A distributed node phase synchronization method, electronic equipment, computer readable storage medium and program product

Abstract

The application provides a distributed node phase synchronization method, electronic equipment, a computer readable storage medium and a program product. The method comprises the following steps: receiving an output current of a node, a first square wave signal and a second square wave signal, wherein the phase of the first square wave signal is the same as the phase of an output voltage of a first node, and the phase of the second square wave signal is different from the phase of the output voltage by a preset angle; obtaining an actual power angle of the first node based on the output current, the first square wave signal and the second square wave signal; calculating a difference value between the actual power angle and a target power angle; and when the difference value is greater than a preset threshold, adjusting the phase of the output voltage based on the difference value until the difference value is less than or equal to the preset threshold. The scheme can realize the synchronization of all transmitting end and receiving end voltages, and breaks through the limitation of traditional single path control.

Description

Technical Field

[0001] This invention relates to the field of wireless power transmission technology, and more specifically, to a distributed node phase synchronization method, electronic device, computer-readable storage medium, and program product. Background Technology

[0002] With the widespread application of wireless power transfer (WPT) technology in electric vehicle charging, mobile robotics, and consumer electronics, energy transmission demands are evolving from point-to-point models to multi-node interconnected wireless power transfer networks (WPTN). In WPTN systems with multi-node, multi-directional energy flow, phase synchronization of the transmitter and receiver voltages is crucial for ensuring efficient and stable power transmission. However, achieving voltage synchronization among multiple transmitters and receivers presents numerous challenges. Phase asynchrony leads to power fluctuations and efficiency degradation, and the situation becomes even more complex in WPTNs where node roles can be dynamically switched.

[0003] Currently, the technical solutions for phase synchronization in WPT systems can be mainly divided into the following categories: The first category obtains a precise phase reference through additional hardware, such as adding a loosely coupled induction coil at the receiver to detect the phase of the transmitting magnetic field, or simplifying control in strongly coupled systems by fixing a 90° phase shift. This method can achieve phase alignment, but increases system size and cost, hindering large-scale WPTN expansion. The second category extracts phase information from the voltage or current waveforms on the converter side without communication, such as using resonant current detection combined with a phase-locked loop (PLL) or period measurement to achieve synchronization, or using a one-time calibration to compensate for the capacitor voltage phase. However, in multi-node coupled systems, cross-coupling between nodes introduces additional phase deviations, potentially leading to system phase instability or even power oscillations. The third category employs advanced digital control strategies to enhance synchronization robustness, such as disturbance observation optimization, recursive amplitude and phase estimation, active and reactive power closed-loop control, phase-locked amplifier technology, quadrature demodulation, and model-driven synchronization methods considering loop coupling effects. Some research has also combined wireless communication to achieve digital synchronization in electric vehicle charging. Despite some progress, these methods still face scalability bottlenecks when applied to multi-node WPTN: existing methods have not clearly revealed the theoretical connection between phase synchronization and system power flow, making it difficult to coordinate the synchronous control of multiple power transmission paths. Therefore, most current WPTN research is limited to a single transmitter or multiple transmitters managed by the same control unit, restricting node size and power flow flexibility.

[0004] Therefore, establishing a unified theoretical framework for phase synchronization and power flow regulation in multi-coupled WPTN systems, and realizing a distributed phase synchronization method without centralized control, is a pressing problem facing current technologies. On the one hand, it is necessary to address theoretical issues such as the difficulty in solving synchronization conditions and the non-uniqueness of solutions in high-order nonlinear multi-node systems. On the other hand, it is crucial to overcome the shortcomings of traditional methods where the complexity of synchronization control increases sharply with the number of nodes, achieving simplified control with local autonomous coordination among nodes. Furthermore, for WPTN systems with dynamically changing node positions, the synchronization method needs to be adaptive to cope with the impact of node access / exit or changes in coupling coefficients. Summary of the Invention

[0005] In view of this, the purpose of the embodiments of this application is to provide a distributed node phase synchronization method, electronic device, computer-readable storage medium and program product that can improve the problem of limited node size and power flow flexibility.

[0006] To achieve the above technical objectives, the technical solution adopted in this application is as follows:

[0007] In a first aspect, embodiments of this application provide a distributed node phase synchronization method applied to a network topology, wherein the network topology includes a plurality of first nodes, and the method includes:

[0008] The receiver receives the output current of the receiving node, a first square wave signal, and a second square wave signal, wherein the phase of the first square wave signal is the same as the phase of the output voltage of the first node, and the phase of the second square wave signal differs from the phase of the output voltage by a preset angle.

[0009] Based on the output current, the first square wave signal, and the second square wave signal, the actual power angle of the first node is obtained;

[0010] Calculate the difference between the actual power angle and the target power angle;

[0011] When the difference is greater than a preset threshold, the phase of the output voltage is adjusted based on the difference until the difference is less than or equal to the preset threshold.

[0012] According to the first aspect, obtaining the actual power angle of the first node based on the output current, the first square wave signal, and the second square wave signal includes:

[0013] The first DC current is obtained by rectifying the output current with the first square wave signal;

[0014] The output current is rectified by the second square wave signal to obtain the second DC current;

[0015] Harmonic compensation is performed on the second DC to eliminate all specified harmonics of the second DC, resulting in a compensated second DC.

[0016] The actual power angle of the first node is obtained based on the first DC and the compensated second DC.

[0017] According to the first aspect, the harmonic compensation of the second DC to obtain the compensated second DC includes:

[0018] The harmonics of several specified frequencies are superimposed onto the second DC to obtain the compensated second DC.

[0019] According to the first aspect, before calculating the difference between the actual power angle and the target power angle, the method further includes:

[0020] Obtain the first mutual inductance parameter between any two first nodes, as well as the target active power and target reactive power of each first node;

[0021] Based on all the first mutual inductance parameters, the mutual inductance matrix is ​​obtained;

[0022] Based on the mutual inductance matrix, and using the target active power and target reactive power of the first node, the voltage vector and current vector of the first node are calculated.

[0023] The target power angle is obtained based on the voltage and current vectors corresponding to each first node.

[0024] According to the first aspect, the method further includes:

[0025] When a second node is added to the network topology, the compensation network parameters and self-inductance of the second node are obtained;

[0026] Based on the compensation network parameters and self-inductance, the second mutual inductance parameters between the second node and all the first nodes are obtained.

[0027] All the second mutual inductance parameters are merged into the mutual inductance matrix to update the mutual inductance matrix.

[0028] According to the first aspect, the first node includes a connected full-bridge converter and an LCC compensation network;

[0029] The method further includes:

[0030] When the first node in the network topology exits, at least one switch in the full-bridge converter is disconnected to short-circuit the input of the LCC compensation network.

[0031] According to the first aspect, adjusting the phase of the output voltage based on the difference includes:

[0032] When the difference indicates that the actual power angle is less than the target power angle, the phase of the output voltage is increased;

[0033] When the difference indicates that the actual power angle is greater than the target power angle, the phase of the output voltage is reduced.

[0034] Secondly, embodiments of this application provide an electronic device, which includes a processor and a memory coupled together. The memory stores a computer program, and when the computer program is executed by the processor, the electronic device performs the method proposed in the first aspect.

[0035] Thirdly, embodiments of this application provide a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, which, when run on a computer, causes the computer to perform the method proposed in the first aspect.

[0036] Fourthly, embodiments of this application propose a program product, characterized in that it includes a computer program, which, when executed by a processor, implements the method proposed in the first aspect.

[0037] The invention employing the above technical solution has the following advantages:

[0038] In the technical solution provided in this application, the output current, a first square wave signal, and a second square wave signal of the current node are first received. The phase of the first square wave signal is the same as the phase of the output voltage of the current node, and the phase of the second square wave signal differs from the phase of the output voltage by a preset angle. Next, based on the output current, the first square wave signal, and the second square wave signal, the actual power angle of the current node is obtained through analog switch demodulation and harmonic compensation. Then, the difference between the actual power angle and the preset target power angle is calculated. When the difference is greater than a preset threshold, the phase of the output voltage of the current node is adjusted based on the difference until the difference is less than or equal to the preset threshold. By setting different target power angle reference values ​​for each node, all nodes execute the above-mentioned local closed-loop regulation in parallel. Utilizing the inherent electromagnetic coupling interaction of the network, the entire network voltage ultimately reaches a synchronous phase-locked state, realizing the stable transmission of energy through multiple power paths according to a preset ratio, thereby completing the coordinated control of multiple nodes and multiple power flows. This solution can synchronize the voltages of all transmitters and receivers, thereby flexibly controlling multiple power transmission paths to transmit energy simultaneously. It supports parallel control of various power supply modes such as one-to-many and many-to-many, breaking through the limitations of traditional single-path control.

[0039] In the technical solution provided in this application, each node independently performs phase synchronization control, and the required sensing and computation are limited to local signals. As the number of nodes increases, the control complexity remains essentially unchanged, significantly improving the system's scalability and portability. The absence of a centralized controller avoids single-point failures and communication bottlenecks, greatly improving the reliability and real-time performance of large-scale WPTNs. Attached Figure Description

[0040] This application can be further illustrated by the non-limiting embodiments given in the accompanying drawings. It should be understood that the following drawings only illustrate some embodiments of this application and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained from these drawings without any inventive effort.

[0041] Figure 1 This is one of the flowcharts provided for an embodiment of this application.

[0042] Figure 2 A schematic diagram of the network topology of a multi-node wireless power transmission network is provided for the embodiments of this application.

[0043] Figure 3 Another flowchart is provided for an embodiment of this application. Detailed Implementation

[0044] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that similar or identical parts are referred to by the same reference numerals in the drawings or description. Implementations not shown or described in the drawings are forms known to those skilled in the art. In the description of this application, terms such as "first" and "second" are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0045] Please refer to Figure 1 This application provides a distributed node phase synchronization method, which can be applied to electronic devices and whose steps can be executed or implemented by the electronic devices. The electronic devices can be, but are not limited to, personal computers, smartphones, and other electronic devices. The distributed node phase synchronization method may include the following steps:

[0046] S110, receive the output current of the receiving node, a first square wave signal and a second square wave signal, wherein the phase of the first square wave signal is the same as the phase of the output voltage of the first node, and the phase of the second square wave signal differs from the phase of the output voltage by a preset angle.

[0047] S120, based on the output current, the first square wave signal, and the second square wave signal, obtain the actual power angle of the first node;

[0048] S130, calculate the difference between the actual power angle and the target power angle;

[0049] S140, when the difference is greater than a preset threshold, adjust the phase of the output voltage based on the difference until the difference is less than or equal to the preset threshold.

[0050] This method is applied to, for example Figure 2 The network topology shown is an equivalent circuit model of a wireless power transmission network containing multiple nodes. Each node circuit includes a DC power supply, a full-bridge converter, and an LCC compensation network. The coils of each node are connected by mutual inductance coupling to form a network structure with arbitrary topology. Each node can operate in transmit mode, receive mode, or decoupled mode as needed.

[0051] In this embodiment, all nodes are divided into transmitting nodes, receiving nodes, and decoupling nodes. For the transmitting node, the current flow is as follows: DC current enters the full-bridge converter, and the switching transistors alternately conduct, inverting the DC current into high-frequency AC current. The high-frequency AC current flows out from the full-bridge output and enters the LCC compensation network. After filtering and impedance transformation by the LCC compensation network, the current flows into the transmitting coil. Finally, through the mutual inductance between the coils, the energy is coupled to other nodes.

[0052] In receive mode, the current flows in the opposite direction to that in transmit mode. In decoupling mode, the full-bridge converter of the node becomes a high-impedance state.

[0053] The compensation network of the first node consists of series inductors. and parallel capacitors To form a resonant branch, and coil and its equivalent resistance and series compensation capacitor It consists of components such as coils. Energy is transferred between nodes through magnetic coupling between coils, using mutual inductance. This represents the mutual inductance coefficient between nodes i and j. All mutual inductance parameters form a symmetric mutual inductance matrix. ,in ,and In practical applications, for any two nodes, as long as there is a magnetic flux link between their coils, non-zero mutual inductance may exist even if they are not adjacent. Since the number and spatial layout of WPTN nodes are often complex, the cross-coupling of non-adjacent coils cannot be ignored during modeling and analysis. Therefore, this embodiment considers all mutual inductance couplings in the model to improve accuracy.

[0054] During the operation of a WPTN (Power Flow Network Topology), nodes can flexibly switch between operating modes: in transmit mode, nodes are powered by their own power supply and couple energy out; in receive mode, nodes receive energy from other nodes to power their own loads; when a node does not need to participate in energy transmission temporarily but remains connected, it enters decoupling mode. Nodes in decoupling mode control the switching state of the full-bridge converter, causing its parallel resonant branch to exhibit near-infinite impedance at the operating frequency, thus achieving electrical isolation from the network. For example, if some transistors of node k in all first nodes are turned off and others are turned on, due to the current source characteristics of the LCC network, node k will not exchange energy with other nodes. This high-impedance isolation mechanism ensures that the free access / exit of nodes has minimal impact on the main power flow of the network, which is the basis for flexible switching of multiple nodes.

[0055] The steps of the distributed node phase synchronization method will be explained in detail below:

[0056] In S110, for the first node, its own digital controller generates two reference square wave signals, one of which... The other path is in phase with the fundamental output voltage of the converter at this node. Compared to A 90° lead indicates a second square wave signal. 90° represents a preset angle. The output current can be acquired by a current acquisition device installed at the connection point between the LCC compensation network and the coil.

[0057] In S120, the actual power angle of the first node is obtained in the following way:

[0058] The output current is rectified by the first square wave signal to obtain a first DC; the output current is rectified by the second square wave signal to obtain a second DC; harmonic compensation is performed on the second DC to eliminate all specified harmonics of the second DC to obtain a compensated second DC; the actual power angle of the first node is obtained based on the first DC and the compensated second DC.

[0059] In this embodiment, the power angle detection circuit of the first node mainly includes: a current sampling module, an analog switch multiplier, a low-pass filter, and an analog-to-digital converter interface. The node controller generates two square wave control signals. and Used to drive analog switches, where With node k output voltage Same frequency and phase, and The phase leads by 90°. These two signals can be considered as orthogonal reference signals at the fundamental frequency. The output current at node k... and Multiplication is equivalent to rectifying the current in phase with the voltage, resulting in a signal containing a steady-state DC component and high-frequency harmonic components. After low-pass filtering, the DC component is retained. Theoretically, it can be deduced that... (in (This refers to the amplitude of the fundamental current wave). Similarly, the current... Orthogonal reference Multiply and filter to obtain another DC quantity. Its ideal value is:

[0060]

[0061] The negative sign originates from The 90° phase shift introduced by the phase lead. However, since the output voltage of the full-bridge converter is a non-ideal square wave, It contains high-order harmonic components, making Superimposed with Related error terms. These errors decay rapidly with increasing harmonic order, therefore, they are mainly considered. The impact.

[0062] In this embodiment, by introducing several harmonics of specified orders, the second DC signal is compensated, thereby eliminating the error term. Therefore, compensation is achieved by introducing two additional demodulation branches targeting the 3rd and 5th harmonics: Multiply by switching functions with frequencies of 3 and 5 times the fundamental frequency and phases leading by 90° respectively. The compensation amount is obtained after filtering. After the compensation is added, Finally, the controller reads... and Calculate its ratio to obtain Thus, the results can be obtained in real time. Through the above process, each node can obtain its own real-time value of power angle with high precision.

[0063] This embodiment proves, based on the existence criterion of Jacobian solutions, that there exists a unique set of converter voltage phases. Make This holds true for all nodes. Specifically:

[0064] For each node Construct the work angle residual function:

[0065]

[0066] Represents a node The residual of the work angle;

[0067] Indicates that at a given phase vector Next, node The actual active power injected into the network;

[0068] Indicates that at a given phase vector Next, node The actual reactive power injected into the network;

[0069] Represents a node Expected active power;

[0070] Represents a node The expected reactive power.

[0071] in Let be the phasor formed by the phase of the output voltage of each node converter. This will ensure This means that the work angle of node k is equal to or differs from the target value. Integer multiples of.

[0072]

[0073] The above set of equations is actually based on the phase of each node converter. This is a system of nonlinear algebraic equations with unknowns. This embodiment transforms the phase synchronization problem from directly solving for the angular frequency components to solving for the power angle relationship through this power angle matrix transformation, thus unifying the constraint description of the phase of each node under multi-power flow conditions.

[0074] For the equations of the synchronous motion angle, the existence criterion of the Jacobian solution is derived. First, for the equations... Find the Jacobian matrix Its elements are Combining the circuit power equation, we can deduce that:

[0075] .

[0076] Place it at the synchronous solution (i.e. Substitute and utilize Defined Relationships can be simplified. For about The form of expression is given. This leads to the Jacobian matrix. The specific form. According to the implicit function theorem, when... exist The location is a non-singular matrix (i.e. When ), there exists information about The unique continuous solution satisfies Therefore, this embodiment determines... As a criterion for the existence and uniqueness of a power angle synchronization solution, the Jacobi criterion generally holds when the given target power allocation satisfies the following conditions: 1) There is no degradation case with zero power (at any node). 1) Each receiving node has at least one non-zero mutual inductance coupling with a transmitting node to ensure that power can be transmitted to that node; 2) Target power angle of each node. To prevent the network from falling into a special symmetric state (such as all Equality or a difference of 0 / π leads to non-uniqueness of solutions. Satisfying these conditions ensures... The matrix is ​​non-singular, which guarantees that the power angle synchronization equation has a unique solution vector. That is, there exists a unique set of converter voltage phases. Make This holds true for all first nodes. The Jacobian solution existence criterion provided in this embodiment validates the rationality of PWM control based on the difference between the actual power angle and the target power angle. Based on the Jacobian matrix, this embodiment provides an important theoretical basis for the design, stability analysis, and feasibility of multi-node phase synchronization schemes.

[0077] This embodiment establishes a mathematical model for power angle constraints using the above scheme. The Jacobian matrix nonsingularity criterion ensures the existence of a locally unique solution to the synchronization equations, avoiding the control failure risk caused by multiple or no solutions in previous implementations. This theoretical criterion provides a clear design basis for multi-node phase synchronization, ensuring that the system can find a steady-state synchronization solution and converge to it under a given power allocation.

[0078] In S140, this embodiment sets the desired active power and desired reactive power for each first node. Based on this, the target power angle of each first node is calculated. The goal of power angle synchronization control is to make the actual power angle... Approaching This ensures that the network achieves the expected power flow distribution.

[0079] In this embodiment, based on the obtained actual power angle, each first node enters the closed-loop control adjustment phase. This embodiment uses node k (one of all first nodes) as the controller to adjust the currently measured power angle. With the target angle By subtracting, we obtain the work angle deviation. Then, based on this deviation, the phase of the drive signal of the full-bridge converter is adjusted, and the drive method is as follows:

[0080] When the difference indicates that the actual power angle is less than the target power angle, the phase of the output voltage is increased; when the difference indicates that the actual power angle is greater than the target power angle, the phase of the output voltage is decreased. Specifically, in this embodiment, a proportional or PI adjustment strategy can be used: for example, the PWM pulse time that needs to be advanced or delayed is calculated each cycle based on the deviation. This difference is then accumulated into the driving phase of the next cycle. Thus, if the difference... Lagging behind (If the actual power angle is less than the target power angle, meaning the nodal phase lag should be advanced), then If positive, the phase of the output voltage is increased, causing the trigger signal for the next cycle to be advanced, thus... Move forward, Increase Approximation Conversely, delaying the trigger signal makes Decrease. Each first node independently adjusts its phase using the same principle. After several iterations, the power angles of all nodes converge to their respective reference values, i.e. At this point, phase synchronization is achieved for all first nodes in the network topology. Due to the use of distributed control, the adjustments of each first node are performed simultaneously and interact with each other. However, given that the Jacobian criterion guarantees the existence of a solution, this iterative process can converge to a unique synchronized solution. Since the network has no centralized clock, the PWM frequencies of each node are consistent but their initial phases are different. This synchronization control is actually continuously fine-tuning the phase relationship of each node rather than the frequency, and therefore will not affect the stability of the system's resonant frequency.

[0081] The synchronization control strategy in this embodiment is a fully distributed architecture, with each node operating independently according to a unified algorithm. Control complexity is independent of the number of nodes. During phase synchronization, nodes do not need to communicate with each other to achieve coordination; each node only uses locally measured current signals to complete power angle detection and phase correction. Only when external conditions change (e.g., network power demand redistribution or significant power disturbances) is a new power angle reference value broadcast to all nodes in a single instance, after which each node restarts the autonomous synchronization process. Therefore, this scheme significantly reduces the communication burden compared to centralized control, avoiding communication delays or data processing bottlenecks caused by an increase in the number of nodes.

[0082] In the method proposed in this embodiment, each node in the network topology operates independently according to the same control law, without the need for continuous communication between nodes. The control law is implemented as described in steps S110-S140. During phase synchronization, each node calculates the power angle and adjusts its own phase only using the locally measured current signal; the power angle reference value of each node is updated only through a one-time communication when the network power allocation target changes or a large power fluctuation occurs, and then each node autonomously completes the synchronization adjustment.

[0083] In this embodiment, before S130, it is necessary to calculate the target power angle based on the power demand issued by the controller, as follows:

[0084] Obtain the first mutual inductance parameters between any two first nodes, and the target active power and target reactive power of each first node; based on all the first mutual inductance parameters, obtain the mutual inductance matrix; based on the mutual inductance matrix, and based on the target active power and target reactive power of the first nodes, calculate the voltage vector and current vector of the first nodes; based on the voltage vector and current vector corresponding to each first node, obtain the target power angle. Specifically:

[0085] In this embodiment, the mutual inductance matrix M is obtained through online identification, where... Represents the mutual inductance coefficient between node i and node j, with diagonal elements. This represents the self-inductance of the node coil.

[0086] The target active power and target reactive power are determined based on the system operating status, such as load demand, battery state of charge and other parameters.

[0087] The compensation network parameters include the inductance and capacitance values ​​of each first node's LCC compensation network, as well as the coil's self-inductance. These parameters are known, fixed values ​​used to construct the node's self-impedance.

[0088] Based on circuit theory, the voltage vector of all first nodes With current vector

[0089] satisfy:

[0090]

[0091] Wherein, impedance matrix Its composition is as follows:

[0092] diagonal elements Determined by the compensation network and self-inductance of node k, it reflects the node's equivalent impedance, expressed as: ,in It represents the equivalent resistance (including line loss and load equivalent resistance). The reactance is determined by the residual reactance of the LCC network at the resonant frequency, under ideal resonance. =0).

[0093] off-diagonal elements ( ): entirely determined by mutual intuition:

[0094]

[0095] This indicates the resonant frequency.

[0096] The complex power injected into the network by each first node should be equal to its target power:

[0097]

[0098] It is the conjugate of the current vector, and at the same time... Combining this with the above equation, we obtain 2n nonlinear equations concerning the magnitude and phase of the node voltage, with the unknowns being these 2n state variables.

[0099] Solving the equation using the Newton-Raphson method, the voltage vectors of each first node are obtained after the iterations converge. and the corresponding current vector The target power angle at node k is then defined as the phase difference between the voltage and the current:

[0100]

[0101] Similarly, when the network topology configuration changes, i.e., when a second node is added to the network topology, the mutual inductance matrix will change. In this case, the mutual inductance matrix needs to be updated. The update method can be as follows:

[0102] Obtain the compensation network parameters and self-inductance of the second node; based on the compensation network parameters and self-inductance, obtain the second mutual inductance parameters between the second node and all the first nodes; merge all the second mutual inductance parameters into the mutual inductance matrix to update the mutual inductance matrix.

[0103] In this embodiment, as described above, when a new node is added or the node position changes, causing a change in the mutual inductance matrix M, existing methods can be used to identify the new mutual inductance value online. Then, based on the new mutual inductance matrix and the new power demand, the updated target power allocation is calculated. Harmony and angle After the new target is issued to each node controller, each node resets or clears its own controller state (such as integral term, filter buffer, etc.), and then restarts the power angle detection and phase adjustment process according to S110-S140. The network can then reach the synchronous phase-locked state again after a short transition.

[0104] In this embodiment, when the first node in the network topology exits, at least one switch in the full-bridge converter is disconnected to short-circuit the input of the LCC compensation network.

[0105] That is, if a node exits (becomes inactive), its power angle control can be simply disregarded, and if necessary, its entire bridge can be placed in decoupled mode to prevent residual coupling from affecting other nodes. Through the above dynamic adaptive mechanism, the method proposed in this embodiment ensures that the WPTN can continue to maintain coordinated control of multiple power flows even when the topology changes or the load is adjusted.

[0106] like Figure 3 As shown, the method proposed in this embodiment can also be:

[0107] Step one: The system calculates the global power allocation ratio based on the current power status of each node (such as remaining battery capacity, load power demand, etc.). Then, the following operating parameters are configured for each node k:

[0108] Role: Determined as transmit mode, receive mode, or decoupling mode;

[0109] Target voltage amplitude Target angle Target angular frequency and initial phase angle .

[0110] Step two, each node k independently and in real time executes the following loop operation:

[0111] 1. Sampling: Acquire the instantaneous output voltage of this node. and output current .

[0112] 2. Power Angle Detection: Utilizing analog switching modulation technology (based on synchronous demodulation of the current using square wave signals in phase and quadrature with the voltage), the DC current is obtained after low-pass filtering. and (After harmonic compensation), and calculate the actual power angle. .

[0113] 3. Error Calculation: Calculate the sine value of the power angle deviation. This value, as an error signal, has the advantages of linearization and periodicity.

[0114] 4. Phase adjustment: based on the error signal (Can be combined with proportional or proportional-integral control law) Calculate the PWM drive signal phase amount that needs to be adjusted, and update the output voltage phase parameters of this node so that the actual power angle approaches the target value.

[0115] Step 3: Determine if the convergence condition is met. If it is met, proceed to Step 4; otherwise, return to Step 2.

[0116] Step 4: Determine if power adjustment is needed (e.g., due to load changes, new node access, or upper-layer scheduling command updates). If yes, return to Step 1; otherwise, end the process.

[0117] The method described in this embodiment requires no additional hardware and has low communication overhead. Compared to schemes that rely on additional sensing coils, synchronization beacons, or communication links, this invention can achieve synchronization solely through signal modulation and local measurement of the converter itself, without adding extra hardware, thus saving space and cost. Furthermore, continuous communication is not required during steady-state control; simple communication only occurs during power allocation updates, reducing system complexity and power consumption, and facilitating engineering implementation.

[0118] The method described in this embodiment is applicable to dynamic scenarios such as node location changes, node additions, or node removals. It can update mutual inductance parameters online and quickly resynchronize, and the phase control convergence speed and accuracy are largely unaffected by network changes. This makes the method widely applicable in dynamic WPTNs (such as wireless charging networks for mobile devices), ensuring stable power supply even when network topology changes or load fluctuations occur. Furthermore, this method is also suitable for offline calculation and analysis, providing guidance for WPTN planning.

[0119] The method described in this embodiment boasts high phase synchronization accuracy and minimal power fluctuation. The power angle detection scheme based on analog switch demodulation and harmonic compensation in this example offers high precision, and the closed-loop correction minimizes the final power angle error at each node. Experiments show that the steady-state phase synchronization error is within 1°, and the system output power ripple is significantly reduced, achieving near-constant power transmission. This translates to higher transmission efficiency and more stable load power supply quality.

[0120] The method described in this embodiment has been verified on a four-node WPTN platform built in the laboratory. This platform includes two transmitting nodes and two receiving nodes, each using an LCC-compensated topology. Transmit / receive modes can be switched via relays, and the operating frequency is approximately 100kHz. First, a static power allocation experiment was conducted: nodes 1 and 3 were set as transmitters, and nodes 2 and 4 as receivers, with the goal of achieving a 2:1 power ratio between nodes 2 and 4. Applying the method of this invention for phase synchronization control, the actual power ratio of nodes 2 and 4 was measured to be approximately 1.98:1 under steady-state conditions, which is basically consistent with the expected value, indicating that the on-demand allocation of multiple power flows was achieved. Simultaneously, the load voltages of the two receiving nodes remained stable without significant fluctuations, proving that phase synchronization effectively avoided power contention. Then, a dynamic node role switching experiment was conducted: initially, node 1 was a transmitter, node 2 was a receiver, and node 3 was idle and decoupled. Subsequently, node 3 was added as the second transmitter (forming a "2T-1R" mode) through control. After a period of time, node 2 was switched to transmitter, and nodes 1 and 3 were switched to receiver (forming a "1T-2R" mode). The experiment recorded the voltage and current waveforms and power angle changes of each node throughout the process. After each role switch, the controller of this invention can detect the power angle change and start adjusting within about 2ms. After about 20ms, a new phase synchronization state is established: the voltage phase of all transmitting nodes is consistent, and the voltage phase of the receiving node lags behind the transmitting end by a certain angle and meets the new power allocation requirements.

[0121] This embodiment was validated on a WPTN experimental platform containing multiple switchable transmit / receive nodes. The results show that when two transmitters simultaneously power one receiver, this method can lock the voltage phase of each node within tens of milliseconds, synchronously completing dual-path power transmission; regardless of the number of transmit or receive nodes added, the control response speed and steady-state accuracy remain essentially unchanged. These results fully verify the effectiveness, scalability, and robustness of this method.

[0122] This application provides an electronic device that may include a processing module and a memory. The memory stores a computer program, which, when executed by the processor, enables the electronic device to perform the corresponding steps in the aforementioned distributed node phase synchronization method.

[0123] In this embodiment, the processor can be an integrated circuit chip with signal processing capabilities. For example, the processor can be a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0124] The memory can be, but is not limited to, random access memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, etc.

[0125] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the electronic device described above can be referred to the corresponding steps in the aforementioned method, and will not be elaborated further here.

[0126] This application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program that, when run on a computer, causes the computer to execute the distributed node phase synchronization method described in the above embodiments.

[0127] Computer-readable storage media may be magnetic disks, optical disks, read-only memory, random access memory, flash memory, USB flash drives, hard disks, or solid-state drives, etc., and may also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implement the methods shown in the above embodiments.

[0128] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the distributed node phase synchronization method described above. The computer program product may exist in a computer-readable storage medium in forms including, but not limited to, source files, executable files, and installation package files.

[0129] Based on the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by hardware or by using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This software product can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, mobile hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, electronic device, or network device, etc.) to execute the methods described in the various implementation scenarios of this application.

[0130] In the embodiments provided in this application, it should be understood that the disclosed methods can also be implemented in other ways. The method embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or part of code, which includes one or more executable instructions for implementing a specified logical function. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0131] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for phase synchronization of distributed nodes, the method comprising: Applied to network topology, wherein the network topology includes several first nodes, and the network topology constructs an equivalent circuit model of a wireless power transmission network containing multiple first nodes, wherein each first node circuit includes a DC power supply, a full-bridge converter and an LCC compensation network, and the coils of each node are connected through mutual inductance coupling to form a network structure with arbitrary topology; The method includes: The system receives the output current of the first node, a first square wave signal, and a second square wave signal. The phase of the first square wave signal is the same as the phase of the output voltage of the first node, and the phase of the second square wave signal differs from the phase of the output voltage by a preset angle. For the first node, its own digital controller generates two reference square wave signals, wherein the first square wave signal... The other signal is a second square wave signal that is in phase with the fundamental output voltage of the converter at this node. Compared to Leading by 90°, two square wave control signals and Used to drive analog switches; Based on the output current, the first square wave signal, and the second square wave signal, the actual power angle of the first node is obtained; Calculate the difference between the actual power angle and the target power angle; When the difference is greater than a preset threshold, the phase of the output voltage is adjusted based on the difference until the difference is less than or equal to the preset threshold. The step of obtaining the actual power angle of the first node based on the output current, the first square wave signal, and the second square wave signal includes: The first DC current is obtained by rectifying the output current with the first square wave signal; The output current is rectified by the second square wave signal to obtain the second DC current; Harmonic compensation is performed on the second DC to eliminate all specified harmonics of the second DC, resulting in a compensated second DC. The actual power angle of the first node is obtained based on the first DC and the compensated second DC.

2. The method according to claim 1, characterized in that, The harmonic compensation of the second DC to obtain the compensated second DC includes: The harmonics of several specified frequencies are superimposed onto the second DC to obtain the compensated second DC.

3. The method according to claim 1, characterized in that, Before calculating the difference between the actual power angle and the target power angle, the method further includes: Obtain the first mutual inductance parameter between any two first nodes, as well as the target active power and target reactive power of each first node; Based on all the first mutual inductance parameters, the mutual inductance matrix is ​​obtained; Based on the mutual inductance matrix, and using the target active power and target reactive power of the first node, the voltage vector and current vector of the first node are calculated. The target power angle is obtained based on the voltage and current vectors corresponding to each first node.

4. The method according to claim 3, characterized in that, The method further includes: When a second node is added to the network topology, the compensation network parameters and self-inductance of the second node are obtained; Based on the compensation network parameters and self-inductance, the second mutual inductance parameters between the second node and all the first nodes are obtained. All the second mutual inductance parameters are merged into the mutual inductance matrix to update the mutual inductance matrix.

5. The method according to claim 1, characterized in that, The first node includes a connected full-bridge converter and an LCC compensation network; The method further includes: When the first node in the network topology exits, at least one switch in the full-bridge converter is disconnected to short-circuit the input of the LCC compensation network.

6. The method according to claim 1, characterized in that, Adjusting the phase of the output voltage based on the difference includes: When the difference indicates that the actual power angle is less than the target power angle, the phase of the output voltage is increased; When the difference indicates that the actual power angle is greater than the target power angle, the phase of the output voltage is reduced.

7. An electronic device, characterized in that, The electronic device includes a processor and a memory coupled together, the memory storing a computer program that, when executed by the processor, causes the electronic device to perform the method as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 6.

9. A program product, characterized in that, It includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 6.

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