CN103532189A - Battery pack balancing control system and control method on basis of dynamic balance point - Google Patents

Battery pack balancing control system and control method on basis of dynamic balance point Download PDF

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CN103532189A
CN103532189A CN201310476602.XA CN201310476602A CN103532189A CN 103532189 A CN103532189 A CN 103532189A CN 201310476602 A CN201310476602 A CN 201310476602A CN 103532189 A CN103532189 A CN 103532189A
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battery pack
cell
voltage
frequency
battery
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CN103532189B (en
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朱国荣
邱实
林鹏
何少佳
张东华
陈伟
马燕
刘芙蓉
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Wuhan University of Technology WUT
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Abstract

The invention discloses a battery pack balancing control system and a control method on the basis of a dynamic balance point. The system comprises a battery pack, a voltage sampling circuit, a balancing main circuit and a balancing control circuit. The balancing control circuit is used for comparing a voltage value of each single battery and respectively regulating frequencies of power switch tubes corresponding to the single batteries and controlling the frequencies of the power switch tubes to track a balance frequency of the battery pack in a dynamic balance state when a voltage difference of different single batteries exceeds a preset threshold value, wherein the dynamic balance state is a state when energy released by each battery of the battery pack and energy adsorbed by the battery in each switching period are equal; and the balance frequency is the frequency of each power switch tube in the dynamic balance state. According to the invention, all the single batteries in the battery pack can almost simultaneously reach balance, the balancing speed and efficiency are improved, overcharge and over-discharge damage caused by inconsistency of the single batteries is prevented, and service life of the battery pack is prolonged.

Description

Battery pack balancing control system and control method based on dynamic equalization point
Technical field
The present invention relates to battery voltage balanced technical field, relate in particular to a kind of battery pack balancing control system and control method based on dynamic equalization point.
Background technology
Due to being on the rise of energy crisis and problem of environmental pollution, the development space of new energy technology is more and more extensive, and the whole world is also more urgent to the demand of new energy technology.As lithium battery has that energy density is high, power density is high, the advantage such as long service life and cost performance height, in new forms of energy application, possess extremely strong development potentiality.The rated voltage of lithium battery monomer is about 3.65V, in order to meet the voltage requirements of pure electric automobile, conventionally a large amount of cells is together in series to the power that provides enough.But battery has also caused the problem of inconsistency of some problems, particularly cell when connecting.These problems directly cause battery in charge and discharge cycles process, occur overcharging phenomenon or overdischarge phenomenon, thereby significantly reduce the performance of whole battery pack and shorten its useful life, even cause the spontaneous combustion of battery.Because the imbalance problem in serial lithium battery group between cell has directly delayed its process at large capacity applications field high speed development, so take a kind of technological means of necessity to realize balanced control effectively, be the key that lithium battery further develops.
At present, common cell balancing can be divided into dissipative equalization (passive equilibrium) and balanced (active equalization) both direction of non-dissipative type.
Dissipative equalization wherein, can the energy by the high battery cell of consumes power is to reach whole balanced object, has realized the equilibrium of lithium battery group, but has wasted energy although reliable and effective, do not meet the requirement of energy-conserving and environment-protective.
Yet the circuit structure relative complex of non-dissipative type equilibrium, causes the equilibrium of battery pack to be difficult to take into account rapidity, stability and high efficiency, so need the control system of a set of practicality and high efficiency to improve its performance.Most of balanced control strategy is all the PFM control model based on cell voltage difference, but owing to not providing a definite frequency values, so be difficult to the magnetic element in design circuit.
Summary of the invention
The technical problem to be solved in the present invention is, for cannot effectively carrying out the balanced defect of controlling to battery pack in prior art, to provide a kind of battery pack balancing control system and control method that improves battery pack balancing speed and efficiency.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of battery pack balancing control system based on dynamic equalization point is provided, comprises:
Battery pack, comprises the cell of a plurality of series connection;
Voltage sampling circuit, is connected with battery pack, gathers the magnitude of voltage of each cell;
Balanced main circuit, is connected with battery pack, for the energy between cell, shifts, and comprises the power switch pipe corresponding with cell and inductance;
Balancing control circuit, be connected with balanced main circuit with voltage collection circuit, for comparing the magnitude of voltage of each cell, when the voltage difference of different monomers battery surpasses pre-set threshold value, regulate respectively the frequency of the power switch pipe corresponding with cell, the balance frequency of the frequency tracking battery pack of power ratio control switching tube under dynamic equalization state; When the magnitude of voltage of each cell in battery pack reaches unanimity, stop balanced control;
Wherein, every batteries that dynamic equalization state is battery pack discharges the state while equating with the energy absorbing in each switch periods, and balance frequency is the frequency of power switch pipe under dynamic equalization state.
In system of the present invention, described balancing control circuit comprises microprocessor and drive circuit, and microprocessor is connected with voltage collection circuit, and drive circuit connects with the power switch pipe of balanced main circuit.
In system of the present invention, this balancing control circuit also comprises FPGA module, be connected between microprocessor and drive circuit, microprocessor sends PFM control signal by this FPGA module to drive circuit, and the duty ratio of this PFM control signal is for to preset according to balanced main circuit.
In system of the present invention, this system comprises a plurality of described battery pack, between battery pack, connects, and balanced main circuit carries out, in the balanced process regulating, also a plurality of battery pack being carried out to equilibrium simultaneously and regulating at the cell in each battery pack.
In system of the present invention, the corresponding cell of each inductance in described balanced main circuit, pass between the value of each inductance is to preset, specifically according under dynamic equalization state, cell absorb and release energy between relation and the frequency relation between power switch pipe derive.
The present invention solves another technical scheme that its technical problem adopts:
A kind of battery pack balancing control method based on dynamic equalization point is provided, comprises the following steps:
In S1, collection battery pack, the magnitude of voltage of cell, is connected in series between cell;
The magnitude of voltage of S2, each cell of comparison, when the voltage difference of different monomers battery surpasses pre-set threshold value, regulate respectively the frequency of the power switch pipe corresponding with cell, the balance frequency of the frequency tracking battery pack of power ratio control switching tube under dynamic equalization state; This balance frequency is the frequency of energy that every batteries of battery pack discharges in each switch periods corresponding power switching tube while equating with the energy of absorption;
When the magnitude of voltage of S3, each cell in battery pack reaches unanimity, stop balanced control.
In method of the present invention, in step S2, if the difference of voltage minimum is larger in a monomer battery voltage value and battery pack, the frequency of power switch pipe of controlling this cell is lower; If the difference of a monomer battery voltage value and voltage minimum is less, the frequency of power switch pipe of controlling this cell is higher, to improve balancing speed.
In method of the present invention, if there are a plurality of battery pack, at the cell in each battery pack, carry out in the balanced process regulating, also to carrying out equilibrium between a plurality of battery pack, regulate simultaneously.
The beneficial effect that the present invention produces is: the present invention is by the magnitude of voltage of cell in high-accuracy voltage Acquisition Circuit Real-time Collection battery pack, when certain batteries magnitude of voltage surpasses threshold values with the difference of monomer battery voltage minimum, open balanced, control circuit is according to the frequency of the size adjustment corresponding power switching tube of described voltage difference, make the cell that difference is larger obtain larger euqalizing current, and finally make all battery cells in battery pack almost reach balanced simultaneously.The present invention can effectively reduce the number of times that energy in balancing procedure transmits, thereby reduces energy consumption, improves balancing speed and efficiency, has prevented the super-charge super-discharge harm that the inconsistency of cell is brought, and has extended the useful life of battery pack.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the structural representation of the battery pack balancing control system of the embodiment of the present invention based on dynamic equalization point;
Fig. 2 is the structural representation of the battery pack balancing control system of another embodiment of the present invention based on dynamic equalization point;
Fig. 3 is embodiment of the present invention electric voltage equalization main circuit schematic diagram;
Fig. 4 is embodiment of the present invention sample circuit schematic diagram;
Fig. 5 is the battery pack balancing control method flow chart that the embodiment of the present invention is followed the trail of dynamic equalization point.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
The battery pack balancing control system of the embodiment of the present invention, as shown in Figure 1, comprises battery pack 10, voltage sampling circuit 20, balanced main circuit 30 and balancing control circuit 40.Battery in battery pack 10 is the battery of one species.Battery pack 10 can be such as lithium battery group or lead accumulator group.The battery pack 10 of the embodiment of the present invention be take and comprised that the lithium battery of four series connection is example.Wherein:
Battery pack 10, comprises cell B1, B2, B3 and the B4 of a plurality of series connection;
Voltage sampling circuit 20, is connected with battery pack 10, gathers the magnitude of voltage of each cell;
Balanced main circuit 30, is connected with battery pack 10, for the energy between cell, shifts, and as shown in Figure 3, comprises power switch pipe Q1, Q2, Q3, the Q4 corresponding with cell, inductance L 1, L2, L3, L4; The ratio of batteries monomer cell number and power demand switching tube, energy storage inductor quantity is 1:1:1.
Balancing control circuit 40, be connected with balanced main circuit 30 with voltage collection circuit 20, for comparing the magnitude of voltage of each cell, when the voltage difference of different monomers battery surpasses pre-set threshold value, regulate respectively the frequency of the power switch pipe corresponding with cell, the balance frequency of the frequency tracking battery pack of power ratio control switching tube under dynamic equalization state; When the magnitude of voltage of each cell in battery pack reaches unanimity, stop balanced control; Can in balancing control circuit, set in advance and start the balanced condition of controlling and the control strategy in balancing procedure.
Wherein, state when dynamic equalization state (being dynamic equalization point) equates with the energy absorbing for every batteries of battery pack discharges in each switch periods, can think that the magnitude of voltage of each cell equates under this dynamic equalization state, the frequency of corresponding power switch pipe is equal, and balance frequency is the frequency of power switch pipe under dynamic equalization state.
In the embodiment of the present invention, the corresponding cell of each inductance in described balanced main circuit, pass between the value of each inductance is to preset, specifically according under dynamic equalization state, cell absorb and release energy between relation and the frequency relation between power switch pipe derive, refer to below.
The operation principle of the balanced main circuit 30 shown in Fig. 3 is as follows:
When switching tube Q1 conducting, the energy of battery B1 is stored in inductance L 1 via B1-Q1-L1-B1 loop, and when Q1 turn-offs, the energy being stored in L1 is discharged in battery B2, B3 and B4 via L1-B2-B3-B4-D1-L1 loop; When switching tube Q2 conducting, the energy of battery B2 is stored in inductance L 2 via B2-L2-Q2-B2 loop, and when Q2 turn-offs, the energy being stored in L2 is discharged in battery B1 via L2-D2-B1-L2 loop; When switching tube Q3 conducting, the energy of battery B3 is stored in inductance L 3 via B3-L3-Q3-B3 loop, and when Q3 turn-offs, the energy being stored in L3 is discharged in battery B1 and B2 via L3-D3-B1-B2-L3 loop; When switching tube Q4 conducting, the energy of battery B4 is stored in inductance L 4 via B4-L4-Q4-B4 loop, and when Q4 turn-offs, the energy being stored in L4 is discharged in battery B1, B2 and B3 via L4-D4-B1-B2-B3-L4 loop.
Visible, the structure of the balanced main circuit 30 adopting in the embodiment of the present invention has following characteristics, when battery cell is in battery pack during different position, its corresponding energy storage inductor discharge loop is different, the size of euqalizing current is also different, according to circuit theory, can derive euqalizing current I n, avrelational expression:
I n , av = I n , on + I n , off = V B n D 2 T n 2 L n * ( 1 + 1 3 ) , n = 1 V B n D 2 T n 2 L n * ( 1 + 1 n - 1 ) , n ≠ 1 . - - - ( 1 )
Wherein be the magnitude of voltage at n batteries two ends, D is duty ratio, T nfor switch periods, L nfor inductance value, I n, onand I n, offrepresent respectively the average current size in switching tube make and break process.
In described balanced main circuit, because the size of euqalizing current is relevant to battery present position, in order to make in every batteries balancing procedure accessible maximum euqalizing current identical, in the present embodiment, the value of each inductance has been carried out to independent design.
When switching tube is opened, inductance L nvoltage expression formula be:
V B n = L n di dt , - - - ( 2 )
Because switch periods is very short, note
di = Δ I n dt = D T n , - - - ( 3 )
The peak current Δ I of inductance nexpression formula be:
Δ I n = V B n D T n L n = V B n D L n f n , - - - ( 4 )
Wherein, f nswitching tube Q nswitching frequency.
Battery B in one-period nthe energy discharging is counted W n, according to formula W=UIt, W nexpression formula be:
W n = 1 2 V B n Δ I n DT , - - - ( 5 )
By in (4) substitution (5), can obtain
W n = V B n 2 D 2 2 L n f n 2 . - - - ( 6 )
When all cells are during in the work of dynamic equalization point, the energy@V that each cell absorbs,, ' expression formula is as follows,
W 1 ' = W 2 + 1 2 W 3 + 1 3 W 4 W 2 ' = 1 3 W 1 + 1 2 W 3 + 1 3 W 4 W 3 ' = 1 3 W 1 + 1 3 W 4 W 4 ' = 1 3 W 1 , - - - ( 7 )
When in dynamic equalization point, the energy that each battery absorbs equates with the energy of release, i.e. W' n=W n, release
V B 1 2 D 2 2 L 1 f 1 2 = V B 2 2 D 2 2 L 2 f 2 2 + 1 2 V B 3 2 D 2 2 L 3 f 3 2 + 1 3 V B 4 2 D 2 2 L 4 f 4 2 V B 2 D 2 2 L 2 f 2 2 = 1 3 V B 1 2 D 2 2 L 1 f 1 2 + 1 2 V B 3 2 D 2 2 L 3 f 3 2 + 1 3 V B 4 2 D 2 2 L 4 f 4 2 V B 3 2 D 2 2 L 3 f 3 2 = 1 3 V B 1 2 D 2 2 L 1 f 1 2 + 1 3 V B 4 2 D 2 2 L 4 f 4 2 V B 4 2 D 2 2 L 4 f 4 2 = 1 3 V B 1 2 D 2 2 L 1 f 1 2 . - - - ( 8 )
When all battery operated during in dynamic equalization point, f 1=f 2=f 3=f 4, formula (8) can abbreviation be:
L 2 = 3 2 L 1 L 3 = 9 4 L 1 L 4 = 3 L 1 , - - - ( 9 )
In the present embodiment, suppose that euqalizing current size is for 3A, duty ratio is 0.38, inductance value L 1=4 μ H are f l=29.281kHz, f 2=29.281kHz, f 3=14.641hHz, f 4=9.760kHz.
From formula (1), can find out, average isostatic electric current and switching frequency are inversely proportional to.Euqalizing current is larger, and balancing speed is faster, but excessive euqalizing current may cause in switch periods battery to discharge or the energy of hyperabsorption, needs more switch periods to complete equilibrium.To cause too much energy degree of transitivity, thereby reduce balanced efficiency and balancing speed.Consider, the present embodiment is got its mean value f 0=(f 1+ f 2+ f 3+ f 4)/4=20.741kHz, as the frequency values of dynamic equalization point, can effectively reduce the number of times that energy transmits, thereby reduces energy consumption, improves balanced efficiency.
Fig. 4 is the sampling with high precision circuit theory diagrams that the embodiment of the present invention adopts, and high precision operating amplifier and precision resistance that wherein difference channel uses can be brought up to voltage sample precision in 10mV.
The concrete derivation of duty ratio D is as follows:
The balanced main circuit 30 of the embodiment of the present invention is based on DC-DC converter design.DC-DC converter has two kinds of mode of operations: continuous current mode (CCM) and discontinuous current pattern (DCM).In order to prevent hysteresis & saturation, DC-DC converter must operate under discontinuous current pattern.Under discontinuous current pattern, inductance can discharge absorbed energy completely when switching tube disconnects.DC-DC converter works under discontinuous mode, and duty ratio need meet some requirements, and derivation is as follows.
With switching tube Q n(n=1 ..., N) L nthe voltage at two ends is designated as when switching tube turn-offs, inductance L nthe voltage at two ends is designated as concerning first switching tube, equal the voltage sum of following all batteries; Concerning other switching tube, equal above all cell voltage sums.T nand T crrefer to respectively switching tube Q nswitch periods and inductive current reduce to for zero the moment.
The expression formula of inductive current is as follows:
i L n = V B n L n t , 0 &le; t < D T n V B n L n D T n - V O n L n ( t - D T n ) , D T n &le; t < T cr 0 , T cr &le; t &le; T n , - - - ( 10 )
Due to, work as t=T crtime, inductive current t=T ntime,
V B n L n D T n - V O n L n ( T n - D T n ) < 0 , - - - ( 11 )
Further derivation can obtain
D < V O n V B n + V O n = 1 V B n V O n + 1 . - - - ( 12 )
For guaranteeing that switching tube works under DCM pattern, no matter value be how many, inequality (12) must be set up.According to main circuit, inequality (12) can be divided into following four kinds of situation discussion.
n = 1 , D < 1 V B 1 V B 2 + V B 3 + V B 4 , - - - ( 13 )
n = 2 , D < 1 V B n V B 1 + 1 , - - - ( 14 )
n = 3 , D < 1 V B 3 V B 1 + V B 2 + 1 - - - ( 15 )
n = 4 , D < 1 V B 4 V B 1 + V B 2 + V B 3 + 1 . - - - ( 16 )
Obviously, when duty ratio meets inequality (14), also must meet inequality (13), (15), (16).Because the operating voltage range of lithium battery is 2.5V-3.65V, set<img TranNum="207" file="BDA0000394794660000089.GIF" he="92" img-content="drawing" img-format="GIF" inline="yes" orientation="portrait" wi="334"/><img TranNum="208" file="BDA0000394794660000091.GIF" he="93" img-content="drawing" img-format="GIF" inline="yes" orientation="portrait" wi="305"/>critical value D<0.4065 that just can obtain duty ratio thinks and guarantees that converter works under discontinuous current pattern, and duty ratio must be less than 0.4056.The value that the embodiment of the present invention is got duty ratio D is 0.38.
As shown in Figure 1, the balancing control circuit 40 of the embodiment of the present invention comprises microprocessor 41 and drive circuit 42, and microprocessor 41 is connected with voltage collection circuit 20, and drive circuit 42 connects with the power switch pipe of balanced main circuit 30.Each power switch pipe can a corresponding drive circuit.
In one embodiment of the present of invention, if this system comprises a plurality of battery pack, between battery pack, connect, balanced main circuit 30 carries out, in the balanced process regulating, also a plurality of battery pack being carried out to equilibrium simultaneously and regulating at the cell in each battery pack.In a preferred embodiment of the present invention, the corresponding equalizing circuit of each battery pack, is also connected with an equalizing circuit between a plurality of battery pack, for the equilibrium between battery pack, regulates.Be understandable that, when having a plurality of equalizing circuit, these equalizing circuits can be integrated in a module.
In the time need to carrying out equilibrium control to a large amount of series batteries, need transmit control signal to roads up to a hundred drive circuit, realize the equilibrium of a large amount of series batteries and control.As shown in Figure 2, in another embodiment of the present invention, utilize the advantage that FPGA output interface is many, the speed of service is fast, in balancing control circuit 40, increase FPGA module 43, be connected between microprocessor 41 and drive circuit 42, microprocessor sends PFM(pulse frequency modulated Pulse Frequency Modulation by this FPGA module to drive circuit) control signal.The frequency of this PFM control signal changes with input signal amplitude, and its duty ratio is constant.
The embodiment of the present invention is followed the trail of the battery pack balancing control method of dynamic equalization point, as shown in Figure 5, comprises the following steps:
In S501, collection battery pack, the magnitude of voltage of cell, is connected in series between cell;
The magnitude of voltage of S502, each cell of comparison;
The voltage difference of S503, judgement different monomers battery is enough to surpass pre-set threshold value;
When if the voltage difference of S504 different monomers battery surpasses pre-set threshold value, regulate respectively the frequency of the power switch pipe corresponding with cell, the balance frequency of the frequency tracking battery pack of power ratio control switching tube under dynamic equalization state; This balance frequency is the frequency of energy that every batteries of battery pack discharges in each switch periods corresponding power switching tube while equating with the energy of absorption;
When the magnitude of voltage of each cell in battery pack reaches unanimity, stop balanced control.
In step S502, if the difference of voltage minimum is larger in a monomer battery voltage value and battery pack, the frequency of power switch pipe of controlling this cell is lower; If the difference of a monomer battery voltage value and voltage minimum is less, the frequency of power switch pipe of controlling this cell is higher, to improve balancing speed.
If there are a plurality of battery pack, at the cell in each battery pack, carry out, in the balanced process regulating, also a plurality of battery pack being carried out to equilibrium simultaneously and regulating.
The battery pack balancing control method of the tracking dynamic equalization point of the embodiment of the present invention is by the magnitude of voltage of cell in high-accuracy voltage Acquisition Circuit Real-time Collection battery pack, when certain batteries magnitude of voltage surpasses threshold values with the difference of monomer battery voltage minimum, open balanced, control circuit is according to the frequency of the size adjustment corresponding power switching tube of described voltage difference, make the cell that difference is larger obtain larger euqalizing current, can make all battery cells in battery pack almost reach balanced simultaneously, balancing speed and efficiency have been improved, prevented the super-charge super-discharge harm that the inconsistency of cell is brought, extended the useful life of battery pack.
Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improvement and conversion all should belong to the protection range of claims of the present invention.

Claims (8)

1. the battery pack balancing control system based on dynamic equalization point, is characterized in that, comprising:
Battery pack, comprises the cell of a plurality of series connection;
Voltage sampling circuit, is connected with battery pack, gathers the magnitude of voltage of each cell;
Balanced main circuit, is connected with battery pack, for the energy between cell, shifts, and comprises the power switch pipe corresponding with cell and inductance;
Balancing control circuit, be connected with balanced main circuit with voltage collection circuit, for comparing the magnitude of voltage of each cell, when the voltage difference of different monomers battery surpasses pre-set threshold value, regulate respectively the frequency of the power switch pipe corresponding with cell, the balance frequency of the frequency tracking battery pack of power ratio control switching tube under dynamic equalization state; When the magnitude of voltage of each cell in battery pack reaches unanimity, stop balanced control;
Wherein, every batteries that dynamic equalization state is battery pack discharges the state while equating with the energy absorbing in each switch periods, and balance frequency is the frequency of power switch pipe under dynamic equalization state.
2. system according to claim 1, is characterized in that, described balancing control circuit comprises microprocessor and drive circuit, and microprocessor is connected with voltage collection circuit, and drive circuit connects with the power switch pipe of balanced main circuit.
3. system according to claim 2, it is characterized in that, this balancing control circuit also comprises FPGA module, be connected between microprocessor and drive circuit, microprocessor sends PFM control signal by this FPGA module to drive circuit, and the duty ratio of this PFM control signal is for to preset according to balanced main circuit.
4. system according to claim 3, it is characterized in that, this system comprises a plurality of described battery pack, between battery pack, connects, balanced main circuit carries out, in the balanced process regulating, also a plurality of battery pack being carried out to equilibrium simultaneously and regulating at the cell in each battery pack.
5. system according to claim 4, it is characterized in that, the corresponding cell of each inductance in described balanced main circuit, pass between the value of each inductance is to preset, specifically according under dynamic equalization state, cell absorb and release energy between relation and the frequency relation between power switch pipe derive.
6. the battery pack balancing control method based on dynamic equalization point, is characterized in that, comprises the following steps:
In S1, collection battery pack, the magnitude of voltage of cell, is connected in series between cell;
The magnitude of voltage of S2, each cell of comparison, when the voltage difference of different monomers battery surpasses pre-set threshold value, regulate respectively the frequency of the power switch pipe corresponding with cell, the balance frequency of the frequency tracking battery pack of power ratio control switching tube under dynamic equalization state; This balance frequency is the frequency of energy that every batteries of battery pack discharges in each switch periods corresponding power switching tube while equating with the energy of absorption;
When the magnitude of voltage of S3, each cell in battery pack reaches unanimity, stop balanced control.
7. method according to claim 6, is characterized in that, in step S2, if the difference of voltage minimum is larger in a monomer battery voltage value and battery pack, the frequency of power switch pipe of controlling this cell is lower; If the difference of a monomer battery voltage value and voltage minimum is less, the frequency of power switch pipe of controlling this cell is higher, to improve balancing speed.
8. method according to claim 7, is characterized in that, if there are a plurality of battery pack, at the cell in each battery pack, carries out in the balanced process regulating, and also to carrying out equilibrium between a plurality of battery pack, regulates simultaneously.
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