Single-cell electric drive control method based on phase current reconstruction

Abstract

This invention discloses a single-cell electric drive control method based on phase current reconstruction. Based on the physical correspondence between the single-cell power supply state and the inverter state, state-related segments are divided and a state-related segment sequence is generated. According to the phase current residual and segment transition relationship in the state-related segment sequence, a hierarchical islanding label sequence is generated. According to the hierarchical islanding label sequence, a measured reconstruction path, an observation compensation path, or a predicted reconstruction path is selected to generate a target phase current reconstruction result. The inverter drive control sequence is adjusted according to the target phase current reconstruction result, and the hierarchical islanding label sequence is corrected based on the inverter drive feedback result. This invention can distinguish between stable segments, transition segments, and islanding segments, reduce reconstruction errors caused by single-cell power supply fluctuations and inverter switching coupling, and improve the continuity of phase current reconstruction and the accuracy of inverter drive adjustment.

Description

Technical Field

[0001] This invention belongs to the field of motor control and power electronic drive control technology, specifically a single-cell electric drive control method based on phase current reconstruction. Background Technology

[0002] With the development of new energy vehicles, small electric vehicles, lightweight electric drive platforms, and highly integrated power electronic systems, electric drive control technology is extending from multi-cell, high-voltage platforms to low-voltage, compact, and modular approaches. In these application scenarios, single-cell power supply structures are gaining attention due to their short power supply links, high degree of structural simplification, and flexible deployment under limited size conditions. Correspondingly, electric drive control systems are placing higher demands on phase current detection accuracy, inverter control stability, and drive continuity under abnormal operating conditions. In existing motor control schemes, phase current acquisition typically includes two paths: direct sampling and reconstructed calculation. Among these, phase current reconstruction technology has been widely applied in inverter drive control scenarios because it can reduce the number of sampling devices, compress hardware space, and reduce wiring complexity. Existing related technologies mainly focus on single-resistor sampling, bridge arm conduction interval identification, modulation interval switching, observer compensation, and error correction under non-ideal switching conditions. By processing the relationship between inverter state, bridge arm switching position, and feedback current, relatively complete phase current information is obtained, and motor torque regulation, speed regulation, and inverter drive control are performed accordingly.

[0003] However, in single-cell electric drive scenarios, the power supply voltage support capability is weak, the dynamic disturbance transmission path is short, and the coupling degree between the single-cell power supply state and the inverter state is high, resulting in significant limitations of existing phase current reconstruction technologies. On the one hand, most existing technologies treat phase current reconstruction as a single-layer compensation process centered around the sampling window, conduction interval, or current estimation error, lacking segmented processing of the correspondence between changes in the single-cell power supply state and inverter state switching. This makes it difficult to accurately distinguish different instability stages when power supply disturbances, bridge arm switching, and reconstruction errors occur simultaneously. On the other hand, existing technologies typically employ fixed reconstruction methods or single-switching methods in reconstruction path selection. When phase current residuals accumulate continuously and segment transfer relationships change, it is difficult to promptly complete the layered adjustment between the measured reconstruction path, the observed compensation path, and the predicted reconstruction path. This easily leads to deviations between the phase current reconstruction results and the actual drive state, resulting in inverter drive control fluctuations, feedback lag, and discontinuous recovery processes. Especially under the boundary conditions of single-cell power supply, if the phase current reconstruction logic for conventional multi-cell power supply platforms is still used, problems such as coarsened segment identification, delayed instability judgment, insufficient basis for reconstruction path switching, and insufficient control feedback repair are likely to occur, making it difficult to balance reconstruction accuracy, drive stability, and adjustment continuity under abnormal operating conditions.

[0004] Existing phase current reconfiguration electric drive control technology suffers from problems such as insufficient utilization of the coupling relationship between single cell power supply state and inverter state, unclear distinction of instability stage, and insufficient reconfiguration path adjustment hierarchy. The present invention addresses the problems of segment association identification, hierarchical island label generation, hierarchical selection of reconfiguration path, and inverter drive feedback repair in the phase current reconfiguration process under single cell electric drive scenario. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a single-cell electric drive control method based on phase current reconstruction, comprising, S1. Based on the physical correspondence between the single cell power supply state and the inverter state, divide the state-related segments and generate a state-related segment sequence. S2. Generate a hierarchical island tag sequence based on the phase current residual and segment transfer relationship in the state-associated segment sequence; S3. According to the layered island label sequence, select the measured reconstruction path, the observation compensation path, or the predicted reconstruction path to generate the target phase current reconstruction result; S4. Adjust the inverter drive control sequence according to the target phase current reconstruction result, and correct the hierarchical islanding tag sequence according to the inverter drive feedback result.

[0007] As a preferred technical solution for a single-cell electric drive control method based on phase current reconstruction, S1.1, according to the sequential correspondence between the single-cell terminal voltage change position and the inverter bridge arm conduction switching position, the continuous power supply stable segment, the power supply disturbance segment and the conduction switching segment are divided to generate an initial segment group; S1.2. Check the overlap of the boundary positions of adjacent segments in the initial segment group, merge the continuous segments with the same boundary position into state-related segments, and retain the continuous segments with staggered boundary positions as independent state-related segments. S1.3. Based on the direction of change of the power supply state of a single cell and the switching direction of the inverter state within the state-associated segment, determine the segment category of the state-associated segment and generate a segment category identifier. S1.4 Arrange the state-related segments according to their order of appearance in the electric drive control process, and attach the segment category identifier to the corresponding state-related segment to generate a state-related segment sequence.

[0008] As a preferred technical solution of a single-cell electric drive control method based on phase current reconstruction, the sequential correspondence between the single-cell terminal voltage change position and the inverter bridge arm conduction switching position includes: the starting position of the single-cell terminal voltage changing from a stable change to a decreasing change occurs before the inverter bridge arm conduction state switching position, and there is no other conduction switching position between the two; the starting position of the single-cell terminal voltage changing from a decreasing change to a rising change occurs after the inverter bridge arm conduction state switching position, and there is no other starting position of the voltage change between the two; when adjacent single-cell terminal voltage change positions are respectively located on the starting and ending sides of the same inverter bridge arm conduction state, the corresponding interval of the inverter bridge arm conduction state is determined as a set of sequential correspondence intervals; the sequential correspondence is formed according to the arrangement order of each set of sequential correspondence intervals in the electric drive control process.

[0009] As a preferred technical solution for a single-cell electric drive control method based on phase current reconstruction, S2.1 Extract the deviation between the reconstructed current and the feedback current for each state-related segment in the state-related segment sequence, and form a phase current residual sequence according to the increase or decrease of the deviation between adjacent state-related segments; S2.2. Based on the connection order between the previous state-related segment and the next state-related segment in the state-related segment sequence, extract the segment category change relationship to form a segment transition relationship sequence. S2.3. Combine the phase current residual sequence and the segment transfer relationship sequence according to the order of the state-related segments to generate a residual transfer combination sequence; S2.4. Based on the variation amplitude of the phase current residual and the transfer direction of the segment category in the residual transfer combination sequence, divide the segments into stable labels, transition labels and island labels, and generate a segment label sequence. S2.5. According to the consecutive occurrence order of adjacent segment labels in the segment label sequence, the stable label segment, transition label segment and island label segment are arranged in layers to generate a layered island label sequence.

[0010] As a preferred technical solution of a single-cell electric drive control method based on phase current reconstruction, S2.1.1, the reconstruction current and feedback current in each state-related segment are arranged in the same segment to form a segment current correspondence group; S2.1.2 Determine the deviation of the corresponding state-related section based on the difference between the reconstructed current and the feedback current in the corresponding group of currents in each section. S2.1.3. According to the order of each state-related segment in the state-related segment sequence, compare the deviation of adjacent state-related segments to determine the state of increased deviation, decreased deviation, or unchanged deviation. S2.1.4. Based on the deviation amount corresponding to each state-related segment and the increase or decrease of the deviation amount between adjacent state-related segments, a phase current residual term is formed. S2.1.5. The phase current residual terms are sequentially combined according to their arrangement order in the state-related segment sequence to generate a phase current residual sequence.

[0011] As a preferred technical solution for a single-cell electric drive control method based on phase current reconstruction, S3.1. According to the arrangement order of each layered island label in the layered island label sequence, determine the path selection result of the state association segment corresponding to each layered island label, and generate a path selection sequence. S3.2. Based on the path selection results corresponding to the stable label segment in the path selection sequence, perform measured reconstruction path for the corresponding state-related segment and generate measured reconstruction current; S3.3. Based on the path selection results corresponding to the transition label segment in the path selection sequence, perform observation compensation path for the corresponding state-related segment to generate compensation reconstructed current; S3.4. Based on the path selection results corresponding to the island tag segment in the path selection sequence, perform predictive reconstruction path for the corresponding state-related segment and generate predictive reconstruction current. S3.5. According to the arrangement order of each state-related segment in the path selection sequence, the measured reconstruction current, the compensated reconstruction current and the predicted reconstruction current are combined in order to generate the target phase current reconstruction result.

[0012] As a preferred technical solution of a single-cell electric drive control method based on phase current reconstruction, the step of selecting the order of each state-related segment in the path selection sequence includes: arranging each state-related segment according to its sequential position in the state-related segment sequence; when adjacent state-related segments correspond to different reconstruction paths, maintaining the sequential connection between the reconstructed current end position of the previous state-related segment and the reconstructed current start position of the next state-related segment; when adjacent state-related segments correspond to the same reconstruction path, arranging them sequentially according to their consecutive positions in the state-related segment sequence.

[0013] As a preferred technical solution of a single-cell electric drive control method based on phase current reconstruction, S4.1, determine the inverter drive adjustment amount corresponding to each state-related segment according to the target phase current reconstruction result, and form an inverter drive control sequence according to the arrangement order of each state-related segment in the path selection sequence; S4.2. According to the control order of each state-related segment corresponding to the inverter drive control sequence, the inverter drive state is sequentially adjusted to form an inverter drive feedback result. S4.3. Based on the deviation relationship between the inverter drive feedback result and the target phase current reconstruction result, determine the label correction result corresponding to each state-related segment; S4.4. According to the order of the state-related segments in the hierarchical island label sequence, update the label correction results to the corresponding hierarchical island labels to generate the corrected hierarchical island label sequence.

[0014] As a preferred technical solution for a single-cell electric drive control method based on phase current reconstruction, S4.1.1. The target phase current reconstruction results corresponding to each state-related segment are assigned to the corresponding segments to form segment reconstruction current groups; S4.1.2. Based on the inverter state of the reconstructed current group of each section and the inverter state of the corresponding state-related section, determine the inverter drive adjustment amount of the corresponding state-related section. S4.1.3. Perform a front-to-back connection check on the inverter drive adjustment amount of adjacent state related sections, merge the inverter drive adjustment amounts with the same adjustment direction into continuous adjustment segments, and retain the inverter drive adjustment amounts with changed adjustment directions as independent adjustment segments. S4.1.4. Arrange the continuous adjustment segment and the independent adjustment segment sequentially according to the order of the state-related segments in the path selection sequence to form an inverter drive control sequence.

[0015] As a preferred technical solution for a single-cell electric drive control method based on phase current reconstruction, the specific rules for forming the inverter drive control sequence include: arranging the corresponding inverter drive adjustment quantities sequentially according to the order of each state-related segment in the path selection sequence; when the inverter drive adjustment quantities corresponding to adjacent state-related segments belong to the same adjustment direction, merging the inverter drive adjustment quantities corresponding to the adjacent state-related segments into a continuous control segment; when the adjustment direction of the inverter drive adjustment quantities corresponding to adjacent state-related segments changes, using the position of the change in adjustment direction as the segment boundary, dividing the preceding and following inverter drive adjustment quantities into adjacent independent control segments; and combining the continuous control segments and the independent control segments in the path selection sequence to form the inverter drive control sequence.

[0016] The beneficial effects of this invention are as follows: By dividing the state-related segments, this invention correlates single-cell power supply disturbances with the inverter switching process, obtaining a segmented control basis and reducing error accumulation caused by dispersed reconstruction criteria; by generating hierarchical island labels, it jointly discriminates the relationship between phase current residuals and segment transfers, improving the accuracy of identifying unstable stages; by hierarchically selecting measured reconstruction, observation compensation, and predicted reconstruction paths, it improves the continuity of phase current reconstruction under abnormal segments; and by repairing hierarchical island labels in inverter drive control, it enhances the self-correction capability of the control closed loop, thereby improving the stability and reconstruction accuracy of single-cell electric drive control. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a schematic diagram of the process flow of the method of the present invention. Detailed Implementation

[0018] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0019] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0020] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0021] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0022] Example 1

[0023] Reference Figure 1This embodiment provides a single-cell electric drive control method based on phase current reconstruction, including: S1, dividing the state-related segments and generating a state-related segment sequence according to the physical correspondence between the single-cell power supply state and the inverter state; S1.1 Based on the sequential correspondence between the voltage change position of a single cell terminal and the switching position of the inverter bridge arm, divide the continuous power supply stable segment, the power supply disturbance segment, and the switching segment to generate an initial segment group; S1.2. Check the overlap of the boundary positions of adjacent segments in the initial segment group, merge the continuous segments with the same boundary position into state-related segments, and retain the continuous segments with staggered boundary positions as independent state-related segments. S1.3. Based on the direction of change of the power supply state of a single cell and the switching direction of the inverter state within the state-associated segment, determine the segment category of the state-associated segment and generate a segment category identifier. S1.4 Arrange the state-related segments according to their order of appearance in the electric drive control process, and attach the segment category identifier to the corresponding state-related segment to generate a state-related segment sequence.

[0024] The sequential correspondence between the single-cell terminal voltage change position and the inverter bridge arm conduction switching position includes: the starting position where the single-cell terminal voltage changes from a stable change to a decreasing change occurs before the inverter bridge arm conduction state switching position, and there is no other conduction switching position between the two; the starting position where the single-cell terminal voltage changes from a decreasing change to a rising change occurs after the inverter bridge arm conduction state switching position, and there is no other starting position of the voltage change between the two; when adjacent single-cell terminal voltage change positions are located on the starting and ending sides of the same inverter bridge arm conduction state, the corresponding interval of the inverter bridge arm conduction state is determined as a set of sequential correspondence intervals; the sequential correspondence is formed according to the arrangement order of each set of sequential correspondence intervals in the electric drive control process.

[0025] In this preferred embodiment, the single-cell power supply unit supplies power to the three-phase inverter bridge. The inverter bridge includes upper and lower bridge arm switching devices. The controller collects the single-cell terminal voltage, inverter bridge arm conduction state, reconfiguration current, feedback current, and inverter drive feedback results. The single-cell terminal voltage sampling frequency is 20kHz, the inverter bridge arm conduction state recording resolution is 50μs, the feedback current is obtained from the phase current sampling resistor and sampling conditioning circuit, and the reconfiguration current is obtained by the controller based on the inverter state and bus-side measurements. In the following steps, the segment positions are all represented by sampling positions within the same control cycle, and the boundaries of each segment are represented by sampling position numbers to avoid inconsistencies in position representation between different data sources.

[0026] Regarding step S1, based on the physical correspondence between the single-cell power supply state and the inverter state, state-related segments are divided and a state-related segment sequence is generated. The preferred method is as follows: First, the single-cell terminal voltage curve and the inverter bridge arm conduction state sequence are synchronously arranged during the continuous control period. In the single-cell terminal voltage curve, if the absolute value of the voltage difference between three consecutive sampling positions is no greater than 2mV, the corresponding interval is determined to be a stable voltage change interval; if the cumulative voltage difference between three consecutive sampling positions reaches 8mV or more, the corresponding interval is determined to be a voltage decrease change interval or a voltage recovery change interval. In the inverter bridge arm conduction state sequence, when any phase bridge arm changes from upper bridge arm conduction to lower bridge arm conduction, or from lower bridge arm conduction to upper bridge arm conduction, the sampling position is recorded as the conduction switching position. Based on the above two types of positions, the initial segment group is divided according to the sequential correspondence between the single-cell terminal voltage change position and the inverter bridge arm conduction switching position. Specifically, when the starting position of the single cell terminal voltage changing from a steady change to a decreasing change occurs before a certain conduction switching position, and there is no other conduction switching position between them, the period from the starting position to the conduction switching position is divided into a power supply disturbance segment; when the starting position of the single cell terminal voltage changing from a decreasing change to a rising change occurs after the conduction switching position, and there is no other starting position of the voltage change between them, the period from the conduction switching position to the rising starting position is divided into a conduction switching segment; when two adjacent single cell terminal voltage change positions are located on the starting and ending sides of the same inverter bridge arm conduction state, the interval corresponding to the inverter bridge arm conduction state is divided into a continuous power supply stable segment. Taking sampling positions 100 to 148 within a certain control period as an example, sampling position 108 is the starting point of the single cell terminal voltage drop, sampling position 116 is the inverter bridge arm conduction switching position, and sampling position 124 is the starting point of the single cell terminal voltage recovery. Therefore, sampling positions 108 to 115 are divided into the power supply disturbance segment, sampling positions 116 to 123 are divided into the conduction switching segment, and sampling positions 100 to 107 and sampling positions 124 to 148 are divided into the continuous power supply stable segment, thus generating the initial segment group.

[0027] Regarding step S1.2, the boundary positions of adjacent segments in the initial segment group are checked for overlap, preferably by comparing the boundary positions one by one. First, the start and end boundary positions of each initial segment are extracted, and then the end boundary position of the previous segment is compared with the start boundary position of the next segment. When the two correspond to the same sampling position, or the two differ by only one sampling position and the inverter bridge arm conduction state has not switched again within that sampling position, the adjacent segments in this group are identified as continuous segments with consistent boundary positions; when the two differ by more than two sampling positions, or a new conduction switching position or a new single-cell terminal voltage change start position exists within the interval, the adjacent segments in this group are identified as continuous segments with staggered boundary positions. Continuous segments with consistent boundary positions are merged to form segments associated with the same state; continuous segments with staggered boundary positions are retained as segments associated with independent states. Taking the initial segment group from sampling positions 200 to 260 as an example, sampling positions 200 to 214 represent a continuous stable power supply segment, sampling positions 215 to 223 represent a power supply disturbance segment, sampling positions 224 to 232 represent a conduction switching segment, and sampling positions 233 to 260 represent a continuous stable power supply segment. Sampling positions 214 and 215 are adjacent and there are no new conduction switching positions within their interval; sampling positions 223 and 224 are adjacent and there are no new starting positions for terminal voltage changes within their interval. Therefore, sampling positions 200 to 232 are merged into the same state-related segment. If a new conduction switching position exists between sampling positions 223 and 226, then sampling positions 200 to 223 and sampling positions 226 to 232 are retained as independent state-related segments. Through this processing, multiple short segments corresponding to terminal voltage changes and conduction switching in the same physical change process can be merged into a single state-related segment, facilitating subsequent residual analysis and path selection.

[0028] Regarding step S1.3, based on the direction of change in the power supply state of a single cell and the switching direction of the inverter state within the state-related segment, the segment category of the state-related segment is determined, preferably divided into power supply disconnection segment, switching coupling segment, and recovery following segment. Specifically, the rules are as follows: when the voltage at the terminal of a single cell within the state-related segment drops first and the inverter arm switches on in the middle to rear of the segment, the state-related segment is determined to be a power supply disconnection segment; when the direction of change in the voltage at the terminal of a single cell within the state-related segment alternates with the switching direction of the inverter arm on within the same segment, and the switching position is located in the middle of the segment, the state-related segment is determined to be a switching coupling segment; when the voltage at the terminal of a single cell within the state-related segment rises first and the inverter arm's on-state has stabilized without a new switching, the state-related segment is determined to be a recovery following segment. The segment category identifiers can use three types: "C1", "C2", and "C3", corresponding to power supply disconnection segments, switching coupling segments, and recovery following segments, respectively. Taking sampling positions 300 to 345 as an example, if sampling position 306 shows the start of a single cell terminal voltage drop, sampling position 318 shows the inverter bridge arm switching position, and sampling position 332 shows the start of a single cell terminal voltage recovery, then the state-related segments of sampling positions 300 to 317 are determined to be power supply disconnection segments, the state-related segments of sampling positions 318 to 331 are determined to be switching coupling segments, and the state-related segments of sampling positions 332 to 345 are determined to be recovery following segments.

[0029] Regarding step S1.4, the state-related segments are arranged according to their order of appearance in the electric drive control process, and the segment category identifier is attached to the corresponding state-related segment to generate a state-related segment sequence. Preferably, the sequence is sorted in ascending order of the sampling position starting boundary. After sorting, a segment number and a segment category identifier are attached to each state-related segment. The segment numbers are arranged in the order of appearance as "Z1", "Z2", "Z3". For example, within a certain control period, state-related segments Z1, Z2, Z3, and Z4 are formed, where Z1 corresponds to sampling positions 100 to 132, and the segment category identifier is C1; Z2 corresponds to sampling positions 133 to 148, and the segment category identifier is C2; Z3 corresponds to sampling positions 149 to 168, and the segment category identifier is C3; and Z4 corresponds to sampling positions 169 to 195, and the segment category identifier is C1. After attaching the above numbers and segment category identifiers to the corresponding state-related segments, a state-related segment sequence "Z1-C1, Z2-C2, Z3-C3, Z4-C1" is formed. This sequence serves as the unified basic sequence for residual extraction, label division, and path selection in subsequent steps.

[0030] The sequential correspondence between the single-cell terminal voltage change position and the inverter bridge arm conduction switching position can be illustrated in this preferred embodiment with the following example. Assume that within one control window, the starting position where the single-cell terminal voltage changes from a stable change to a decreasing change is sampling position 412, the starting position where the decreasing change changes to a rising change is sampling position 430, and the inverter bridge arm conduction switching position is sampling position 420. Furthermore, there is no other conduction switching position between sampling positions 412 and 420, and no other starting position for voltage change between sampling positions 420 and 430. Therefore, sampling positions 412 to 420 constitute a forward sequential correspondence interval, and sampling positions 420 to 430 constitute a backward sequential correspondence interval. If adjacent single-cell terminal voltage change positions are located at the start and end sides of the same inverter bridge arm conduction state, for example, sampling positions 450 and 476 are located on opposite sides of the same conduction state interval, then the conduction state corresponding interval 450 to 476 is determined to be another set of sequential correspondence intervals. The sequential correspondence is obtained by arranging the corresponding intervals of each group on the time axis. In this way, the segment is no longer determined solely by a single voltage change or a single conduction switch, but by the pairing relationship between the two. This reduces misjudgments caused by short-term voltage fluctuations at the single cell terminal and instantaneous switching of the bridge arm in segment division.

[0031] Step S1 works by associating single-cell terminal voltage changes with inverter arm switching within the same time frame, transforming the physical correspondence between power supply changes and inverter changes from scattered sampling points into continuous state-related segments. Existing technologies often analyze anomalies solely based on feedback current or divide operating intervals solely by inverter switch status, making it difficult to distinguish the source of phase current distortion caused by single-cell power supply fluctuations and inverter switching coupling. This step, through three layers of processing—sequential correspondence, boundary overlap verification, and segment category identification—establishes subsequent phase current residual analysis on a unified, continuous, and physically meaningful state-related segment basis, thereby improving the discriminability of subsequent islanded labeling. The purpose of step S1 is to establish a segment-level correspondence between the single-cell power supply state and the inverter state. The technical problem it solves is that when single-cell power supply fluctuations and inverter arm switching occur alternately, it is difficult to accurately define the basic interval for phase current reconstruction. The beneficial effect is that the segment division results are highly consistent with the physical changes in the actual electric drive process, the subsequent residual analysis objects are clear, the islanding segment identification basis is stable, and thus it is conducive to improving the continuity of phase current reconstruction results and the pertinence of inverter control.

[0032] S2. Generate a hierarchical island tag sequence based on the phase current residual and segment transfer relationship in the state-associated segment sequence; S2.1 Extract the deviation between the reconstructed current and the feedback current for each state-related segment in the state-related segment sequence, and form a phase current residual sequence according to the increase or decrease of the deviation between adjacent state-related segments; S2.1.1 Arrange the reconstructed current and feedback current in each state-related segment according to the corresponding segment to form a segment current correspondence group; S2.1.2 Determine the deviation of the corresponding state-related section based on the difference between the reconstructed current and the feedback current in the corresponding group of currents in each section. S2.1.3. According to the order of each state-related segment in the state-related segment sequence, compare the deviation of adjacent state-related segments to determine the state of increased deviation, decreased deviation, or unchanged deviation. S2.1.4. Based on the deviation amount corresponding to each state-related segment and the increase or decrease of the deviation amount between adjacent state-related segments, a phase current residual term is formed. S2.1.5. The phase current residual terms are sequentially combined according to their arrangement order in the state-related segment sequence to generate a phase current residual sequence.

[0033] S2.2. Based on the connection order between the previous state-related segment and the next state-related segment in the state-related segment sequence, extract the segment category change relationship to form a segment transition relationship sequence. S2.3. Combine the phase current residual sequence and the segment transfer relationship sequence according to the order of the state-related segments to generate a residual transfer combination sequence; S2.4. Based on the variation amplitude of the phase current residual and the transfer direction of the segment category in the residual transfer combination sequence, divide the segments into stable labels, transition labels and island labels, and generate a segment label sequence. S2.5. According to the consecutive occurrence order of adjacent segment labels in the segment label sequence, the stable label segment, transition label segment and island label segment are arranged in layers to generate a layered island label sequence.

[0034] Regarding step S2, the deviation between the reconstructed current and the feedback current is extracted for each state-related segment in the state-related segment sequence. A phase current residual sequence is formed according to the increase or decrease of the deviation between adjacent state-related segments. Preferably, the following method is used: For each state-related segment, the reconstructed current sample values ​​and feedback current sample values ​​within that segment are first arranged correspondingly at the same sampling position to form a segment current correspondence group. If a state-related segment covers sampling positions 500 to 515, then the 16 sets of reconstructed current sample values ​​and feedback current sample values ​​corresponding to sampling positions 500 to 515 form the segment current correspondence group for that state-related segment. Based on this, the absolute value of the current difference is calculated for each corresponding position in the segment current correspondence group, and the average of the absolute values ​​of the current differences at each corresponding position is used as the deviation of that state-related segment. For example, if the average absolute value of the current difference at 16 sampling locations within a certain state-related segment is 0.18A, then the deviation of that state-related segment is determined to be 0.18A; if the corresponding average value in another state-related segment is 0.52A, then its deviation is determined to be 0.52A. Subsequently, according to the order of the state-related segment sequence, the deviations of adjacent state-related segments are compared. When the deviation of the later state-related segment is greater than that of the earlier state-related segment by 0.08A, it is recorded as an increasing deviation state; when the deviation of the later state-related segment is less than that of the earlier state-related segment by 0.08A, it is recorded as a decreasing deviation state; when the absolute value of the difference is not greater than 0.08A, it is recorded as a stable deviation state. Then, based on the deviation corresponding to each state-related segment and its increase or decrease in deviation compared to the previous state-related segment, a phase current residual term is formed. For example, if the deviation of state-related segment Z5 is 0.21A and the deviation of state-related segment Z6 is 0.46A, then the state of increasing deviation corresponding to Z6 is valid, and the resulting phase current residual term is denoted as "0.46A - Increase"; if the deviation of state-related segment Z7 is 0.44A, then the phase current residual term corresponding to Z7 is denoted as "0.44A - Maintain". The phase current residual sequence is generated by combining the phase current residual terms in the order of their arrangement in the state-related segment sequence.

[0035] Regarding step S2.2, based on the connection order of the preceding and following state-related segments in the state-related segment sequence, the segment category change relationship is extracted to form a segment transition relationship sequence. Preferably, the extraction is performed according to the combination of the preceding and following segment category identifiers. Specifically, if the segment category identifier of the preceding state-related segment is C1 and the segment category identifier of the following state-related segment is C2, then the segment category change relationship "C1 to C2" is extracted; if the preceding segment category identifier is C2 and the following segment category identifier is C3, then the segment category change relationship "C2 to C3" is extracted; if the category identifiers of adjacent segments are the same, then the segment category change relationship "same category continuation" is extracted. For example, if the state-related segment sequence is "Z1-C1, Z2-C2, Z3-C3, Z4-C3, Z5-C1", then the segment transition relationship sequence is "C1 to C2, C2 to C3, same category continuation, C3 to C1". This process separates the change path of the segment category itself from the single category identifier, providing a basis for the segment transfer direction for subsequent island label division.

[0036] Regarding step S2.3, the phase current residual sequence and the segment transfer relationship sequence are combined in accordance with the order of the state-related segments to generate a residual transfer combination sequence. Preferably, adjacent segments are paired. For each state-related segment except the first state-related segment, its corresponding phase current residual term is combined with the segment transfer relationship from the previous segment to the current segment. For example, if the phase current residual term of state-related segment Z2 is "0.34A - increase", and the segment transfer relationship from Z1 to Z2 is "C1 to C2", then the residual transfer combination term corresponding to Z2 is "0.34A - increase - C1 to C2"; if the phase current residual term of state-related segment Z3 is "0.61A - increase", and the segment transfer relationship from Z2 to Z3 is "C2 to C3", then the residual transfer combination term corresponding to Z3 is "0.61A - increase - C2 to C3"; if the phase current residual term of state-related segment Z4 is "0.59A - maintain", and the segment transfer relationship from Z3 to Z4 is "same type continuation", then the residual transfer combination term corresponding to Z4 is "0.59A - maintain - same type continuation". Combining these terms sequentially according to the order of the state-related segments generates the residual transfer combination sequence.

[0037] Regarding step S2.4, based on the variation amplitude of the phase current residual in the residual transfer combination sequence and the transfer direction of the segment category, stable labels, transition labels, and island labels are defined, preferably using a unified threshold rule. Specifically, when the deviation corresponding to the phase current residual term is not greater than 0.20A, and the segment transfer relationship is "same type continuation" or "C3 to C3", the corresponding state-related segment is classified as a stable label; when the deviation corresponding to the phase current residual term is greater than 0.20A but not greater than 0.50A, and the segment transfer relationship is "C1 to C2", "C2 to C3", or "C3 to C1", the corresponding state-related segment is classified as a transition label; when the deviation corresponding to the phase current residual term is greater than 0.50A, and the segment transfer relationship is accompanied by the segment category changing from a power supply disconnection segment to a switching coupling segment or from a switching coupling segment to a recovery following segment, the corresponding state-related segment is classified as an island label. For example, if the residual transfer combination term corresponding to Z8 is "0.16A - Hold - Same Type Continues", then Z8 is classified as stable; if the residual transfer combination term corresponding to Z9 is "0.37A - Increase - C1 to C2", then Z9 is classified as transitional; and if the residual transfer combination term corresponding to Z10 is "0.64A - Increase - C2 to C3", then Z10 is classified as islanded. This classification method can separate simple small-amplitude errors, normal switching transition errors, and significant errors caused by power supply instability.

[0038] Regarding step S2.5, according to the consecutive occurrence order of adjacent segment labels in the segment label sequence, the stable label segment, transition label segment, and isolated label segment are arranged hierarchically to generate a hierarchical isolated label sequence. Preferably, a three-layer structure of "bottom stable layer - intermediate transition layer - upper isolated layer" is adopted. Specifically, firstly, label segments consisting of consecutive identical labels are extracted according to the order of the segment label sequence. For example, "stable, stable, transition, transition, isolated, isolated, stable" can be divided into 1 stable label segment, 1 transition label segment, 1 isolated label segment, and 1 stable label segment. Then, the stable label segment is placed in the bottom stable layer, the transition label segment is placed in the intermediate transition layer, and the isolated label segment is placed in the upper isolated layer, while retaining the start and end positions of each label segment in the state-associated segment sequence. For example, if the segment label sequence corresponding to state-related segments Z11 to Z17 is "stable, stable, transition, transition, island, island, stable", then the hierarchical island label sequence is recorded as follows: the bottom stable layer includes Z11 to Z12 and Z17; the intermediate transition layer includes Z13 to Z14; and the upper island layer includes Z15 to Z16. Using this hierarchical arrangement, subsequent step S3 can directly select different reconstruction paths according to the hierarchy, without needing to judge each segment again.

[0039] Step S2 works by using state-related segments as a basis to jointly analyze the deviation between the reconstructed current and the feedback current and the segment category transfer direction, and then converting the joint analysis results into a hierarchical island label sequence. In existing technologies, a common practice is to directly judge anomalies based on the current error threshold at a certain moment, which easily confuses short-term fluctuations during normal switching with persistent power supply isolation segments. This step does not examine the current error at a single sampling point in isolation, but rather considers the increase or decrease in the deviation between adjacent state-related segments and the transition of the segment category from one state to another, thus giving stable segments, switching transition segments, and island segments different judgment criteria. It should be noted that the terms "terminal segment discrete prediction model, probability constraint set, platform target alignment pose, alignment residual" that repeatedly appeared in your original question are terms used in other technical solutions and have no direct correspondence with this step. In the current solution, the underlying technical idea is to use "residual change constraint" and "segment transfer direction" together as the basis for label division, rather than introducing pose optimization terminology from the rail transit scenario. The purpose of step S2 is to screen out phase current abnormality segments of different degrees from the state-related segment sequence. The technical problem to be solved is that when the power supply fluctuation of a single cell is superimposed with the inverter switching, it is difficult to accurately distinguish between normal transition error and continuous islanding error. The beneficial effect is that the islanding segment identification results are continuous, hierarchical and traceable, providing a clear basis for the selection of subsequent differentiated reconstruction paths.

[0040] S3. According to the layered island label sequence, select the measured reconstruction path, the observation compensation path, or the predicted reconstruction path to generate the target phase current reconstruction result; S3.1. According to the arrangement order of each layered island label in the layered island label sequence, determine the path selection result of the state association segment corresponding to each layered island label, and generate a path selection sequence. S3.2. Based on the path selection results corresponding to the stable label segment in the path selection sequence, perform measured reconstruction path for the corresponding state-related segment and generate measured reconstruction current; S3.3. Based on the path selection results corresponding to the transition label segment in the path selection sequence, perform observation compensation path for the corresponding state-related segment to generate compensation reconstructed current; S3.4. Based on the path selection results corresponding to the island tag segment in the path selection sequence, perform predictive reconstruction path for the corresponding state-related segment and generate predictive reconstruction current. S3.5. According to the arrangement order of each state-related segment in the path selection sequence, the measured reconstruction current, the compensated reconstruction current and the predicted reconstruction current are combined in order to generate the target phase current reconstruction result.

[0041] The step of selecting the order of state-related segments in the path selection sequence includes: arranging the state-related segments according to their sequential positions in the state-related segment sequence; when adjacent state-related segments correspond to different reconstruction paths, maintaining the sequential connection between the end position of the reconstruction current of the previous state-related segment and the start position of the reconstruction current of the next state-related segment; when adjacent state-related segments correspond to the same reconstruction path, arranging them sequentially according to their consecutive positions in the state-related segment sequence.

[0042] Regarding step S3, according to the layered islanding label sequence, a measured reconstruction path, an observation compensation path, or a predicted reconstruction path is selected to generate the target phase current reconstruction result. Preferably, a layered path correspondence method is used. First, according to the order of the layered islanding labels in the layered islanding label sequence, the state-related segment corresponding to the bottom stable layer is selected as the measured reconstruction path, the state-related segment corresponding to the intermediate transition layer is selected as the observation compensation path, and the state-related segment corresponding to the upper islanding layer is selected as the predicted reconstruction path. For example, if the bottom stable layer includes Z21 to Z23, the intermediate transition layer includes Z24 to Z25, and the upper islanding layer includes Z26 to Z27, then the path selection sequence is as follows: "Z21-Measured Reconstruction Path, Z22-Measured Reconstruction Path, Z23-Measured Reconstruction Path, Z24-Observation Compensation Path, Z25-Observation Compensation Path, Z26-Predicted Reconstruction Path, Z27-Predicted Reconstruction Path".

[0043] For step S3.2, based on the path selection results corresponding to the stable label segment in the path selection sequence, a measured reconstruction path is executed for the corresponding state-related segment, preferably using the consistent segment between the feedback current and the reconstruction current as the output basis. Specifically, for the state-related segment under the measured reconstruction path, the difference between the feedback current and the original reconstruction current in the state-related segment is first compared. When the deviation corresponding to the state-related segment is not greater than 0.20A, the feedback current is taken as the measured reconstruction current of the segment. When there are one or two discrete spikes in the feedback current at individual sampling positions in the state-related segment, and the difference between the feedback current at other positions and the reconstruction current is not greater than 0.20A, the average value of the feedback current at two adjacent sampling positions is used to replace the spike and then as the measured reconstruction current of the segment. For example, the state-associated segment Z21 covers sampling positions 600 to 615, and its feedback current is generally between 14.8A and 15.2A, while the original reconstruction current is between 14.9A and 15.1A, with a deviation of 0.12A. The feedback current is then directly taken to form the measured reconstruction current corresponding to Z21.

[0044] For step S3.3, based on the path selection result corresponding to the transition label segment in the path selection sequence, an observation compensation path is executed for the corresponding state-related segment. Preferably, the current change trend of the preceding and following stable segments is used to perform intra-segment compensation for the current transition segment. Specifically, for the state-related segment under the observation compensation path, the measured reconstructed current at the last three sampling positions of the preceding stable label segment and the measured reconstructed current at the first three sampling positions of the following stable label segment are extracted first. Then, the current values ​​on both sides are sequentially connected according to the number of sampling positions of the current transition segment to form the compensation reconstructed current within the transition segment. If there is a usable feedback current in the current transition segment, the position correspondence between the feedback current and the connection result is compared. When the corresponding difference is not greater than 0.30A, the feedback current is used; when the corresponding difference is greater than 0.30A, the connection result is used. For example, state-associated segment Z24 covers sampling positions 616 to 623. The measured reconstructed currents at the last three sampling positions of the preceding stable tag segment Z23 are 15.1A, 15.0A, and 14.9A, respectively. The measured reconstructed currents at the first three sampling positions of the following stable tag segment Z25 are 14.2A, 14.1A, and 14.0A, respectively. Therefore, the compensated reconstructed current sequence corresponding to Z24 is formed according to the sampling position order: 14.8A, 14.7A, 14.6A, 14.5A, 14.4A, 14.3A, 14.2A, and 14.1A. This processing is suitable for short-term current fluctuations caused by inverter arm switching.

[0045] For step S3.4, based on the path selection results corresponding to the islanded label segment in the path selection sequence, a predicted reconstruction path is executed for the corresponding state-related segment. Preferably, a combination of segment forward continuation and inverter state corresponding correction is adopted. Specifically, for the state-related segment under the predicted reconstruction path, the compensation reconstruction current at the last four sampling positions of the previous transition label segment is extracted to determine its current change direction. Then, combined with the inverter state corresponding to the current islanded label segment, the predicted reconstruction current is formed by continuing backward in the same change direction. If the inverter state corresponding to the current islanded label segment is the same as the inverter state at the end of the previous transition label segment, the current increase or decrease amplitude between adjacent sampling positions remains unchanged. If the inverter state corresponding to the current islanded label segment reverses, the current increase or decrease amplitude between adjacent sampling positions is halved before continuing backward. For example, the state-associated segment Z26 covers sampling positions 624 to 631. The compensation reconstruction currents at the last four sampling positions of the preceding transition tag segment Z25 are 14.1A, 13.9A, 13.7A, and 13.5A, respectively, decreasing by 0.2A per sampling position. If the inverter state corresponding to Z26 is the same as the inverter state at the end of Z25, then the predicted reconstruction current of Z26 is 13.3A, 13.1A, 12.9A, 12.7A, 12.5A, 12.3A, 12.1A, and 11.9A, respectively. If the inverter state reverses, then the predicted reconstruction current of Z26 is 13.4A, 13.3A, 13.2A, 13.1A, 13.0A, 12.9A, 12.8A, and 12.7A, respectively. By introducing inverter state-corresponding correction, the predicted reconstruction path is not simply extrapolated mechanically based on the upstream current, but rather a directional prediction compensation is made in conjunction with the inverter state of the current section.

[0046] For step S3.5, according to the arrangement order of each state-related segment in the path selection sequence, the measured reconstruction current, the compensated reconstruction current, and the predicted reconstruction current are combined in sequence to generate the target phase current reconstruction result. Preferably, the state-related segments are sequentially spliced ​​according to their positions in the state-related segment sequence. If adjacent state-related segments correspond to different reconstruction paths, the end position of the reconstruction current of the previous state-related segment and the start position of the reconstruction current of the next state-related segment are connected adjacently. If the absolute value of the current difference between the two is not greater than 0.25A, they are directly spliced ​​sequentially. If the absolute value of the current difference between the two is greater than 0.25A, a transitional sampling value is inserted between two adjacent sampling positions to make the current change of the preceding and following segments continuous. If adjacent state-related segments correspond to the same reconstruction path, they are directly arranged sequentially according to their continuous positions. For example, Z23 corresponds to a measured final value of 14.9A for the reconstructed current, and Z24 corresponds to a calculated initial value of 14.8A for the reconstructed current. The difference between the two is 0.1A, so they are directly spliced ​​together. Z25 corresponds to a calculated final value of 14.1A for the reconstructed current, and Z26 corresponds to a predicted initial value of 13.3A for the reconstructed current. The difference between the two is 0.8A, so two transitional sampling values ​​of 13.8A and 13.5A are inserted between them before splicing. This forms the target phase current reconstructed result covering the entire control window.

[0047] The working principle of step S3 is that different levels of tag segments correspond to current sources with different levels of confidence. Therefore, a measured reconstruction path is used for stable segments, an observation compensation path is used for transition segments, and a predictive reconstruction path is used for islanded segments. In existing technologies, a single path is usually used to complete the reconstruction of the entire phase current, resulting in insufficient utilization of information in stable segments, while the same processing method is too coarse for transition and islanded segments. This step uses a one-to-one correspondence between "tag level - path type - reconstruction output" to enable different segments to use a reconstruction method that matches their state. It needs to be clarified again that your original question's description of "final segment discrete prediction model, probability constraint set, and alignment residual corresponding to the station target alignment pose" is irrelevant to the technical object of this step; in the current solution, the corresponding substantive content is to introduce inverter state corresponding correction and front-segment current change direction constraints within the islanded tag segment to ensure that the predictive reconstruction result is consistent with the physical changes of the preceding and following segments. The purpose of step S3 is to generate a target phase current reconstruction result that covers all state-related segments and is continuously connected. The technical problem it solves is that when a single cell power supply is unstable, it is difficult to balance stability, continuity and segment adaptability by relying on a single reconstruction method. The beneficial effects are that the measured reliability of the stable segment is preserved, the switching fluctuation of the transition segment is smoothly compensated, and the current change of the islanded segment is predictably continued, thereby improving the completeness and usability of the phase current reconstruction result.

[0048] S4. Adjust the inverter drive control sequence according to the target phase current reconstruction result, and correct the hierarchical islanding tag sequence according to the inverter drive feedback result.

[0049] S4.1 Determine the inverter drive adjustment amount corresponding to each state-related segment based on the target phase current reconstruction result, and form an inverter drive control sequence according to the arrangement order of each state-related segment in the path selection sequence; S4.1.1. The target phase current reconstruction results corresponding to each state-related segment are assigned to the corresponding segments to form segment reconstruction current groups; S4.1.2. Based on the inverter state of the reconstructed current group of each section and the inverter state of the corresponding state-related section, determine the inverter drive adjustment amount of the corresponding state-related section. S4.1.3. Perform a front-to-back connection check on the inverter drive adjustment amount of adjacent state related sections, merge the inverter drive adjustment amounts with the same adjustment direction into continuous adjustment segments, and retain the inverter drive adjustment amounts with changed adjustment directions as independent adjustment segments. S4.1.4. Arrange the continuous adjustment segment and the independent adjustment segment sequentially according to the order of the state-related segments in the path selection sequence to form an inverter drive control sequence.

[0050] S4.2. According to the control order of each state-related segment corresponding to the inverter drive control sequence, the inverter drive state is sequentially adjusted to form an inverter drive feedback result. S4.3. Based on the deviation relationship between the inverter drive feedback result and the target phase current reconstruction result, determine the label correction result corresponding to each state-related segment; S4.4. According to the order of the state-related segments in the hierarchical island label sequence, update the label correction results to the corresponding hierarchical island labels to generate the corrected hierarchical island label sequence.

[0051] Regarding step S4, the inverter drive control sequence is adjusted according to the target phase current reconstruction result, and the hierarchical islanding label sequence is corrected according to the inverter drive feedback result. Preferably, the following method is used: For step S4.1, the target phase current reconstruction results corresponding to each state-associated segment are first assigned to corresponding segments to form segment reconstruction current groups. For example, if state-associated segment Z31 covers sampling positions 700 to 711, then the reconstruction current values ​​at sampling positions 700 to 711 in the target phase current reconstruction results are assigned to the segment reconstruction current group corresponding to Z31. Then, based on the segment reconstruction current group and the inverter state of the corresponding state-associated segment, the inverter drive adjustment amount of the corresponding state-associated segment is determined. The preferred rule is as follows: when the reconfigured current group of a segment is generally higher than the feedback current by more than 0.30A within the state-related segment, the conduction width of the corresponding bridge arm is reduced; when the reconfigured current group of a segment is generally lower than the feedback current by more than 0.30A within the state-related segment, the conduction width of the corresponding bridge arm is increased; when the absolute value of the difference between the two is not greater than 0.30A, the original adjustment direction remains unchanged. For example, if the average target phase current reconfiguration result in state-related segment Z31 is 16.4A and the average feedback current is 15.9A, then the inverter drive adjustment amount corresponding to Z31 is determined to be "reducing the upper bridge arm conduction width by 2μs"; if the average target phase current reconfiguration result in state-related segment Z32 is 14.6A and the average feedback current is 15.1A, then the inverter drive adjustment amount corresponding to Z32 is determined to be "increasing the lower bridge arm conduction width by 3μs". Subsequently, the inverter drive adjustment values ​​of adjacent state-related segments are checked for continuity. Inverter drive adjustment values ​​with the same adjustment direction are grouped into continuous adjustment segments, while those with changed adjustment directions are retained as independent adjustment segments. For example, if the adjustment values ​​corresponding to Z31, Z32, and Z33 are all "reducing the conduction width of the upper bridge arm", they are grouped into continuous adjustment segments; if the adjustment value corresponding to Z34 changes to "increasing the conduction width of the lower bridge arm", then an independent adjustment segment is formed starting from Z34. Finally, according to the order of each state-related segment in the path selection sequence, the continuous adjustment segments and independent adjustment segments are sequentially arranged to form the inverter drive control sequence.

[0052] For step S4.2, the inverter drive state is sequentially adjusted according to the control order of each state-related segment in the inverter drive control sequence to form an inverter drive feedback result. Preferably, adjustment commands are output segment by segment within each control cycle, and the corresponding actual bridge arm conduction changes are recorded. For example, in the continuous adjustment segment D1, Z31 to Z33 execute "reduce the upper bridge arm conduction width by 2μs, 2μs, and 1μs" in sequence; in the independent adjustment segment D2, Z34 executes "increase the lower bridge arm conduction width by 3μs". After execution, the controller records the actual conduction width change value corresponding to each state-related segment and the feedback current change value after execution to form an inverter drive feedback result. If the feedback current decreases from 15.9A to 15.7A after Z31 is executed, and the feedback current increases from 15.1A to 15.3A after Z32 is executed, these changes are all taken as part of the inverter drive feedback result of the corresponding state-related segment.

[0053] For step S4.3, based on the deviation relationship between the inverter drive feedback result and the target phase current reconstruction result, the label correction result corresponding to each state-related segment is determined, preferably using a feedback convergence rule. Specifically, when the absolute value of the difference between the feedback current and the target phase current reconstruction result decreases from above 0.50A to below 0.20A after the inverter drive adjustment of a certain state-related segment, the label of that state-related segment is corrected to a stable label; when the absolute value of the difference is still between 0.20A and 0.50A, the label of that state-related segment is corrected to a transition label; when the absolute value of the difference is still greater than 0.50A and does not decrease within two adjacent control cycles, the state-related segment retains the island label. For example, state-associated segment Z36 was originally an islanded tag. Before the inverter drive regulation was executed, the absolute value of the difference between its target phase current reconstruction result and feedback current was 0.72A. After the regulation was executed, it decreased to 0.18A. Therefore, the tag correction result for Z36 is a stable tag. After the state-associated segment Z37 was executed, the absolute value of the difference was 0.34A. Therefore, the tag correction result for Z37 is a transition tag. After the state-associated segment Z38 was executed, the absolute value of the difference was still 0.61A. Therefore, the tag correction result for Z38 is retained as an islanded tag.

[0054] For step S4.4, according to the order of each state-related segment in the hierarchical island label sequence, the label correction result is updated to the corresponding hierarchical island label to generate a corrected hierarchical island label sequence. Preferably, this is done by replacing the state-related segments in their original positions. That is, the order of the state-related segments in the hierarchical island label sequence is not changed; only the label category of the corresponding segment is updated to the label correction result. For example, in the original hierarchical island label sequence, Z36, Z37, and Z38 are located in the upper island layer. After processing in step S4.3, Z36 is corrected to a stable label, Z37 is corrected to a transitional label, and Z38 remains an island label. In the corrected hierarchical island label sequence, Z36 moves to the bottom stable layer, Z37 moves to the intermediate transitional layer, and Z38 remains in the upper island layer. The specific rules for forming the inverter drive control sequence in this embodiment are as follows: The inverter drive adjustment quantities are arranged sequentially according to the order of each state-related segment in the path selection sequence; when the inverter drive adjustment quantities corresponding to adjacent state-related segments belong to the same adjustment direction, the inverter drive adjustment quantities corresponding to the adjacent state-related segments are merged into a continuous control segment; when the adjustment direction of the inverter drive adjustment quantities corresponding to adjacent state-related segments changes, the position of the change in adjustment direction is used as the segment boundary to divide the preceding and following inverter drive adjustment quantities into adjacent independent control segments; the inverter drive control sequence is formed by combining each continuous control segment and each independent control segment according to their arrangement order in the path selection sequence. This sequence continues to be used as the basis for feedback correction in subsequent control cycles.

[0055] Step S4 works by feeding back the target phase current reconstruction result to the inverter drive regulation, and then using the actual feedback result after inverter drive to reverse-correct the hierarchical islanded label sequence, forming a closed-loop process of "reconstruction-control-feedback-correction". In existing technologies, the current reconstruction result and drive control are often processed separately. The former is only used as a monitoring quantity, and the latter is only output according to an independent control strategy. There is a lack of segment-level correspondence between the two, making it difficult to continuously correct the islanded segment judgment result. This step determines the inverter drive regulation quantity through the correspondence between the segment reconstruction current group and the inverter state, and then corrects the label based on the deviation relationship between the feedback current and the target phase current reconstruction result, so that the label hierarchy can be dynamically updated with the actual drive feedback. The "terminal segment discrete prediction model, probability constraint set, and alignment residual corresponding to the station target alignment pose" mentioned in your original question are still irrelevant to the current step; in this solution, the real technical idea is to use the segment deviation relationship between the inverter drive feedback result and the target phase current reconstruction result as the basis for label correction, thereby transforming the segment label from a single judgment into a sequence that can be corrected in a closed loop. The purpose of step S4 is to perform the above process to make segment-level adjustments to the inverter drive based on the target phase current reconstruction results, and to continuously correct the hierarchical islanding tag sequence through the inverter drive feedback results. The technical problem solved is that the phase current reconstruction results are not linked in a closed loop with the inverter control process, and the long-term solidification of islanding tags leads to the lag in subsequent judgments. The beneficial effect is that the inverter drive adjustment is segment-specific, the feedback results can correct the tag hierarchy in reverse, and the selection of subsequent phase current reconstruction paths is closer to the actual operating state, thereby improving the stability and continuous adjustment capability of the entire single-cell electric drive control process.

[0056] The specific rules for forming the inverter drive control sequence include: arranging the corresponding inverter drive adjustment quantities sequentially according to the order of each state-related segment in the path selection sequence; when the inverter drive adjustment quantities corresponding to adjacent state-related segments belong to the same adjustment direction, merging the inverter drive adjustment quantities corresponding to adjacent state-related segments into a continuous control segment; when the adjustment direction of the inverter drive adjustment quantities corresponding to adjacent state-related segments changes, using the position of the change in adjustment direction as the segment boundary, dividing the preceding and following inverter drive adjustment quantities into adjacent independent control segments; and combining the continuous control segments and the independent control segments in the path selection sequence to form the inverter drive control sequence.

[0057] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0058] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A single-cell electric drive control method based on phase current reconstruction, characterized in that: include, S1. Based on the physical correspondence between the single cell power supply state and the inverter state, divide the state-related segments and generate a state-related segment sequence. S2. Generate a hierarchical island tag sequence based on the phase current residual and segment transfer relationship in the state-associated segment sequence; S3. According to the layered island label sequence, select the measured reconstruction path, the observation compensation path, or the predicted reconstruction path to generate the target phase current reconstruction result; S4. Adjust the inverter drive control sequence according to the target phase current reconstruction result, and correct the hierarchical islanding tag sequence according to the inverter drive feedback result.

2. The single-cell electric drive control method based on phase current reconstruction according to claim 1, characterized in that: S1.1 Based on the sequential correspondence between the voltage change position of a single cell terminal and the switching position of the inverter bridge arm, divide the continuous power supply stable segment, the power supply disturbance segment, and the switching segment to generate an initial segment group; S1.

2. Check the overlap of the boundary positions of adjacent segments in the initial segment group, merge the continuous segments with the same boundary position into state-related segments, and retain the continuous segments with staggered boundary positions as independent state-related segments. S1.

3. Based on the direction of change of the power supply state of a single cell and the switching direction of the inverter state within the state-associated segment, determine the segment category of the state-associated segment and generate a segment category identifier. S1.4 Arrange the state-related segments according to their order of appearance in the electric drive control process, and attach the segment category identifier to the corresponding state-related segment to generate a state-related segment sequence.

3. The single-cell electric drive control method based on phase current reconstruction according to claim 2, characterized in that: The sequential correspondence between the single-cell terminal voltage change position and the inverter bridge arm conduction switching position includes: the starting position where the single-cell terminal voltage changes from a stable change to a decreasing change occurs before the inverter bridge arm conduction state switching position, and there is no other conduction switching position between the two; the starting position where the single-cell terminal voltage changes from a decreasing change to a rising change occurs after the inverter bridge arm conduction state switching position, and there is no other starting position of the voltage change between the two; when adjacent single-cell terminal voltage change positions are located on the starting and ending sides of the same inverter bridge arm conduction state, the corresponding interval of the inverter bridge arm conduction state is determined as a set of sequential correspondence intervals; the sequential correspondence is formed according to the arrangement order of each set of sequential correspondence intervals in the electric drive control process.

4. The single-cell electric drive control method based on phase current reconstruction according to claim 3, characterized in that: S2.1 Extract the deviation between the reconstructed current and the feedback current for each state-related segment in the state-related segment sequence, and form a phase current residual sequence according to the increase or decrease of the deviation between adjacent state-related segments; S2.

2. Based on the connection order between the previous state-related segment and the next state-related segment in the state-related segment sequence, extract the segment category change relationship to form a segment transition relationship sequence. S2.

3. Combine the phase current residual sequence and the segment transfer relationship sequence according to the order of the state-related segments to generate a residual transfer combination sequence; S2.

4. Based on the variation amplitude of the phase current residual and the transfer direction of the segment category in the residual transfer combination sequence, divide the segments into stable labels, transition labels and island labels, and generate a segment label sequence. S2.

5. According to the consecutive occurrence order of adjacent segment labels in the segment label sequence, the stable label segment, transition label segment and island label segment are arranged in layers to generate a layered island label sequence.

5. The single-cell electric drive control method based on phase current reconstruction according to claim 4, characterized in that: S2.1.1 Arrange the reconstructed current and feedback current in each state-related segment according to the corresponding segment to form a segment current correspondence group; S2.1.2 Determine the deviation of the corresponding state-related section based on the difference between the reconstructed current and the feedback current in the corresponding group of currents in each section. S2.1.

3. According to the order of each state-related segment in the state-related segment sequence, compare the deviation of adjacent state-related segments to determine the state of increased deviation, decreased deviation, or unchanged deviation. S2.1.

4. Based on the deviation amount corresponding to each state-related segment and the increase or decrease of the deviation amount between adjacent state-related segments, a phase current residual term is formed. S2.1.

5. The phase current residual terms are sequentially combined according to their arrangement order in the state-related segment sequence to generate a phase current residual sequence.

6. The single-cell electric drive control method based on phase current reconstruction according to claim 5, characterized in that: S3.

1. According to the arrangement order of each layered island label in the layered island label sequence, determine the path selection result of the state association segment corresponding to each layered island label, and generate a path selection sequence. S3.

2. Based on the path selection results corresponding to the stable label segment in the path selection sequence, perform measured reconstruction path for the corresponding state-related segment and generate measured reconstruction current; S3.

3. Based on the path selection results corresponding to the transition label segment in the path selection sequence, perform observation compensation path for the corresponding state-related segment to generate compensation reconstructed current; S3.

4. Based on the path selection results corresponding to the island tag segment in the path selection sequence, perform predictive reconstruction path for the corresponding state-related segment and generate predictive reconstruction current. S3.

5. According to the arrangement order of each state-related segment in the path selection sequence, the measured reconstruction current, the compensated reconstruction current and the predicted reconstruction current are combined in order to generate the target phase current reconstruction result.

7. The single-cell electric drive control method based on phase current reconstruction according to claim 6, characterized in that: The step of selecting the order of state-related segments in the path selection sequence includes: arranging the state-related segments according to their sequential positions in the state-related segment sequence; when adjacent state-related segments correspond to different reconstruction paths, maintaining the sequential connection between the end position of the reconstruction current of the previous state-related segment and the start position of the reconstruction current of the next state-related segment; when adjacent state-related segments correspond to the same reconstruction path, arranging them sequentially according to their consecutive positions in the state-related segment sequence.

8. The single-cell electric drive control method based on phase current reconstruction according to claim 7, characterized in that: S4.1 Determine the inverter drive adjustment amount corresponding to each state-related segment based on the target phase current reconstruction result, and form an inverter drive control sequence according to the arrangement order of each state-related segment in the path selection sequence; S4.

2. According to the control order of each state-related segment corresponding to the inverter drive control sequence, the inverter drive state is sequentially adjusted to form an inverter drive feedback result. S4.

3. Based on the deviation relationship between the inverter drive feedback result and the target phase current reconstruction result, determine the label correction result corresponding to each state-related segment; S4.

4. According to the order of the state-related segments in the hierarchical island label sequence, update the label correction results to the corresponding hierarchical island labels to generate the corrected hierarchical island label sequence.

9. The single-cell electric drive control method based on phase current reconstruction according to claim 8, characterized in that: S4.1.

1. The target phase current reconstruction results corresponding to each state-related segment are assigned to the corresponding segments to form segment reconstruction current groups; S4.1.

2. Based on the inverter state of the reconstructed current group of each section and the inverter state of the corresponding state-related section, determine the inverter drive adjustment amount of the corresponding state-related section. S4.1.

3. Perform a front-to-back connection check on the inverter drive adjustment amount of adjacent state related sections, merge the inverter drive adjustment amounts with the same adjustment direction into continuous adjustment segments, and retain the inverter drive adjustment amounts with changed adjustment directions as independent adjustment segments. S4.1.

4. Arrange the continuous adjustment segment and the independent adjustment segment sequentially according to the order of the state-related segments in the path selection sequence to form an inverter drive control sequence.

10. The single-cell electric drive control method based on phase current reconstruction according to claim 9, characterized in that: The specific rules for forming the inverter drive control sequence include: arranging the corresponding inverter drive adjustment quantities sequentially according to the order of each state-related segment in the path selection sequence; when the inverter drive adjustment quantities corresponding to adjacent state-related segments belong to the same adjustment direction, merging the inverter drive adjustment quantities corresponding to adjacent state-related segments into a continuous control segment; when the adjustment direction of the inverter drive adjustment quantities corresponding to adjacent state-related segments changes, using the position of the change in adjustment direction as the segment boundary, dividing the preceding and following inverter drive adjustment quantities into adjacent independent control segments; and combining the continuous control segments and the independent control segments in the path selection sequence to form the inverter drive control sequence.

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