Pixel circuit and method of controlling the same, display panel and display device

A pixel circuit, comprising:

• a light-emitting control sub-circuit connected to a data signal terminal, a first control terminal and a first node, and configured to transmit a data voltage at the data signal terminal to the first node under control of the first control terminal;
• a driving sub-circuit connected to the first node, a first power supply terminal and a second node, and configured to transmit a first power supply voltage at the first power supply terminal VDD to the second node N2 under control of a voltage at the first node;
• a first sensing sub-circuit connected to the first control terminal, the second node and a first sensing signal terminal, and configured to maintain a voltage at the second node to be at a fixed level under control of the first control terminal;
• a second sensing sub-circuit connected to a second control terminal, the first sensing signal terminal and the second node, and configured to transmit the voltage at the second node to the first sensing signal terminal under control of the second control terminal, so that the first sensing signal terminal senses a voltage associated with a threshold voltage of the driving sub-circuit, and
• a light-emitting unit having an anode connected to the second node, and a cathode connected to a ground terminal,
• wherein the first control terminal and the second control terminal are driven by different control signals, and the light-emitting control sub-circuit performs threshold voltage compensation on the driving sub-circuit based on a compensation voltage which is obtained according to the voltage sensed at the first sensing signal terminal under control of the first control terminal.