proportional and integral operations, has low control algorithm complexity, and can effectively improve the reliability of the control system.

Description

Technical Field

[0001] This invention relates to the field of isolated multi-port power electronic transformer technology, specifically to a four-port magnetic network power router with wide-range linear decoupling control method, device, and equipment. Background Technology

[0002] The four-port magnetic network power router adopts an integrated structure of four full-bridge converters and four-port high-frequency coupled inductors. In addition to the advantages of traditional two-port power electronic transformers, such as flexible voltage level transformation, electrical isolation, and controllable power and power quality, it achieves a higher degree of control flexibility by using fewer power switches. This can significantly improve the performance, efficiency, and reliability of DC power distribution systems, and has attracted widespread attention in the fields of DC microgrids, vehicle-to-grid interaction, data center power supply, multi-electric aircraft, and all-electric ships.

[0003] Because the four full-bridge converter ports are directly coupled through the shared magnetic flux in the four-port high-frequency coupling inductor, the power flow of the four-port magnetic network power router exhibits a nonlinear coupling distribution. Without power decoupling control, sudden changes in the port power reference value can easily lead to a deterioration in the dynamic response of the port power, and even reduce the system's stability margin. To address the power decoupling control problem of four-port magnetic network power routers, there are currently hardware-based and software-based decoupling methods. Hardware-based methods eliminate the equivalent connection inductance between specific ports by connecting series capacitors, thereby decoupling the power flow. Software-based methods achieve linear decoupling of the power flow by establishing a small-signal linear state-space model near a specific operating point. However, the hardware-based method relies on the precise design and selection of the series capacitors, increasing system cost, size, and losses. The software-based method relies on online calculation (or pre-calculation) of the operating point, increasing the complexity of the control system algorithm (or the controller's storage burden), and has a limited decoupling range, restricting the application scope of these methods in practical engineering. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a power wide-range linear decoupling control method, device and equipment for a four-port magnetic network power router. The method determines an appropriate decoupling working mode according to the power response speed requirements and reference power values ​​of each controlled port, and calculates the decoupling control variables and external and internal phase shifts of each controlled port in real time. Finally, the power wide-range linear decoupling of the four-port magnetic network power router is achieved by modulating the corresponding square wave or quasi-square wave voltage output of each port.

[0005] To solve the above technical problems, the present invention provides the following technical solution:

[0006] First, this invention proposes a wide-range linear decoupling control method for a four-port magnetic network power router, specifically including the following:

[0007] Choose any port in the four-port magnetic network power router as the reference port, and the remaining ports as controlled ports. Determine the decoupled operating mode based on the power response speed requirements and reference power values ​​of each controlled port;

[0008] The average power of each controlled port is sampled and calculated in real time, and the corresponding closed-loop power proportional-integral control loop is selected according to different decoupling working modes to determine the decoupling control variables of each controlled port.

[0009] Based on the decoupling control variables of each controlled port, the external phase shift and internal phase shift of each controlled port are calculated in real time under different decoupling working modes;

[0010] The reference port AC output is a square wave voltage with an initial phase of zero and a duty cycle of 50%. The AC output of each controlled port is a quasi-square wave voltage containing corresponding external and internal phase shifts, thereby realizing wide-range linear decoupling of the power of the four-port magnetic network power router.

[0011] Furthermore, step S1 includes 12 decoupling operating modes, Mode1 to Mode12. Let the reference port be port a, and the controlled ports be ports b, c, and d. The specific method for determining the decoupling operating mode is as follows:

[0012] (I) If the power reference values ​​P of ports b, c, and d are b * P c * P d * If formula (1) is satisfied and port d is required to have a faster power response speed than ports b and c, then the decoupling working mode is Mode1.

[0013] (1)

[0014] (II) If the power reference values ​​P of ports b, c, and d are... b * P c * P d * If formula (2) is satisfied and port d is required to have a faster power response speed than ports b and c, then the decoupling working mode is Mode2.

[0015] (2)

[0016] (III) If the power reference values ​​P of ports b, c, and d are b* P c * P d * If formula (3) is satisfied and port d is required to have a faster power response speed than ports b and c, then the decoupling working mode is Mode3.

[0017] (3)

[0018] (IV) If the power reference values ​​P of ports b, c, and d are... b * P c * P d * If formula (4) is satisfied and port d is required to have a faster power response speed than ports b and c, then the decoupling working mode is Mode4.

[0019] (4)

[0020] (V) If the power reference values ​​P at ports b, c, and d b * P c * P d * If formula (5) is satisfied and port b is required to have a faster power response speed than ports c and d, then the decoupling working mode is Mode5.

[0021] (5)

[0022] (VI) If the power reference values ​​P of ports b, c, and d are... b * P c * P d * If formula (6) is satisfied and port b is required to have a faster power response speed than ports c and d, then the decoupling working mode is Mode6.

[0023] (6)

[0024] (VII) If the power reference values ​​P of ports b, c, and d are b * P c * P d * If formula (7) is satisfied and port b is required to have a faster power response speed than ports c and d, then the decoupling working mode is Mode7.

[0025] (7)

[0026] (VIII) If the power reference values ​​P at ports b, c, and d are... b * P c * P d * If formula (8) is satisfied and port b is required to have a faster power response speed than ports c and d, then the decoupling working mode is Mode8.

[0027] (8)

[0028] (IX) If the power reference values ​​P of ports b, c, and d are... b * P c * P d * If formula (9) is satisfied and port c is required to have a faster power response speed than ports b and d, then the decoupling working mode is Mode9.

[0029] (9)

[0030] (X) If the power reference values ​​P at ports b, c, and d are... b * P c * P d * If formula (10) is satisfied and port c is required to have a faster power response speed than ports b and d, then the decoupling working mode is Mode10.

[0031] (10)

[0032] (XI) If the power reference values ​​P of ports b, c, and d are b * P c * P d * If formula (11) is satisfied and port c is required to have a faster power response speed than ports b and d, then the decoupling working mode is Mode11.

[0033] (11)

[0034] (XII) If the power reference values ​​P at ports b, c, and d are... b * P c* P d * If formula (12) is satisfied and port c is required to have a faster power response speed than ports b and d, then the decoupling working mode is Mode12.

[0035] (12)

[0036] In formulas (1)-(12), C ij It is a constant, and its calculation formula is:

[0037] (13)

[0038] In formula (2), V dc_i and V dc_j The DC-side voltages of ports i and j are respectively, N i and N j f represents the number of turns at port i and port j, respectively. s L represents the switching frequency of the converter at ports a~d. ij Let be the equivalent connection inductance between port i and port j.

[0039] Furthermore, let the average power sampling value of the controlled port i be P. i The specific method for determining the decoupling control variables of each controlled port in S2 is as follows:

[0040] For controlled port b, when the decoupling operating mode is Mode3,4,11,12, the decoupling control variable X of controlled port b is... b The calculation formula is:

[0041] (14)

[0042] Where sgn() is the sign function, K p1 and K i1 These are the proportional and integral coefficients for the power closed-loop control under Modes 3, 4, 11, and 12, respectively.

[0043] For controlled port b, when the decoupling operating mode is Mode1,2,9,10, the decoupling control variable X of controlled port b is... b The calculation formula is:

[0044] (15)

[0045] Among them, K p2 and K i2 These are the proportional and integral coefficients for the power closed-loop control under Modes 1, 2, 9, and 10, respectively.

[0046] For controlled port b, when the decoupling operating mode is Mode5, 6, 7, 8, the decoupling control variable X of controlled port b is... b The calculation formula is:

[0047] (16)

[0048] Among them, K p3 and K i3 These are the proportional and integral coefficients for power closed-loop control in Modes 5, 6, 7, and 8, respectively.

[0049] For the controlled port c, when the decoupling operating mode is Mode1,2,7,8, the decoupling control variable X of the controlled port c is... c The calculation formula is:

[0050] (17)

[0051] For the controlled port c, when the decoupling operating mode is Mode3,4,5,6, the decoupling control variable X of the controlled port c is... c The calculation formula is:

[0052] (18)

[0053] For the controlled port c, when the decoupling operating mode is Mode9, 10, 11, or 12, the decoupling control variable X of the controlled port c is... c The calculation formula is:

[0054] (19)

[0055] For the controlled port d, when the decoupling operating mode is Mode5, 6, 9, 10, the decoupling control variable X of the controlled port d is... d The calculation formula is:

[0056] (20)

[0057] For the controlled port d, when the decoupling operating mode is Mode7, 8, 11, 12, the decoupling control variable X of the controlled port d is... d The calculation formula is:

[0058] (twenty one)

[0059] For the controlled port d, when the decoupling operating mode is Mode1,2,3,4, the decoupling control variable X of the controlled port d is... d The calculation formula is:

[0060] (twenty two)

[0061] Furthermore, in step S3, the external phase shift φ of the controlled ports b, c, and d... b φ c φ d and internal phase shift δ b δ c δ d The specific calculation method is as follows:

[0062] When the decoupling working mode is Mode1,2, φ b φ c φ d δ b δ c δ d The calculation formula is:

[0063] (twenty three)

[0064] When the decoupling working mode is Mode3,4, φ b φ c φ d δ b δ c δ d The calculation formula is:

[0065] (twenty four)

[0066] When the decoupling working mode is Mode5,6, φ b φ c φ d δ b δ c δ d The calculation formula is:

[0067] (25)

[0068] When the decoupling working mode is Mode7,8, φ b φ c φ d δ b δ c δ d The calculation formula is:

[0069] (26)

[0070] When the decoupling working mode is Mode9,10, φ b φ c φ d δ b δ c δd The calculation formula is:

[0071] (27)

[0072] When the decoupling working mode is Mode11,12, φ b φ c φ d δ b δ c δ d The calculation formula is:

[0073] (28)

[0074] Where X b X c X d These are the decoupling control variables for the controlled ports b, c, and d, respectively.

[0075] In another aspect, the present invention provides a power wide-range linear decoupling control device for a four-port magnetic network power router, comprising:

[0076] Decoupling Working Mode Determination Module: Used to determine the appropriate decoupling working mode based on the power response speed requirements of each controlled port and the magnitude of the reference power value;

[0077] Decoupling control variable calculation module: used to calculate the decoupling control variables of each controlled port through proportional-integral control according to the selected decoupling working mode;

[0078] Controlled Port Internal and External Phase Shift Calculation Module: Used to calculate the external and internal phase shifts of each controlled port based on the selected decoupling operating mode and the decoupling control variables of each controlled port;

[0079] Modulation output module: Used to modulate the square wave voltage with zero initial phase and 50% duty cycle of the AC output of the reference port, and to modulate the quasi-square wave voltage with corresponding external and internal phase shifts of the AC output of each controlled port, so as to realize the wide-range linear decoupling of the power of the four-port magnetic network power router.

[0080] Secondly, the present invention also provides a four-port magnetic network power router, which includes a four-port high-frequency coupling inductor and four full-bridge converters. The AC side of the four full-bridge converters is directly coupled through the four-port high-frequency coupling inductor. The four-port magnetic network power router uses the four-port magnetic network power router power wide-range linear decoupling control method to perform multi-port power linear decoupling control.

[0081] According to another aspect of the present invention, a terminal device is provided, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The memory stores the computer program capable of running on the processor. When the processor loads and executes the computer program, the power wide-range linear decoupling control method of the four-port magnetic network power router described above is employed.

[0082] Meanwhile, the present invention also proposes an electronic system comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to execute the power wide-range linear decoupling control method for the four-port magnetic network power router provided by the present invention.

[0083] Finally, this invention proposes a computer-readable storage medium storing computer instructions for causing the computer to execute the power wide-range linear decoupling control method for the four-port magnetic network power router provided by this invention.

[0084] The present invention adopts the above technical solution and has the following technical effects compared with the prior art:

[0085] 1. This invention determines an appropriate decoupling working mode based on the power response speed requirements and reference power values ​​of each controlled port, and calculates the decoupling control variables and external and internal phase shifts of each controlled port in real time. By modulating the corresponding square wave or quasi-square wave voltage output of each port, the four-port magnetic network power router achieves wide-range linear decoupling of power. Compared with conventional methods, it has a wider range of linear decoupling of power and can effectively improve the dynamic power response characteristics of the system.

[0086] 2. This invention does not rely on additional hardware equipment and parameter selection, and does not increase system hardware costs, size, or losses, thus having high system economy;

[0087] 3. The algorithm of this invention does not require solving complex nonlinear equations, but only performs basic proportional and integral operations. The control algorithm has low complexity and can effectively improve the reliability of the control system. Attached Figure Description

[0088] Figure 1 This is a schematic diagram of the overall method flow of an embodiment of the present invention.

[0089] Figure 2 This is a schematic diagram of the topology of a four-port magnetic network power router according to an embodiment of the present invention.

[0090] Figure 3 This is a schematic diagram of the four-port high-frequency coupled inductor structure in a four-port magnetic network power router according to an embodiment of the present invention.

[0091] Figure 4 This is a schematic diagram of the reference port and the modulated output voltage of each controlled port in an embodiment of the present invention. Detailed Implementation

[0092] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0093] This invention addresses the power decoupling control problem of four-port magnetic network power routers, proposing a wide-range linear decoupling control method, apparatus, and device for four-port magnetic network power routers. The topology of the four-port magnetic network power router is as follows: Figure 2 As shown, the four-port magnetic network power router includes a four-port high-frequency coupled inductor and four full-bridge converter ports. Port i contains four power MOSFETs (T... i1 T i2 T i3 T i4 A DC-side capacitor C i A DC-side inductor L i .like Figure 3 As shown, a four-port high-frequency coupled inductor contains four windings (W a W b W c W d ) and ferrite core C m .

[0094] Example 1: As Figure 1 This embodiment provides a wide-range linear decoupling control method for a four-port magnetic network power router, including the following steps:

[0095] S1. In the four-port magnetic network power router, port a is taken as the reference port, and ports b, c, and d are the controlled ports. Based on the power response speed requirements and reference power range of each controlled port, the decoupling operating mode is determined, as shown in Table 1. The reference power range includes 12 cases, specifically:

[0096] Case 1: Power reference value P of ports b, c, and d b * P c * P d * The range is

[0097] (1)

[0098] In formula (1), C ij It is a constant, and its calculation formula is:

[0099] (2)

[0100] In formula (2), V dc_i and V dc_j The DC-side voltages of ports i and j are respectively, N i and N j f represents the number of turns at port i and port j, respectively. s L represents the switching frequency of the converter at ports a~d. ij Let be the equivalent connection inductance between port i and port j.

[0101] Case 2: Power reference value P at ports b, c, and d b * P c * P d * The range is

[0102] (3)

[0103] Case 3: Power reference value P at ports b, c, and d b * P c * P d * The range is

[0104] (4)

[0105] Case 4: Power reference value P at ports b, c, and d b * P c * P d * The range is

[0106] (5)

[0107] Case 5: Power reference value P of ports b, c, and d b * P c * P d * The range is

[0108] (6)

[0109] Case 6: Power reference value P of ports b, c, and d b * P c * P d * The range is

[0110] (7)

[0111] Case 7: Power reference value P at ports b, c, and d b * P c * P d * The range is

[0112] (8)

[0113] Case 8: Power reference value P at ports b, c, and d b * P c * P d * The range is

[0114] (9)

[0115] Case 9: Power reference value P at ports b, c, and d b * P c * P d * The range is

[0116] (10)

[0117] Case 10: Power reference value P at ports b, c, and d b * P c * P d * The range is

[0118] (11)

[0119] Case 11: Power reference value P at ports b, c, and d b * P c * P d * The range is

[0120] (12)

[0121] Case 12: Power reference value P at ports b, c, and d b * P c * P d * The range is

[0122] (13)

[0123] Table 1: Decoupling Operating Modes under Different Controlled Port Power Response Speed ​​Requirements and Reference Power Values

[0124]

[0125] S2. Real-time sampling and calculation of the average power P of the controlled port i. i Based on different decoupling operating modes, the corresponding closed-loop power proportional-integral control loop is selected, and the decoupling control variables of each controlled port are determined, as shown in Table 2:

[0126] Table 2: Decoupling control variables for each controlled port under different decoupling operating modes

[0127]

[0128] S3. Based on the decoupling control variables of each controlled port, calculate the external and internal phase shifts of each controlled port in real time under different decoupling operating modes, as shown in Table 3:

[0129] Table 3: External and internal phase shifts of each controlled port under different decoupling operating modes

[0130]

[0131] S4. Real-time control reference port AC output square wave voltage with initial phase of zero and duty cycle of 50% (e.g.) Figure 4 Real-time control of the AC output of each controlled port, including the corresponding external and internal phase shifts, of the quasi-square wave voltage (e.g., ...). Figure 4 This is used to achieve wide-range linear decoupling of power in a four-port magnetic network power router.

[0132] Example 2: This example provides a four-port magnetic network power router with a wide power range linear decoupling control device, including:

[0133] Decoupling Working Mode Determination Module: Used to determine the appropriate decoupling working mode based on the power response speed requirements of each controlled port and the magnitude of the reference power value;

[0134] Decoupling control variable calculation module: used to calculate the decoupling control variables of each controlled port through proportional-integral control according to the selected decoupling working mode;

[0135] Controlled Port Internal and External Phase Shift Calculation Module: Used to calculate the external and internal phase shifts of each controlled port based on the selected decoupling operating mode and the decoupling control variables of each controlled port;

[0136] Modulation output module: Used to modulate the square wave voltage with zero initial phase and 50% duty cycle of the AC output of the reference port, and to modulate the quasi-square wave voltage with corresponding external and internal phase shifts of the AC output of each controlled port, so as to realize the wide-range linear decoupling of the power of the four-port magnetic network power router.

[0137] Example 3: This example provides a four-port magnetic network power router. The four-port magnetic network power router includes a four-port high-frequency coupling inductor and four full-bridge converters. The AC side of the four full-bridge converters is directly coupled through the four-port high-frequency coupling inductor. The four-port magnetic network power router uses the four-port magnetic network power router power wide-range linear decoupling control method to perform multi-port power linear decoupling control.

[0138] Example 4: This example proposes a terminal device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The memory stores the computer program capable of running on the processor. When the processor loads and executes the computer program, it adopts the power wide-range linear decoupling control method of the four-port magnetic network power router described above.

[0139] It should be noted that the terminal device can be a computer device such as a desktop computer, a laptop computer, or a cloud server, and the terminal device includes, but is not limited to, a processor and a memory. For example, the terminal device may also include input / output devices, network access devices, and buses.

[0140] Furthermore, the processor can be a central processing unit (CPU). Of course, depending on the actual use, other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. can also be used. The general-purpose processor can be a microprocessor or any conventional processor, etc., and this application does not limit it in this regard.

[0141] Furthermore, the memory can be an internal storage unit of the terminal device, such as the hard disk or RAM of the terminal device, or an external storage device of the terminal device, such as a plug-in hard disk, smart memory card (SMC), secure digital card (SD), or flash memory card (FC) equipped on the terminal device. In addition, the memory can also be a combination of the internal storage unit and the external storage device of the terminal device. The memory is used to store computer programs and other programs and data required by the terminal device. The memory can also be used to temporarily store data that has been output or will be output. This application does not limit this.

[0142] Furthermore, through this terminal device, any one of the four-port magnetic network power router power wide-range linear decoupling control methods in the above embodiments can be stored in the memory of the terminal device, and loaded and executed on the processor of the terminal device for convenient use.

[0143] Example 5: This example discloses a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it employs any of the four-port magnetic network power router power wide-range linear decoupling control methods described in the above examples.

[0144] The computer program can be stored in a computer-readable medium. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or certain middleware. The computer-readable medium includes any entity or device capable of carrying computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the computer-readable medium includes, but is not limited to, the above-mentioned components.

[0145] It should be further explained that, through this computer-readable storage medium, any one of the four-port magnetic network power router power wide-range linear decoupling control methods in the above embodiments can be stored in the computer-readable storage medium and loaded and executed on the processor to facilitate the storage and application of the above methods.

[0146] It should be noted that, in this document, relational terms such as "first" and "second" are used only 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 process, method, article, or apparatus.

[0147] For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances. When an element is referred to as being "assembled on," "mounted on," "fixed to," or "set on" another element, it may be directly on the other element or there may be an intermediate element present. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible embodiments.

[0148] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0149] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A four-port magnetic network electric power router power wide-range linear decoupling control method, characterized in that, Specifically comprising the following steps: S1, taking any port of the four-port magnetic network power router as a reference port, and the remaining ports as controlled ports, determining the decoupling working mode according to the power response speed requirements and reference power values of the controlled ports; S2, real-time sampling and calculating the average power of each controlled port, and selecting the corresponding closed-loop power proportional-integral control loop according to different decoupling working modes to determine the decoupling control variable of each controlled port; S3, based on the decoupling control variable of each controlled port, real-time calculating the outward shift phase and inward shift phase of each controlled port under different decoupling working modes; S4, real-time controlling the reference port AC measurement output initial phase to be zero and the duty cycle of the square wave voltage to be fifty percent, and real-time controlling the controlled port AC measurement output to be a quasi-square wave voltage containing the corresponding outward shift phase and inward shift phase, to realize the wide-range linear decoupling of the four-port magnetic network power router; The step S1 includes 12 decoupling working modes: Mode1~Mode12, assuming that the reference port is port a and the controlled ports are ports b, c and d, the decoupling working mode is determined as follows: (I) if the power reference values P b * , P c * , P d * Formula (1) is satisfied, and port d is required to have a faster power response speed than ports b, c, then the decoupling working mode takes Mode 1: (1) (II) If the power reference values P b * , P c * , P d * satisfy formula (2) and it is required that port d has a faster power response speed than ports b, c, then the decoupling working mode takes Mode 2: (2) (III) If the power reference values P b * , P c * , P d * satisfy formula (3) and it is required that port d has a faster power response speed than ports b, c, then the decoupling working mode takes Mode 3: (3) (IV) If the power reference values P b * , P c * , P d * satisfy formula (4) and it is required that port d has a faster power response speed than ports b, c, then the decoupling working mode takes Mode 4: (4) (V) If the power reference values P b * , P c * , P d * satisfy formula (5) and it is required that port b has a faster power response speed than ports c, d, then the decoupling working mode takes Mode 5: (5) (VI), if the power reference values P b * , P c * , P d * satisfies equation (6), and it is required that port b has a faster power response speed than ports c and d, then the decoupling mode is Mode 6: (6) (VII), if the power reference values P b * , P c * , P d * satisfies equation (7), and it is required that port b has a faster power response speed than ports c, d, then the decoupling mode takes Mode 7: (7) (VIII), if the power reference values P b * , P c * , P d * satisfies equation (8) and requires port b to have a faster power response speed than ports c, d, then the decoupling mode takes Mode 8: (8) (XI) If the power reference values P b * , P c * , P d * satisfy equation (9) and it is required that port c has a faster power response speed than ports b and d, then the decoupling mode is Mode 9: (9) (X) if the power reference values P b * , P c * , P d * satisfy formula (10), and it is required that port c has a faster power response speed than ports b, d, then the decoupling working mode takes Mode 10: (10) (XI) if the power reference values P b * , P c * , P d * satisfy formula (11), and it is required that port c has a faster power response speed than ports b, d, then the decoupling working mode takes Mode 11: (11) (XII) if the power reference values P b * , P c * , P d * satisfies equation (12) and requires port c to have a faster power response speed than ports b and d, then the decoupling mode is Mode 12: (12) In formulas (1)-(12), C ij is a constant, and its calculation formula is: (13) where V dc_i and V dc_j are the DC side voltages of port i and port j respectively, N i and N j are the number of turns of port i and port j respectively, f s is the switching frequency of the port a~d converters, L ij is the equivalent connecting inductance between port i and port j, .

2. The method of claim 1, wherein, Let the average power sample value of the controlled port i be P i The specific determination method of the decoupling control variable of each controlled port in step S2 is that (1) for the controlled port b: When the decoupling working mode is Mode 3, Mode 4, Mode 11 or Mode 12, the decoupling control variable X of the controlled port b is calculated according to the following formula: b X = - (K * (Y - Ys) + B) ， where sgn() is a sign function, K p1 and K i1 are the power closed loop control proportional coefficient and integral coefficient under Mode 3, Mode 4, Mode 11, Mode 12, respectively. When the decoupling working mode is Mode 1, Mode 2, Mode 9, or Mode 10, the decoupling control variable X of the controlled port b is calculated according to the following formula: b X = - (K * (Y - Yref) + B) ， wherein K p2 and K i2 are the power control loop proportional and integral coefficients for Mode 1, Mode 2, Mode 9, Mode 10, respectively. When the decoupling operating mode is Mode5, Mode6, Mode7, or Mode8, the decoupling control variable X of the controlled port b... b The calculation formulas are as follows: Mode 5: , Mode 6: , Mode 7: , Mode 8: , K p3 and K i3 are the power control loop proportional and integral coefficients for Mode 5, Mode 6, Mode 7, Mode 8, respectively. (2) for the controlled port c: When the decoupling working mode is Mode 1, Mode 2, Mode 7, or Mode 8, the decoupling control variable X of the controlled port c is c The calculation formula is: ， wherein K p4 and K i4 are the power closed loop control proportional and integral coefficients under Mode 1, Mode 2, Mode 7, Mode 8, respectively. When the decoupling working mode is Mode 3, Mode 4, Mode 5, or Mode 6, the decoupling control variable X of the controlled port c is calculated according to the following formula: c X = - (Kp * e + Ki * e + Kd * de) ， wherein K p5 and K i5 are the power closed loop control proportional and integral coefficients under Mode 3, Mode 4, Mode 5, Mode 6, respectively. When the decoupling working mode is Mode 9, Mode 10, Mode 11 or Mode 12, the calculation formula of the decoupling control variable X of the controlled port c is as follows: c respectively. Mode 9: , Mode 10: , Mode 11: , Mode 12: , K p6 and K i6 are the power closed-loop control proportional coefficient and integral coefficient under Mode 9, Mode 10, Mode 11, Mode 12, respectively. (3) for the controlled port d: When the decoupling working mode is Mode 5, Mode 6, Mode 9, or Mode 10, the decoupling control variable X of the controlled port d is calculated according to the following formula: d X = - (Kd * (Y - Yd) + Kp * (Y - Yd) + Ki * (Y - Yd) + Kd * (Y - Y ， wherein K p7 and K i7 are the power closed loop control proportional and integral coefficients under Mode 5, Mode 6, Mode 9, Mode 10, respectively. When the decoupling working mode is Mode 7, Mode 8, Mode 11, or Mode 12, the decoupling control variable X of the controlled port d is calculated according to the following formula: d X = - (Kd * (Y - Yd) + Kp * (Y - Yd) + Ki * (Y - Yd) * T) ， wherein K p8 and K i8 are the power closed loop control proportional and integral coefficients under Mode 7, Mode 8, Mode 11, Mode 12, respectively. When the decoupling working mode is Mode 1, Mode 2, Mode 3, or Mode 4, the decoupling control variable X of the controlled port d is calculated according to the following formula: d X = -Kd * (Y - Yd) Mode 1: , Mode 2: , Mode 3: , Mode 3: , wherein K p9 and K i9 are the power closed loop control proportional and integral coefficients under Mode 1, Mode 2, Mode 3, Mode 4, respectively.

3. The method of claim 2, wherein, In the step S3, the external moving phase φ b , φ c , φ d and the internal moving phase δ b , δ c , δ d of the controlled ports b, c, d are calculated as follows: When the decoupling working mode is Mode 1, Mode 2, φ b , φ c , φ d , δ b , δ c , δ d The calculation formula is: ； When the decoupling working mode is Mode 3, Mode 4, φ b , φ c , φ d , δ b , δ c , δ d The calculation formula is: ； When the decoupling working mode is Mode 5, Mode 6, φ b , φ c , φ d , δ b , δ c , δ d The calculation formula is: ； When the decoupling working mode is Mode 7, Mode 8, φ b , φ c , φ d , δ b , δ c , δ d The calculation formula is ； When the decoupling working mode is Mode 9, Mode 10, φ b , φ c , φ d , δ b , δ c , δ d The calculation formula is ， When the decoupling working mode is Mode 11 or Mode 12, φ b , φ c , φ d , δ b , δ c , δ d The calculation formula is ； where X b , X c , X d are decoupling control variables for the controlled ports b, c, d, respectively.

4. A four-port magnetic network electric energy router power wide range linear decoupling control device for implementing the method of any one of claims 1-3, characterized in that, It comprises: A decoupling working mode determination module for determining an appropriate decoupling working mode according to the power response speed requirements and reference power values of the controlled ports; A decoupling control variable calculation module for calculating the decoupling control variable of each controlled port by proportional-integral control according to the selected decoupling working mode; A controlled port inward and outward shift phase calculation module for calculating the outward shift phase and inward shift phase of each controlled port according to the selected decoupling working mode and the decoupling control variable of each controlled port; A modulation output module for modulating the reference port AC measurement output initial phase to be zero and the duty cycle of the square wave voltage to be fifty percent, and modulating the controlled port AC measurement output to be a quasi-square wave voltage containing the corresponding outward shift phase and inward shift phase, for realizing the wide-range linear decoupling of the four-port magnetic network power router.

5. A four-port magnetic network power router, characterized by, It uses the method of any one of claims 1-3 for multi-port power linear decoupling control.

6. The four-port magnetic network power router of claim 5, wherein: The power router comprises a four-port high-frequency coupled inductor and four full-bridge converters, and the four full-bridge converters are directly coupled through the four-port high-frequency coupled inductor.

7. A terminal device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that, The memory stores a computer program capable of running on the processor, and when the processor loads and executes the computer program, the method of any one of claims 1 to 3 is adopted.

8. An electronic system comprising: At least one processor; And a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method of any one of claims 1-3.

9. A computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to make the computer execute the method of any one of claims 1-3.

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