Power output control method, control system, storage medium and program product

Abstract

The invention discloses a power output control method and system, a storage medium and a program product, and relates to the field of power control. The method comprises the steps that firstly, a control system obtains the output voltage and the output current of a power supply end at the current moment, the feedback voltage of a load end and the set target voltage of the load end at the next moment, and a reference line impedance value is accurately calculated based on the difference value of the output voltage and the feedback voltage and the output current; then, the control system determines a compensation coefficient according to the voltage deviation absolute value and the current change rate; the virtual resistor compensates the direct current impedance of the line in a targeted manner, the voltage drop during continuous high-power output is reduced, the stable voltage quality of the load end is ensured, the dynamic damping characteristic is provided in the virtual inertia link, and the voltage overshoot or undershoot phenomenon easily occurring due to load sudden change is effectively inhibited; finally, the control system superposes the comprehensive voltage correction amount to the power supply reference voltage, thereby realizing fine adjustment of the power supply output voltage, and improving the reliability and quality of electric energy supply.

Description

Technical Field

[0001] This application relates to the field of power control, and more particularly to a power output control method, control system, storage medium, and program product. Background Technology

[0002] With the rapid development of power electronics technology, power supply systems have been widely used in industrial production, scientific research and other fields. Power supply systems need to maintain stable and reliable output characteristics under various complex load conditions, which requires the control system to accurately and timely adjust the output voltage of the power supply system, thereby ensuring that the load receives a high-quality power supply.

[0003] Currently, the most common power supply control method uses a PI controller for closed-loop control. This involves collecting the deviation between the output voltage at the power supply end and the target voltage at the load end, performing proportional and integral calculations to obtain the control quantity, and then adjusting the power supply voltage. Furthermore, a feedforward control loop can be introduced to predict voltage fluctuations at the load end and perform compensation adjustments in advance.

[0004] However, in practical applications, due to the complex parasitic and distributed parameters of power supply systems, it is difficult to simultaneously achieve both response speed and operational stability by relying solely on PI control. When the load undergoes sudden changes, the output voltage of the power supply system may exhibit overshoot or undershoot; during continuous high-power output, the output voltage may experience a significant voltage drop due to line impedance, affecting the actual voltage quality received by the load. Summary of the Invention

[0005] This application provides a power output control method, control system, storage medium, and program product for improving the power supply quality to a load.

[0006] In a first aspect, this application provides a power output control method applied to a control system. The method includes: acquiring the output voltage and output current of the power supply terminal at the current moment, the feedback voltage of the load terminal, and the set target voltage of the load terminal at the next moment; calculating the reference line impedance value based on the difference between the output voltage and the feedback voltage and the output current; calculating the current change rate of the output current and the absolute value of the voltage deviation between the feedback voltage and the set target voltage, and determining the compensation coefficient based on the absolute value of the voltage deviation and the current change rate; constructing a virtual impedance model including a virtual resistor and a virtual inertial element, wherein the resistance value of the virtual resistor is determined based on the reference line impedance value and the compensation coefficient, the virtual resistor is used to compensate for the DC impedance of the line, and the virtual inertial element is used to provide dynamic damping characteristics; substituting the output current into the virtual impedance model to calculate a comprehensive voltage correction amount including voltage drop compensation and oscillation suppression; superimposing the comprehensive voltage correction amount onto the power supply reference voltage to obtain the power supply output voltage, thereby controlling the power supply terminal to output, wherein the power supply reference voltage is determined based on the set target voltage of the load terminal.

[0007] By adopting the above technical solution, the control system constructs a virtual impedance model that integrates virtual resistance and virtual inertial elements, achieving the dual technical goals of voltage drop compensation and oscillation suppression. This effectively alleviates the core pain point of traditional PI control, which struggles to balance response speed and operational stability. First, the control system acquires the current output voltage and current at the power supply end, the feedback voltage at the load end, and the set target voltage at the load end for the next moment. Based on the difference between the output voltage and the feedback voltage, and the output current, it accurately calculates the reference line impedance value, providing precise data support for subsequent compensation. Then, the control system determines the compensation coefficient based on the absolute value of the voltage deviation and the rate of change of current to adapt to changes in different load conditions. The virtual resistance specifically compensates for the DC impedance of the line, reducing the voltage drop during continuous high-power output and ensuring stable voltage quality at the load end. The virtual inertial element provides dynamic damping characteristics, effectively suppressing voltage overshoot or undershoot phenomena that easily occur during load changes. Finally, the control system superimposes the comprehensive voltage correction amount onto the power supply reference voltage, achieving fine-tuning of the power supply output voltage. This allows the power system to respond quickly to voltage deviations and maintain output stability under complex load conditions, improving the reliability and quality of power supply.

[0008] In conjunction with some embodiments of the first aspect, in some embodiments, determining the compensation coefficient based on the absolute value of the voltage deviation and the rate of change of current specifically includes: obtaining preset voltage deviation thresholds and current rate of change thresholds; when the absolute value of the voltage deviation is greater than the voltage deviation threshold and the rate of change of current is greater than the rate of change of current threshold, setting the compensation coefficient to a first preset value; when the absolute value of the voltage deviation is greater than the voltage deviation threshold and the rate of change of current is less than or equal to the rate of change of current threshold, calculating a first dynamic coefficient based on the absolute value of the voltage deviation, and setting the compensation coefficient to the product of the first preset value and the first dynamic coefficient; when the absolute value of the voltage deviation is less than or equal to the voltage deviation threshold and the rate of change of current is greater than the rate of change of current threshold, calculating a second dynamic coefficient based on the rate of change of current, and setting the compensation coefficient to the product of the first preset value and the second dynamic coefficient; when the absolute value of the voltage deviation is less than or equal to the voltage deviation threshold and the rate of change of current is less than or equal to the rate of change of current threshold, setting the compensation coefficient to a second preset value.

[0009] By adopting the above technical solution, the control system sets multiple operating states to flexibly adjust the compensation coefficient, making the compensation coefficient more adaptable and accurate, and optimizing the dynamic adjustment performance of the power supply control. First, based on preset voltage deviation thresholds and current change rate thresholds, the control system divides the load conditions into four scenarios and formulates differentiated compensation coefficient determination methods for different scenarios: In extreme conditions where both the absolute value of voltage deviation and the current change rate exceed the threshold, a first preset value is used to achieve rapid compensation, ensuring that the power supply system responds promptly to severe fluctuations; in moderate conditions where only the absolute value of voltage deviation exceeds the threshold, a first dynamic coefficient is calculated based on the absolute value of voltage deviation, making the compensation intensity positively correlated with the degree of deviation, avoiding over-compensation or under-compensation; in moderate conditions where only the current change rate exceeds the threshold, a second dynamic coefficient is used to adapt to the current mutation characteristics, ensuring stability during the dynamic process; in stable conditions where both the absolute value of voltage deviation and the current change rate are within the normal range, a second preset value is used to maintain the stable operation of the power supply system. This dynamic adjustment mechanism for specific scenarios enables the compensation coefficient to accurately match changes in operating conditions. It not only solves the problem of poor adaptability of traditional fixed coefficient compensation under complex operating conditions, but also achieves a dynamic balance between response speed and stability, effectively improving the control accuracy and robustness of the power supply system under complex conditions such as load fluctuations and parameter drift.

[0010] In conjunction with some embodiments of the first aspect, in some embodiments, calculating the first dynamic coefficient based on the absolute value of the voltage deviation specifically includes: obtaining a preset voltage deviation reference value; when the absolute value of the voltage deviation is greater than the voltage deviation reference value, calculating the ratio of the absolute value of the voltage deviation to the voltage deviation reference value, and using the logarithm of the ratio and the sum of a preset base as the first dynamic coefficient, wherein the preset base is greater than or equal to 1; when the absolute value of the voltage deviation is less than or equal to the voltage deviation reference value, setting the first dynamic coefficient to 1.

[0011] By adopting the above technical solution, when the absolute value of the voltage deviation does not exceed the voltage deviation reference value, the control system determines the first dynamic coefficient to be 1, ensuring the stable operation of the power supply system under small deviation conditions and avoiding unnecessary adjustment fluctuations. When the absolute value of the voltage deviation exceeds the voltage deviation reference value, the control system calculates the ratio of the absolute value of the voltage deviation to the voltage deviation reference value, and determines the first dynamic coefficient by combining logarithmic operation and a preset base (≥1). The characteristics of logarithmic operation make the first dynamic coefficient gradually increase with the increase of deviation, which not only ensures the compensation strength of the power supply system under large deviation conditions, but also avoids power supply system oscillation caused by abrupt changes in the compensation coefficient. This method solves the problems of insufficient compensation under large deviation or over-adjustment under small deviation by linear coefficient adjustment, and ensures the minimum effective range of the first dynamic coefficient through the preset base. This allows the compensation strategy to achieve smooth and accurate adjustment under different voltage deviation scenarios, ensuring rapid compensation while taking into account the stability of adjustment, further reducing the impact of voltage fluctuations on load operation, and improving the precision and reliability of power supply control.

[0012] In conjunction with some embodiments of the first aspect, in some embodiments, calculating the second dynamic coefficient based on the current change rate specifically includes: obtaining a preset current change rate reference value and a current change rate upper limit value; when the current change rate is greater than the current change rate reference value and less than the current change rate upper limit value, calculating a normalized coefficient based on the current change rate, the current change rate reference value, and the current change rate upper limit value; and using the product of the normalized coefficient and a preset adjustment factor as the second dynamic coefficient.

[0013] By adopting the above technical solution, when the current change rate is between the reference value and the upper limit of the current change rate, the control system calculates a normalized coefficient based on the current change rate, the reference value, and the upper limit of the current change rate, and multiplies it by a preset adjustment factor to obtain the second dynamic coefficient. The reference value and the upper limit of the current change rate can filter out small current fluctuations and abnormal current surges, ensuring that the power supply system responds to changes in the effective load; the normalization process makes the dynamic coefficient calculations under different operating conditions comparable; and the introduction of the adjustment factor can flexibly adjust the compensation intensity according to actual application needs. This dynamic coefficient calculation method based on interval control ensures the power supply system's sensitivity to load changes while avoiding overcompensation caused by drastic current fluctuations.

[0014] In conjunction with some embodiments of the first aspect, in some embodiments, the virtual impedance model is as follows: ;in, Represents virtual impedance. Indicates the compensation coefficient. The reference line impedance value is represented by s, where s represents the Laplace operator. This represents the virtual inertial time constant.

[0015] By adopting the above technical solution, the control system integrates the compensation coefficient, the reference line impedance value, and the virtual inertia time constant to construct an integrated control model that combines voltage drop compensation and damping characteristics. This fundamentally solves the technical pain point of the difficulty in coordinating compensation and damping in traditional control methods. In the virtual impedance model, the virtual impedance consists of a virtual resistance and a virtual inertial element: the virtual resistance, through the correlation between the compensation coefficient and the reference line impedance value, achieves dynamic adaptive compensation of the line DC impedance, which can accurately offset the line voltage drop according to changes in operating conditions, ensuring the stability of the load-side voltage; the virtual inertial element, through the combination of the Laplace operator and the virtual inertia time constant, provides adjustable dynamic damping characteristics, effectively suppressing power system oscillations caused by load mutations or parameter fluctuations. Compared with traditional single compensation or damping designs, the virtual impedance model organically combines static voltage drop compensation with dynamic oscillation suppression, avoiding the dynamic response lag caused by simple resistance compensation and solving the problem that a single damping element cannot offset the inherent voltage drop of the line. This allows the power system to achieve the optimal balance between response speed and stability under various complex operating conditions.

[0016] In conjunction with some embodiments of the first aspect, in some embodiments, the formula for calculating the comprehensive voltage correction is as follows: ;in, This represents the overall voltage correction amount at the current moment. This represents the smoothing factor determined based on the virtual inertial time constant. This represents the overall voltage correction amount at the previous moment. This represents the compensation coefficient at the current moment. Indicates the reference line impedance value. This represents the output current at the current moment.

[0017] By adopting the above technical solution, a dual-dimensional adjustment mechanism of historical smoothing and real-time compensation is constructed, fundamentally solving the core contradiction in traditional voltage correction where response speed and adjustment stability are difficult to balance, thus improving the accuracy and reliability of power supply output control. The calculation formula for the comprehensive voltage correction amount decomposes the comprehensive voltage correction amount at the current moment into a historical smoothing term and a current compensation term, and dynamically allocates the weights of the historical smoothing term and the current compensation term through a smoothing factor. The historical smoothing term inherits the correction trend of the previous moment, which is equivalent to providing a buffer damping for voltage regulation, effectively suppressing the sudden change in correction amount caused by instantaneous parameter fluctuations (such as small load changes or slight line impedance drift), avoiding oscillations or overshoots in the power supply output voltage, and ensuring the continuity of the adjustment process; the current compensation term accurately responds to real-time operating conditions, adapting the absolute value of voltage deviation and current change rate to the compensation coefficient at the current moment, and combining the reference line impedance value and the current output current to accurately calculate the compensation amount required to offset the line voltage drop, ensuring that the voltage drop is compensated in a timely manner in scenarios such as high-power output, and solving the problem of lag in traditional control response.

[0018] In conjunction with some embodiments of the first aspect, in some embodiments, after substituting the output current into the virtual impedance model to calculate the comprehensive voltage correction amount including voltage drop compensation and oscillation suppression, the method further includes: obtaining a preset voltage compensation safety threshold; determining whether the comprehensive voltage correction amount at the current moment is greater than the voltage compensation safety threshold; if so, limiting the comprehensive voltage correction amount used for superposition to the voltage compensation safety threshold; if not, using the calculated comprehensive voltage correction amount at the current moment as the comprehensive voltage correction amount used for superposition.

[0019] By adopting the above technical solution, the control system introduces a voltage compensation safety threshold to limit the comprehensive voltage correction amount, which can prevent the output voltage from exceeding the limit due to excessive compensation, protect the load equipment, and suppress the excessive response of the power system under large disturbances, effectively improving the safety and reliability of the power system.

[0020] In a second aspect, embodiments of this application provide a control system comprising: one or more processors and a memory; the memory is coupled to the one or more processors and is used to store computer program code, the computer program code including computer instructions, wherein the one or more processors invoke the computer instructions to cause the control system to perform the method described in the first aspect and any possible implementation thereof.

[0021] Thirdly, embodiments of this application provide a computer program product containing instructions that, when the computer program product is run on a control system, cause the control system to perform the method described in the first aspect and any possible implementation thereof.

[0022] Fourthly, embodiments of this application provide a computer-readable storage medium including instructions that, when executed on a control system, cause the control system to perform the method described in the first aspect and any possible implementation thereof.

[0023] Understandably, the control system provided in the second aspect, the computer program product provided in the third aspect, and the computer storage medium provided in the fourth aspect are all used to execute the methods provided in the embodiments of this application. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods, and will not be repeated here.

[0024] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0025] 1. By adopting the above technical solution, the control system constructs a virtual impedance model that integrates virtual resistance and virtual inertial elements, achieving the dual technical goals of voltage drop compensation and oscillation suppression. This effectively alleviates the core pain point of traditional PI control, which struggles to balance response speed and operational stability. First, the control system acquires the current output voltage and current at the power supply end, the feedback voltage at the load end, and the set target voltage at the load end for the next moment. Based on the difference between the output voltage and the feedback voltage, and the output current, it accurately calculates the reference line impedance value, providing precise data support for subsequent compensation. Then, the control system determines the compensation coefficient based on the absolute value of the voltage deviation and the rate of change of current to adapt to changes in different load conditions. The virtual resistance specifically compensates for the DC impedance of the line, reducing the voltage drop during continuous high-power output and ensuring stable voltage quality at the load end. The virtual inertial element provides dynamic damping characteristics, effectively suppressing voltage overshoot or undershoot phenomena that easily occur during load changes. Finally, the control system superimposes the comprehensive voltage correction amount onto the power supply reference voltage, achieving fine-tuning of the power supply output voltage. This allows the power system to quickly respond to voltage deviations and maintain output stability under complex load conditions, improving the reliability and quality of power supply.

[0026] 2. By adopting the above technical solution, the control system integrates the compensation coefficient, the reference line impedance value, and the virtual inertia time constant to construct an integrated control model that combines voltage drop compensation and damping characteristics. This fundamentally solves the technical pain point of the difficulty in coordinating compensation and damping in traditional control methods. In the virtual impedance model, the virtual impedance consists of a virtual resistance and a virtual inertial element: the virtual resistance, through the correlation between the compensation coefficient and the reference line impedance value, achieves dynamic adaptive compensation of the DC impedance of the line, which can accurately offset the line voltage drop according to changes in operating conditions, ensuring the stability of the load-side voltage; the virtual inertial element, through the combination of the Laplace operator and the virtual inertia time constant, provides adjustable dynamic damping characteristics, effectively suppressing power system oscillations caused by sudden load changes or parameter fluctuations. Compared with traditional single compensation or damping designs, the virtual impedance model organically combines static voltage drop compensation with dynamic oscillation suppression, avoiding the dynamic response lag caused by simple resistance compensation and solving the problem that a single damping element cannot offset the inherent voltage drop of the line. This allows the power system to achieve the optimal balance between response speed and stability under various complex operating conditions.

[0027] 3. By adopting the above technical solution, a dual-dimensional adjustment mechanism of historical smoothing and real-time compensation is constructed, fundamentally solving the core contradiction in traditional voltage correction where response speed and adjustment stability are difficult to balance, thus improving the accuracy and reliability of power supply output control. The calculation formula for the comprehensive voltage correction amount decomposes the comprehensive voltage correction amount at the current moment into a historical smoothing term and a current compensation term, and dynamically allocates the weights of the historical smoothing term and the current compensation term through a smoothing factor. The historical smoothing term inherits the correction trend of the previous moment, which is equivalent to providing a buffer damping for voltage regulation, effectively suppressing the sudden change in correction amount caused by instantaneous parameter fluctuations (such as small load changes or slight line impedance drift), avoiding oscillations or overshoots in the power supply output voltage, and ensuring the continuity of the adjustment process; the current compensation term accurately responds to real-time operating conditions, adapting the absolute value of voltage deviation and current change rate through the compensation coefficient at the current moment, and combining the reference line impedance value and the current output current to accurately calculate the compensation amount required to offset the line voltage drop, ensuring that the voltage drop is compensated in a timely manner in scenarios such as high power output, and solving the problem of lag in traditional control response. Attached Figure Description

[0028] Figure 1 This is a flowchart illustrating a power output control method in an embodiment of this application;

[0029] Figure 2 This is another flowchart illustrating the power output control method in the embodiments of this application;

[0030] Figure 3 This is a block diagram of the power output control system integrating a virtual impedance model in the embodiments of this application;

[0031] Figure 4 This is a schematic diagram of the physical device structure of a control system in an embodiment of this application. Detailed Implementation

[0032] The terminology used in the following embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification of this application, the singular expressions “a,” “an,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to any or all possible combinations including one or more of the listed items.

[0033] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0034] The relationship between the control system, the power supply, and the load in the embodiments of this application is explained below:

[0035] The control system is the core of the entire power output control, responsible for real-time monitoring, calculation and adjustment, forming a closed-loop control system with the power supply end and the load end.

[0036] Relationship between the control system and the power supply:

[0037] The control system acquires the output voltage and output current of the power supply terminal in real time through a sampling circuit.

[0038] The control system sends control signals to the power supply terminal through PWM modulation and other methods to adjust the output voltage of the power supply terminal.

[0039] Relationship between the control system and the load:

[0040] The control system obtains the actual voltage (feedback voltage) at the load end in real time through the sampling circuit.

[0041] The control system receives the voltage demand from the load (sets the target voltage).

[0042] The control system adjusts the control strategy based on the voltage demand at the load end to ensure that the load end receives the required power quality.

[0043] Relationship between power supply and load:

[0044] The power supply terminal supplies power to the load terminal through physical connection lines;

[0045] The impedance characteristics of the connection line will cause a voltage drop;

[0046] The electrical characteristics of the load (such as sudden changes or fluctuations) will in turn affect the output state of the power supply.

[0047] The interaction between the control system, the power supply, and the load constitutes a complete power supply system: the control system acts as the "brain," the power supply acts as the "actuator," and the load acts as the "user." The three work closely together through electrical and signal connections to ensure reliable power transmission and use.

[0048] The following describes the process of the method provided in this implementation. Please refer to [link / reference]. Figure 1 This is a flowchart illustrating a power output control method in an embodiment of this application.

[0049] S101. Obtain the current output voltage and output current of the power supply terminal, the feedback voltage of the load terminal, and the set target voltage of the load terminal at the next moment.

[0050] Among them, the power supply terminal represents the output interface of the power system, which is the physical connection point used to supply power to the load; the output voltage represents the actual voltage value output by the power supply terminal, in volts (V); the output current represents the actual current value output by the power supply terminal, in amperes (A); the load terminal represents the input interface of the electrical equipment, which is the physical connection point for receiving power from the power supply; the feedback voltage represents the actual voltage value obtained by the load terminal, which is obtained through voltage sampling; and the target voltage represents the voltage value that the load terminal expects to obtain, which is determined by the load's operating requirements.

[0051] Specifically, the control system acquires the output voltage of the power supply in real time through a voltage sensor and the output current of the power supply in real time through a current sensor; simultaneously, it acquires the actual voltage at the load end as the feedback voltage through a voltage sensor located at the load end. Furthermore, the control system also pre-determines the target voltage at the load end for the next moment (or the next control cycle corresponding to the current control cycle) based on a preset voltage curve at the load end. This data acquisition requires a high sampling frequency (typically >10kHz) and high accuracy (error <0.1%) to ensure the accuracy of subsequent control.

[0052] S102. Calculate the reference circuit impedance value based on the difference between the output voltage and the feedback voltage and the output current;

[0053] The difference represents the voltage drop obtained by subtracting the feedback voltage from the output voltage, reflecting the voltage loss on the line; the reference line impedance value represents the equivalent resistance of the conductors and connection points between the power supply end and the load end, in ohms (Ω), used to characterize the voltage loss characteristics of the line.

[0054] Specifically, the control system first calculates the difference between the output voltage and the feedback voltage, which reflects the voltage loss on the line. Then, it divides this difference by the current output current and obtains the reference line impedance value according to Ohm's law. This dynamic calculation method can track changes in line impedance in real time and more accurately reflect the actual line characteristics compared to using a fixed impedance value. If the current output current is 0 (no load) or extremely small (e.g., <0.1A), the previous impedance calculation result is maintained to avoid calculation errors caused by division by zero or decimal division.

[0055] S103. Calculate the rate of change of the output current and the absolute value of the voltage deviation between the feedback voltage and the set target voltage. Determine the compensation coefficient based on the absolute value of the voltage deviation and the rate of change of the current.

[0056] Among them, the current change rate represents the change in output current per unit time, with the unit being Ampere per second (A / s), and is used to characterize the drastic degree of dynamic load changes; the absolute value of voltage deviation represents the absolute value of the difference between the feedback voltage and the set target voltage, with the unit being Volt (V), and is used to predictively assess the degree of control deviation; the compensation coefficient represents a dimensionless factor used to adjust the magnitude of the virtual impedance, and is used to dynamically adjust the compensation strength of the power supply system.

[0057] Specifically, the control system subtracts the output current from the previous moment (or the previous control cycle) from the current output current at the current moment (or the current control cycle), and then divides by the time difference (or the control cycle time difference) to obtain the current change rate. At the same time, the control system calculates the absolute value of the difference between the feedback voltage and the set target voltage as the absolute value of the voltage deviation.

[0058] The determination of the compensation coefficient requires the establishment of a correlation model between the absolute value of voltage deviation and the rate of change of current. The core logic is: the more drastic the dynamic changes of the load (the greater the rate of change of current) and the more significant the control deviation (the greater the absolute value of voltage deviation), the larger the compensation coefficient should be, so as to enhance the adjustment strength of virtual impedance and quickly suppress voltage fluctuations; conversely, the compensation coefficient should be reduced to avoid over-compensation leading to a decrease in the stability of the power supply system.

[0059] The following are several methods for determining the compensation coefficient:

[0060] Method 1: Piecewise linear mapping method (suitable for scenarios with simple control logic and high real-time requirements)

[0061] The absolute value of voltage deviation and the rate of change of current are divided into multiple intervals, and a corresponding compensation coefficient interval is set for each interval. The final compensation coefficient is calculated by linear interpolation.

[0062] (1) Define the parameter threshold

[0063] Set the current change rate threshold: This corresponds to a change in the dynamic range of the load, from "gradual" to "drastic".

[0064] Set the absolute value threshold for voltage deviation: The corresponding control deviation levels range from "minor" to "significant".

[0065] Set the basic range for the compensation coefficient: (Dimensionless, determined based on system debugging, for example, 0.1-1.5).

[0066] (2) Interval matching and linear interpolation

[0067] If the current rate of change satisfy absolute value of voltage deviation satisfy The formula for calculating the compensation coefficient is: ;

[0068] In the formula, This is the normalization coefficient for the rate of change of current. This is the normalization coefficient for the absolute value of the voltage deviation. The weighted average of the two values ​​is mapped to the compensation coefficient range.

[0069] Method 2: Multiplicative weighted model method (suitable for scenarios that require accurate representation of the coupling effect of two parameters)

[0070] The absolute value of the voltage deviation and the rate of change of current are normalized respectively, and then the compensation coefficient is obtained by weighted multiplication. The weighting coefficient can be adjusted according to the sensitivity of the power supply system to the two types of parameters.

[0071] (1) Parameter normalization processing

[0072] Normalization of the rate of change of current: ,in For the maximum allowable current change rate of the power supply system (e.g., 50 A / s), ensure ;

[0073] Voltage deviation absolute value normalization: ,in To ensure the maximum allowable voltage deviation of the power supply system (e.g., 5V), .

[0074] (2) Weighted multiplicative calculation

[0075] The core formula for calculating the compensation coefficient is:

[0076] ;

[0077] In the formula, It is the basic compensation coefficient (dimensionless, the value of the power supply system in steady state, for example, 0.3). For single-parameter weighting coefficients, The two-parameter coupling weight coefficients are all determined through system simulation or experimental debugging (e.g., );item Reflecting the impact of dynamic load changes, item To reflect the impact of control deviation, item This demonstrates the coupling and amplification effect between the two.

[0078] Method 3: Fuzzy control algorithm (suitable for complex power systems with nonlinearity and large time delay)

[0079] Using the absolute value of voltage deviation and the rate of change of current as fuzzy inputs and the compensation coefficient as the fuzzy output, the accurate compensation coefficient is obtained by defining a fuzzy rule base and using fuzzy inference and defuzzification, without the need to establish an accurate mathematical model.

[0080] Other methods for determining compensation coefficients will not be listed here.

[0081] Optionally, under normal circumstances, the compensation coefficient can be determined based on the absolute value of the voltage deviation and the rate of change of the current, which is not limited here: obtain preset voltage deviation thresholds and current rate of change thresholds; when the absolute value of the voltage deviation is greater than the voltage deviation threshold and the rate of change of the current is greater than the rate of change of the current threshold, set the compensation coefficient to a first preset value; when the absolute value of the voltage deviation is greater than the voltage deviation threshold and the rate of change of the current is less than or equal to the rate of change of the current threshold, calculate a first dynamic coefficient based on the absolute value of the voltage deviation, and set the compensation coefficient to the product of the first preset value and the first dynamic coefficient; when the absolute value of the voltage deviation is less than or equal to the voltage deviation threshold and the rate of change of the current is greater than the rate of change of the current threshold, calculate a second dynamic coefficient based on the rate of change of the current, and set the compensation coefficient to the product of the first preset value and the second dynamic coefficient; when the absolute value of the voltage deviation is less than or equal to the voltage deviation threshold and the rate of change of the current is less than or equal to the rate of change of the current threshold, set the compensation coefficient to a second preset value.

[0082] Optionally, under normal circumstances, the calculation of the first dynamic coefficient based on the absolute value of voltage deviation can be achieved in the following ways, without limitation: obtain a preset voltage deviation reference value; when the absolute value of voltage deviation is greater than the voltage deviation reference value, calculate the ratio of the absolute value of voltage deviation to the voltage deviation reference value, and use the logarithm of the ratio and the preset base as the first dynamic coefficient, where the preset base is greater than or equal to 1; when the absolute value of voltage deviation is less than or equal to the voltage deviation reference value, set the first dynamic coefficient to 1.

[0083] Optionally, generally, calculating the second dynamic coefficient based on the current change rate can be achieved in the following ways, which are not limited herein: Obtain a preset current change rate reference value and a current change rate upper limit value; when the current change rate is greater than the current change rate reference value and less than the current change rate upper limit value, calculate a normalization coefficient based on the current change rate, the current change rate reference value, and the current change rate upper limit value; use the product of the normalization coefficient and a preset adjustment factor as the second dynamic coefficient.

[0084] Specifically, the calculation process of the normalization coefficient is as follows:

[0085] Assume that the currently detected current change rate is K_cur, the preset current change rate reference value is K_base, and the preset current change rate upper limit value is K_max.

[0086] When K_base < K_cur < K_max, a linear normalization method is used to calculate the normalization coefficient n. The calculation formula is: n = (K_cur - K_base) / (K_max - K_base).

[0087] The physical meaning is: to describe the relative position of the current change rate within the range from the current change rate reference value to the current change rate upper limit value.

[0088] Subsequently, multiply the calculated normalization coefficient n by a preset adjustment factor m (for example, m takes a constant value between 0.1 and 2.0) to obtain the second dynamic coefficient u2:

[0089] u2 = n × m = (K_cur - K_base) / (K_max - K_base) × m.

[0090] Through the above calculation, when the current change rate is close to the current change rate reference value, the second dynamic coefficient approaches 0, and the compensation strength is small; when the current change rate is close to the current change rate upper limit value, the normalization coefficient approaches 1, and the second dynamic coefficient approaches the adjustment factor, thereby achieving a dynamic compensation effect that linearly increases with the severity of load changes.

[0091] S104. Construct a virtual impedance model including a virtual resistor and a virtual inertia link. The resistance value of the virtual resistor is determined based on the reference line impedance value and the compensation coefficient. The virtual resistor is used to compensate the line DC impedance, and the virtual inertia link is used to provide dynamic damping characteristics;

[0092] Among them, the virtual impedance model represents a mathematical model used to simulate ideal impedance characteristics; the virtual resistance represents the resistive part of the model, used to compensate for the ohmic loss of the line; the virtual inertial element represents the inductive part of the model, implemented through the Laplace operator, used to provide dynamic damping effect; the DC impedance of the line refers to the equivalent resistance of the conductor in steady state; the dynamic damping characteristic represents the power system's ability to suppress disturbances, which can reduce voltage and current oscillations.

[0093] Specifically, the process of constructing the virtual impedance model is as follows:

[0094] 1. Determine the virtual resistance gain: The reference line impedance value ( ) and compensation coefficient ( Multiplying these two values ​​yields the steady-state amplitude of the virtual resistance. It is used to compensate for the DC resistance voltage drop of the line under steady state.

[0095] 2. Determine the virtual inertial element: To provide dynamic damping and smooth the response, a transfer function of 1 / ( The first-order inertial element is used as a virtual inertial element. Among them, Let be the virtual inertial time constant, and s be the Laplace operator.

[0096] 3. Construct the complete model: Multiply the steady-state amplitude of the virtual resistor by the transfer function of the virtual inertial element to obtain the final virtual impedance model. .

[0097] The corresponding mathematical expression is: ;

[0098] This indicates that the virtual impedance is equal to the DC case (s=0). This enables precise pressure drop compensation; it exhibits inertial damping characteristics in dynamic processes (s≠0).

[0099] Alternatively, the virtual impedance model can also be: ;

[0100] In the formula, It represents virtual impedance, not actual physical resistance / inductance. It is an impedance characteristic "simulated" through a control algorithm to represent the resistive / inductive behavior of a circuit.

[0101] This represents the compensation coefficient, which adjusts the "strength" of the virtual impedance to match the impedance of the actual line (for example, if the actual line has weak resistance, it is increased). Enhanced virtual resistance).

[0102] This represents the reference impedance value, the resistance of the actual physical circuit (the model here focuses on resistivity, but can also be extended to inductive resistance), which is the reference for the virtual impedance.

[0103] s represents the Laplace operator, used to describe the frequency characteristics of a dynamic system (the representation of the time-domain derivative / integral in the complex frequency domain).

[0104] This represents the virtual inertia time constant, adding "inertia" (similar to the dynamic characteristics of an inductor) to the virtual impedance, making the response of the virtual impedance less abrupt and closer to the dynamic process of the actual circuit.

[0105] When the power supply system is in steady state (s→0, frequency is very low), ≈αRline, meaning the virtual impedance is equivalent to "line resistance magnified by α times";

[0106] When the power system is in a dynamic process (s is large, frequency is high), This feature allows the virtual impedance to have a "delay / inertia" in its response, preventing power system oscillations caused by sudden changes in the control signal.

[0107] S105. Substitute the output current into the virtual impedance model to calculate the comprehensive voltage correction, including voltage drop compensation and oscillation suppression.

[0108] Among them, the comprehensive voltage correction represents the compensation value that needs to be superimposed on the power supply reference voltage, and the unit is volts (V); voltage drop compensation represents the compensation effect on line voltage drop; oscillation suppression represents the suppression effect on dynamic oscillation of the power supply system; and power supply reference voltage represents the uncompensated ideal output voltage value.

[0109] Specifically, the control system uses differential equations to perform time-domain calculations of the virtual impedance model: First, the current output current is multiplied by the virtual resistance to obtain the voltage drop compensation component; then, a smoothing factor (usually between 0.1 and 0.9) is determined based on the virtual inertia time constant, and the current voltage drop compensation component is weighted and averaged with the comprehensive voltage correction from the previous time step to obtain a comprehensive voltage correction with dynamic damping characteristics. This calculation method inherits historical correction trends while responding to changes in current operating conditions, enabling smooth and continuous voltage regulation.

[0110] The formula for calculating the overall voltage correction is:

[0111] ;

[0112] in, This represents the overall voltage correction amount at the current moment. This represents the smoothing factor determined based on the virtual inertial time constant. This represents the overall voltage correction amount at the previous moment. This represents the compensation coefficient at the current moment. Indicates the reference line impedance value. This represents the output current at the current moment.

[0113] In the embodiments of this application, the smoothing factor β corresponds to the virtual inertia time constant Tv and the system sampling period Ts. As an example, β = Ts / (Tv + Ts). When it is necessary to enhance the damping characteristics of the system (i.e., greater inertia), the value of Tv can be increased, thereby decreasing the value of β, so that the comprehensive voltage correction depends more on the historical value, achieving a smooth transition.

[0114] S106. The comprehensive voltage correction is superimposed on the power supply reference voltage to obtain the power supply output voltage, so as to control the power supply terminal to output. The power supply reference voltage is determined based on the set target voltage of the load terminal.

[0115] Among them, the power supply reference voltage represents the voltage value used as a control reference, which is usually equal to the set target voltage; the power supply output voltage represents the final expected voltage command value output by the power supply terminal.

[0116] Specifically, the control system uses the set target voltage at the load end as the power supply reference voltage, and then adds the calculated comprehensive voltage correction to the power supply reference voltage to obtain the final power supply output voltage. The control system controls the power supply terminal to output the power supply output voltage.

[0117] By adopting the above technical solution, the control system constructs a virtual impedance model that integrates virtual resistance and virtual inertial elements, achieving the dual technical goals of voltage drop compensation and oscillation suppression. This effectively alleviates the core pain point of traditional PI control, which struggles to balance response speed and operational stability. First, the control system acquires the current output voltage and current at the power supply end, the feedback voltage at the load end, and the set target voltage at the load end for the next moment. Based on the difference between the output voltage and the feedback voltage, and the output current, it accurately calculates the reference line impedance value, providing precise data support for subsequent compensation. Then, the control system determines the compensation coefficient based on the absolute value of the voltage deviation and the rate of change of current to adapt to changes in different load conditions. The virtual resistance specifically compensates for the DC impedance of the line, reducing the voltage drop during continuous high-power output and ensuring stable voltage quality at the load end. The virtual inertial element provides dynamic damping characteristics, effectively suppressing voltage overshoot or undershoot phenomena that easily occur during load changes. Finally, the control system superimposes the comprehensive voltage correction amount onto the power supply reference voltage, achieving fine-tuning of the power supply output voltage. This allows the power system to respond quickly to voltage deviations and maintain output stability under complex load conditions, improving the reliability and quality of power supply.

[0118] The following provides a more detailed description of the process of the method provided in this implementation. Please refer to [link / reference]. Figure 2 This is another flowchart illustrating the power output control method in this application.

[0119] S201. Obtain the current output voltage and current of the power supply terminal, the feedback voltage of the load terminal, and the set target voltage of the load terminal at the next moment.

[0120] For details, please refer to step S101, which will not be repeated here.

[0121] S202. Calculate the reference circuit impedance value based on the difference between the output voltage and the feedback voltage and the output current;

[0122] For details, please refer to step S102, which will not be repeated here.

[0123] S203. Calculate the rate of change of the output current and the absolute value of the voltage deviation between the feedback voltage and the set target voltage. Determine the compensation coefficient based on the absolute value of the voltage deviation and the rate of change of the current.

[0124] For details, please refer to step S103, which will not be repeated here.

[0125] S204. Construct a virtual impedance model that includes a virtual resistor and a virtual inertial element. The resistance value of the virtual resistor is determined based on the reference line impedance value and the compensation coefficient. The virtual resistor is used to compensate for the DC impedance of the line, and the virtual inertial element is used to provide dynamic damping characteristics.

[0126] For details, please refer to step S104, which will not be repeated here.

[0127] S205. Substitute the output current into the virtual impedance model to calculate the comprehensive voltage correction, including voltage drop compensation and oscillation suppression.

[0128] For details, please refer to step S105, which will not be repeated here.

[0129] S206. Obtain the preset voltage compensation safety threshold;

[0130] Among them, the voltage compensation safety threshold refers to the absolute value of the maximum allowable voltage correction amount, in volts (V), which is used to limit the range of compensation action of the power supply system.

[0131] Specifically, the control system reads the pre-set voltage compensation safety threshold from the configuration parameters. The setting of the voltage compensation safety threshold needs to comprehensively consider the rated voltage of the power supply system, load withstand capability, and dynamic response requirements, and is typically set to 5%-10% of the rated voltage. For example, in a 220V power supply system, the voltage compensation safety threshold might be set to 22V; in a 110V power supply system, it might be set to 11V. This voltage compensation safety threshold remains fixed during system operation unless reconfigured.

[0132] S207. Determine whether the current comprehensive voltage correction amount is greater than the voltage compensation safety threshold.

[0133] Specifically, the control system takes the absolute value of the calculated comprehensive voltage correction at the current moment and then compares this absolute value with a preset voltage compensation safety threshold. This comparison process needs to consider numerical precision, typically retaining 2-3 decimal places. If the comprehensive voltage correction is negative, its absolute value is still used for comparison, because the voltage compensation safety threshold limits the amplitude of the comprehensive voltage correction, not its direction.

[0134] S208. If so, the total voltage correction amount used for superposition is limited to the voltage compensation safety threshold.

[0135] The limitation means that an excessively large overall voltage correction amount will be forcibly adjusted to a voltage compensation safety threshold.

[0136] Specifically, after confirming that the absolute value of the overall voltage correction exceeds the voltage compensation safety threshold, the control system will maintain the sign of the overall voltage correction but limit its amplitude to the voltage compensation safety threshold. For example, if the original overall voltage correction is +25V and the voltage compensation safety threshold is 22V, then the limited overall voltage correction will be +22V; if the original overall voltage correction is -25V, then the limited overall voltage correction will be -22V. This limiting method maintains the direction of correction while ensuring the safety of the correction.

[0137] S209. If not, the calculated comprehensive voltage correction at the current moment will be used as the comprehensive voltage correction for superposition.

[0138] The calculated comprehensive voltage correction at the current moment represents the result directly calculated by the virtual impedance model.

[0139] Specifically, after confirming that the absolute value of the comprehensive voltage correction does not exceed the voltage compensation safety threshold, the control system directly adopts the calculated comprehensive voltage correction without any restrictions or adjustments. In this case, the comprehensive voltage correction can fully reflect the compensation effect of the virtual impedance model, maintaining the dynamic response capability of the power supply system. For example, if the calculated comprehensive voltage correction is 15V and the voltage compensation safety threshold is 22V, then 15V is directly used as the final comprehensive voltage correction. This achieves the optimal compensation effect within a safe range.

[0140] S210. The comprehensive voltage correction is superimposed on the power supply reference voltage to obtain the power supply output voltage, so as to control the power supply terminal to output. The power supply reference voltage is determined based on the set target voltage of the load terminal.

[0141] For details, please refer to step S106, which will not be repeated here.

[0142] The following is a block diagram of the power output control system integrating a virtual impedance model in an embodiment of this application. Please refer to [link / reference]. Figure 3 The power output control system with integrated virtual impedance model is mainly divided into two main control paths and the appliance (load) part.

[0143] Top path (power output control):

[0144] Regulating input: The control system receives regulating signals (overall control commands for the power output).

[0145] DAC (Digital-to-Analog Converter): The regulating signal is converted into an analog signal by the DAC. The DAC is responsible for converting digital voltage commands into analog voltages to drive the POWER.

[0146] POWER (Power Module): Receives signals and voltages (e.g., 12V power supply) from the DAC output, generates and outputs the final voltage and ground (GND) to the electrical appliance.

[0147] Remote (line): There is a remote sampling cable connecting the POWER and the appliance.

[0148] The following path (feedback and virtual impedance model construction):

[0149] Sampling: The control system obtains the actual sampled signal from the appliance end (load end).

[0150] ADC (Analog-to-Digital Converter): The sampled analog signal is converted into a digital signal by the ADC so that the control system can perform subsequent digital processing.

[0151] Filtering and processing module: The output signal of the ADC is processed through filtering and processing.

[0152] Operational amplifier (op-amp): The signal after filtering is processed by the operational amplifier. The figure shows two operational amplifiers, which are connected to two remote sampling cables respectively. The control system accurately acquires and conditions the voltage and current at the appliance terminal to substitute the output current into the virtual impedance model and calculate the comprehensive voltage correction amount, including voltage drop compensation and oscillation suppression.

[0153] Electrical appliances (loads): are the final recipients of power supply.

[0154] The closed-loop control architecture aims to improve the power supply quality to the load. Its core concept is to calculate the reference impedance value, current change rate, and voltage deviation of the line through real-time feedback (path below), and dynamically adjust the compensation coefficient accordingly, thereby constructing a virtual impedance model that integrates virtual resistance and virtual inertial elements.

[0155] The virtual resistor (determined by the reference line impedance value and the compensation factor) is used to compensate for the DC impedance of the line to offset the voltage drop caused by the line itself, ensuring that the load can still obtain a stable voltage at high power output.

[0156] The virtual inertial element is used to provide dynamic damping characteristics, effectively suppressing voltage overshoot or undershoot that may occur when the load changes suddenly (such as when an appliance suddenly starts or stops), thus ensuring the dynamic stability of the system.

[0157] Finally, the calculated comprehensive voltage correction is superimposed on the power supply's reference voltage to form the final power supply output voltage command. This command is then used by the DAC and POWER controller to drive the power supply output, achieving fine-grained regulation of the power supply output. This method effectively solves the problem of traditional PI controllers struggling to balance response speed and operational stability, significantly improving the reliability and quality of power supply.

[0158] The control system in the embodiments of this invention is described below from the perspective of hardware processing. Please refer to [link / reference needed]. Figure 4 This is a schematic diagram of the physical device structure of the control system in an embodiment of this application.

[0159] It should be noted that, Figure 4 The structure of the control system shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0160] like Figure 4As shown, the control system includes a CPU 401, which can perform various appropriate actions and processes based on a program stored in the read-only memory ROM 402 or a program loaded from the storage section 408 into the random access memory RAM 403, such as executing the methods described in the above embodiments. The RAM 403 also stores various programs and data required for system operation. The CPU 401, ROM 402, and RAM 403 are interconnected via a bus 404. An I / O interface 405 is also connected to the bus 404.

[0161] The following components are connected to I / O interface 405: input section 406 including audio input devices, push-button switches, etc.; output section 407 including a liquid crystal display (LCD) and audio output devices, indicator lights, etc.; storage section 408 including a hard disk, etc.; and communication section 409 including a network interface card such as a LAN (Local Area Network) card, modem, etc. Communication section 409 performs communication processing via a network such as the Internet. Drive 410 is also connected to I / O interface 405 as needed. Removable media 411, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 410 as needed so that computer programs read from them can be installed into storage section 408 as needed.

[0162] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing computer programs for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 409, and / or installed from removable medium 411. When the computer program is executed by CPU 401, it performs the various functions defined in the present invention.

[0163] It should be noted that specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0164] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. Each block in a flowchart or block diagram may represent a module, program segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those shown in the drawings.

[0165] Specifically, the control system of this embodiment includes a processor and a memory. The memory stores a computer program, and when the computer program is executed by the processor, it implements the power output control method provided in the above embodiment.

[0166] In another aspect, the present invention also provides a computer-readable storage medium, which may be included in the control system described in the above embodiments; or it may exist independently and not incorporated into the control system. The storage medium carries one or more computer programs that, when executed by a processor of the control system, cause the control system to implement the power output control method provided in the above embodiments.

[0167] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0168] As used in the above embodiments, depending on the context, the term "when..." can be interpreted as meaning "if...", "after...", "in response to determining...", or "in response to detecting...". Similarly, depending on the context, the phrase "when determining..." or "if (the stated condition or event) is interpreted as meaning "if determining...", "in response to determining...", "when (the stated condition or event) is detected", or "in response to detecting (the stated condition or event)".

[0169] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A power output control method, characterized in that, Applied to a control system, the method includes: Obtain the current output voltage and current of the power supply terminal, the feedback voltage of the load terminal, and the set target voltage of the load terminal at the next moment; The reference line impedance value is calculated based on the difference between the output voltage and the feedback voltage and the output current. Calculate the rate of change of the output current and the absolute value of the voltage deviation between the feedback voltage and the set target voltage, and determine the compensation coefficient based on the absolute value of the voltage deviation and the rate of change of the current; A virtual impedance model is constructed, which includes a virtual resistor and a virtual inertial element. The resistance value of the virtual resistor is determined based on the reference line impedance value and the compensation coefficient. The virtual resistor is used to compensate for the DC impedance of the line, and the virtual inertial element is used to provide dynamic damping characteristics. Substitute the output current into the virtual impedance model to calculate the comprehensive voltage correction, which includes voltage drop compensation and oscillation suppression. The comprehensive voltage correction is superimposed on the power supply reference voltage to obtain the power supply output voltage, which is used to control the power supply terminal to output. The power supply reference voltage is determined based on the set target voltage of the load terminal.

2. The method according to claim 1, characterized in that, The determination of the compensation coefficient based on the absolute value of the voltage deviation and the rate of change of the current specifically includes: Obtain the preset voltage deviation threshold and current change rate threshold; When the absolute value of the voltage deviation is greater than the voltage deviation threshold and the rate of change of the current is greater than the rate of change of the current threshold, the compensation coefficient is set to a first preset value; When the absolute value of the voltage deviation is greater than the voltage deviation threshold and the current change rate is less than or equal to the current change rate threshold, a first dynamic coefficient is calculated based on the absolute value of the voltage deviation, and the compensation coefficient is set as the product of the first preset value and the first dynamic coefficient. When the absolute value of the voltage deviation is less than or equal to the voltage deviation threshold and the current change rate is greater than the current change rate threshold, a second dynamic coefficient is calculated based on the current change rate, and the compensation coefficient is set as the product of the first preset value and the second dynamic coefficient. When the absolute value of the voltage deviation is less than or equal to the voltage deviation threshold and the rate of change of current is less than or equal to the rate of change of current threshold, the compensation coefficient is set to a second preset value.

3. The method according to claim 2, characterized in that, The calculation of the first dynamic coefficient based on the absolute value of the voltage deviation specifically includes: Obtain the preset voltage deviation reference value; When the absolute value of the voltage deviation is greater than the voltage deviation reference value, the ratio of the absolute value of the voltage deviation to the voltage deviation reference value is calculated, and the sum of the logarithm of the ratio and a preset base is used as the first dynamic coefficient, wherein the preset base is greater than or equal to 1; When the absolute value of the voltage deviation is less than or equal to the voltage deviation reference value, the first dynamic coefficient is set to 1.

4. The method according to claim 2, characterized in that, The calculation of the second dynamic coefficient based on the current change rate specifically includes: Obtain the preset current change rate baseline value and current change rate upper limit value; When the rate of change of current is greater than the reference value of the rate of change of current and less than the upper limit value of the rate of change of current, a normalization coefficient is calculated based on the rate of change of current, the reference value of the rate of change of current and the upper limit value of the rate of change of current. The product of the normalization coefficient and the preset adjustment factor is used as the second dynamic coefficient.

5. The method according to claim 1, characterized in that, The virtual impedance model is as follows: ; in, Represents virtual impedance. This represents the compensation coefficient. The reference line impedance value is represented by s, where s represents the Laplace operator. This represents the virtual inertial time constant.

6. The method according to claim 1, characterized in that, The formula for calculating the comprehensive voltage correction is as follows: ； in, This represents the overall voltage correction amount at the current moment. This represents the smoothing factor determined based on the virtual inertial time constant. This represents the overall voltage correction amount at the previous moment. This represents the compensation coefficient at the current moment. Indicates the reference line impedance value. This represents the output current at the current moment.

7. The method according to claim 1, characterized in that, After the step of substituting the output current into the virtual impedance model to calculate the comprehensive voltage correction including voltage drop compensation and oscillation suppression, the method further includes: Obtain the preset voltage compensation safety threshold; Determine whether the current comprehensive voltage correction amount is greater than the voltage compensation safety threshold; If so, the total voltage correction amount used for superposition will be limited to the voltage compensation safety threshold. If not, the calculated comprehensive voltage correction at the current moment will be used as the comprehensive voltage correction for superposition.

8. A control system, characterized in that, The control system includes: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code including computer instructions, and the one or more processors call the computer instructions to cause the control system to perform the method as described in any one of claims 1-7.

9. A computer-readable storage medium comprising instructions, characterized in that, When the instruction is executed on the control system, it causes the control system to perform the method as described in any one of claims 1-7.

10. A computer program product, characterized in that, When the computer program product is run on the control system, the control system performs the method as described in any one of claims 1-7.

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