CN104682469A - Energy management device and method - Google Patents
Energy management device and method Download PDFInfo
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- CN104682469A CN104682469A CN201310631178.1A CN201310631178A CN104682469A CN 104682469 A CN104682469 A CN 104682469A CN 201310631178 A CN201310631178 A CN 201310631178A CN 104682469 A CN104682469 A CN 104682469A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an energy management device. The energy management device comprises an energy transfer unit and an allocation control unit, wherein the energy transfer unit is electrically connected to a high-power energy storing device, a high-energy energy storing device, at least one energy load of a carrier, and can be electrically connected to an external energy source; the allocation control unit is at least used for generating and outputting an allocation control signal to the energy transfer unit according to the residual electric quantity of the energy storing device, whether or not the energy transfer unit is electrically connected to the external energy source, and the position of the carrier, so that the energy transfer unit can perform energy transfer among the high-power energy storing device, the high-energy energy storing device, the external energy source and the energy load according to the allocation control signal, particularly energy transfer from the high-power energy storing device and the external energy source to the energy load, and energy transfer from the high-power energy storing device and the high-energy energy storing device to the energy load.
Description
Technical field
The present invention relates to a kind of energy management technology, particularly relate to a kind of energy management apparatus for a carrier and method.
Background technology
No. 8027760th, United States Patent (USP) discloses a kind of existing energy management method, for carrying out the energy management of an electric motor car.Electric motor car comprises a super capacitor, a battery and multiple energy load (such as motor, air-conditioning etc.).According to existing energy management method, when electric motor car is in a preset charged scope relative to a charging station, by charging station, super capacitor and battery are charged, and the energy needed for supplying energy load, and when electric motor car is when chargeable range is outer, energy first needed for the load of super capacitor supplying energy, then when the residual electricity of super capacitor is down to minimum, the energy just needed for battery supplied energy load.
But, the source that existing energy management method is changing energy load institute energy requirement (such as changes into by super capacitor supplying energy from by charging station supplying energy, and change into by battery supplied energy from by super capacitor supplying energy) time, adopt direct switching mode, this can cause the input power of energy load to occur larger temporary decline, and electric motor car can not smoothly be advanced.In addition, existing energy management method does not make restriction to the electric discharge of battery, and this can shorten the useful life of battery.
Summary of the invention
An object of the present invention is to provide a kind of energy management apparatus, can improve at least one shortcoming of background technology.
Energy management apparatus of the present invention is adapted to be mounted to a carrier.This carrier comprises a high power energy storage device, a high-energy energy storage device and at least one energy load.The power density of this high power energy storage device is greater than the power density of this high-energy energy storage device.The energy density of this high-energy energy storage device is greater than the energy density of this high power energy storage device.This energy management apparatus comprises an energy trasfer unit and an allotment control unit.This energy trasfer unit is suitable for being electrically connected to this high power energy storage device, this high-energy energy storage device and this energy load, and when this carrier is in a chargeable range preset relative to an external energy source, this energy trasfer unit can be electrically connected to this external energy source.This allotment control unit is electrically connected to this energy trasfer unit, at least whether be electrically connected to this external energy source according to the residual electricity of this high power energy storage device, the residual electricity of this high-energy energy storage device, this energy trasfer unit, and the position of this carrier, produce an allotment control signal, and export this allotment control signal to this energy trasfer unit so that this energy trasfer unit according to this allotment control signal perform this high power energy storage device, this high-energy energy storage device, this external energy source and this energy load between energy trasfer.When this allotment control unit judges that this energy trasfer unit is electrically connected to this external energy source and this carrier is mobile away from this external energy source, this energy trasfer unit responds this allotment control signal, perform the energy trasfer to this energy load both only originating from this external energy source or from this high power energy storage device and this external energy, this energy trasfer unit performs the position which kind of energy trasfer depends on this carrier.When this allotment control unit judge this energy trasfer unit be not electrically connected to this external energy source, this high-energy energy storage device residual electricity be greater than one preset the first lower limit and the residual electricity of this high power energy storage device be greater than one preset the second lower limit time, this energy trasfer unit responds this allotment control signal, perform only from this high power energy storage device or from this high power energy storage device and this both high-energy energy storage device to the energy trasfer of this energy load, this energy trasfer unit performs the residual electricity which kind of energy trasfer depends on this high power energy storage device.
Energy management apparatus of the present invention, also comprises a power demand evaluation unit.The driving condition of this power demand evaluation unit according to this carrier and the mode of operation of this energy load, estimate the estimated power needed for this carrier, to produce the estimating signal of this estimated power of instruction.This allotment control unit is also electrically connected to this power demand evaluation unit to receive the estimating signal from this power demand evaluation unit, and this estimated power also indicated by this estimating signal produces this allotment control signal.When this energy trasfer unit responds this allotment control signal, perform when only originating the energy trasfer of this energy load from this external energy, the power output in this external energy source is same as this estimated power.When this energy trasfer unit responds this allotment control signal, when performing the energy trasfer from both this high power energy storage device and this external energy source to this energy load, the power output in the power output of this high power energy storage device and this external energy source is all relevant with the position of this carrier, and the summation of power output that the power output of this high power energy storage device and this external energy are originated is same as this estimated power.When this energy trasfer unit responds this allotment control signal, when performing only from this high power energy storage device to the energy trasfer of this energy load, the power output of this high power energy storage device is same as this estimated power.When this energy trasfer unit responds this allotment control signal, when performing from this high power energy storage device and this both high-energy energy storage device to the energy trasfer of this energy load, the power output of this high power energy storage device and the power output of this high-energy energy storage device are all relevant with the residual electricity of this high power energy storage device, and the summation of the power output of the power output of this high power energy storage device and this high-energy energy storage device is same as this estimated power.
In energy management apparatus of the present invention, this chargeable range be defined at be associated with this external energy source one preset in-position and one preset disengaging configuration between, and have one be positioned between this in-position and this disengaging configuration preset switching position.
In energy management apparatus of the present invention, when this allotment control unit judges that this energy trasfer unit is electrically connected to this external energy source and this carrier is mobile away from this external energy source, if the position of this carrier is between this in-position and this switching position, this energy trasfer unit responds this allotment control signal, perform the energy trasfer of this energy load of only originating from this external energy, if the position of this carrier is between this switching position and this disengaging configuration, this energy trasfer unit responds this allotment control signal, perform the energy trasfer from both this high power energy storage device and this external energy source to this energy load, the power output Pes in the power output Php of this high power energy storage device and this external energy source is as follows respectively:
Pes=(L2-L)/(L2-L1)×Pset1，
Php=PR-Pes，
Wherein, L is the position of this carrier, and L1 is this switching position, and L2 is this disengaging configuration, and Pset1 is first set value of the power preset, and PR is this estimated power.
In energy management apparatus of the present invention, when this allotment control unit judges that this energy trasfer unit is not electrically connected to this external energy source, the residual electricity of this high-energy energy storage device be greater than this first lower limit and the residual electricity of this high power energy storage device is greater than this second lower limit time, if the residual electricity of this high power energy storage device is greater than the threshold value preset of this second lower limit, this energy trasfer unit responds this allotment control signal, only perform from this high power energy storage device to the energy trasfer of this energy load, if the residual electricity of this high power energy storage device is less than this threshold value, this energy trasfer unit responds this allotment control signal, perform from this high power energy storage device and this both high-energy energy storage device to the energy trasfer of this energy load, the power output Php of this high power energy storage device and the power output Phe of this high-energy energy storage device is as follows respectively:
Php=(Qhp-Q2)/(Q1-Q2)×Pset2，
Phe=PR-Php，
Wherein, Qhp is the residual electricity of this high power energy storage device, and Q1 is this threshold value, and Q2 is this second lower limit, and Pset2 is second set value of the power preset, and PR is this estimated power.
In energy management apparatus of the present invention, when this allotment control unit judges that this energy trasfer unit is electrically connected to this external energy source and this carrier is not when originating mobile away from this external energy, this energy trasfer unit responds this allotment control signal, performs the energy trasfer of at least one this high power energy storage device, this high-energy energy storage device and this energy load of originating from this external energy.
In energy management apparatus of the present invention, when this allotment control unit judge this energy trasfer unit be not electrically connected to this external energy source and the residual electricity of this high-energy energy storage device be not more than this first lower limit time, this energy trasfer unit responds this allotment control signal, only perform from this high-energy energy storage device to the energy trasfer of this energy load, the power output of this high-energy energy storage device is the smaller in this estimated power and first power limit preset, when this allotment control unit judges that this energy trasfer unit is not electrically connected to this external energy source, the residual electricity of this high-energy energy storage device be greater than this first lower limit and the residual electricity of this high power energy storage device is not more than this second lower limit time, this energy trasfer unit responds this allotment control signal, only perform from this high-energy energy storage device to the energy trasfer of this energy load, the power output of this high-energy energy storage device is the smaller in this estimated power and second power limit preset, this second power limit is greater than this first power limit.
In energy management apparatus of the present invention, this allotment control unit obtains this second power limit according to the output voltage of this high-energy energy storage device and a upper current limit value preset.
Another object of the present invention is to provide a kind of energy management method, at least one shortcoming of background technology can be improved.
Energy management method of the present invention utilizes one to be installed on the energy management apparatus of a carrier to carry out the energy management of this carrier.This carrier comprises a high power energy storage device, a high-energy energy storage device and at least one energy load.The power density of this high power energy storage device is greater than the power density of this high-energy energy storage device.The energy density of this high-energy energy storage device is greater than the energy density of this high power energy storage device.This energy management apparatus is electrically connected to this high power energy storage device, this high-energy energy storage device and this energy load, and when this carrier is in a chargeable range preset relative to an external energy source, this energy management apparatus can be electrically connected to this external energy source.This energy management method comprises following steps: (A), when this energy management apparatus is electrically connected to this external energy source, by this energy management apparatus, according to the position of this carrier, judges that whether this carrier is mobile away from this external energy source; (B) when judging that in step (A) this carrier is mobile away from this external energy source, by this energy management apparatus, at least according to the position of this carrier, perform the energy trasfer to this energy load both only originating from this external energy source or from this high power energy storage device and this external energy, this energy management apparatus performs the position which kind of energy trasfer depends on this carrier; (C) when this energy management apparatus is not electrically connected to this external energy source, by this energy management apparatus, judge whether the residual electricity of this high-energy energy storage device is greater than first lower limit preset; (D) when judging that the residual electricity of this high-energy energy storage device is greater than this first lower limit in step (C), by this energy management apparatus, judge whether the residual electricity of this high power energy storage device is greater than second lower limit preset; And (E) when judging that the residual electricity of this high power energy storage device is greater than this second lower limit in step (D), by this energy management apparatus, at least according to the residual electricity of this high power energy storage device, perform only from this high power energy storage device or from this high power energy storage device and this both high-energy energy storage device to the energy trasfer of this energy load, this energy management apparatus performs the residual electricity which kind of energy trasfer depends on this high power energy storage device.
Energy management method of the present invention, also be included in the following steps that step (A) is front: (F) is by this energy management apparatus, according to the driving condition of this carrier and the mode of operation of this energy load, estimate the estimated power needed for this carrier.In step (B), also be pursuant to this estimated power of gained in step (F), perform only from this external energy source or from both this high power energy storage device and this external energy source to the energy trasfer of this energy load, when perform only originate the energy trasfer of this energy load from this external energy time, the power output in this external energy source is same as this estimated power, when performing the energy trasfer from both this high power energy storage device and this external energy source to this energy load, the power output in the power output of this high power energy storage device and this external energy source is all relevant with the position of this carrier, and the summation of the power output in the power output of this high power energy storage device and this external energy source is same as this estimated power.In step (E), also be pursuant to this estimated power of gained in step (F), only perform from this high power energy storage device or from this high power energy storage device and this both high-energy energy storage device to the energy trasfer of this energy load, when performing only from this high power energy storage device to the energy trasfer of this energy load, the power output of this high power energy storage device is same as this estimated power, when performing from this high power energy storage device and this both high-energy energy storage device to the energy trasfer of this energy load, the power output of this high power energy storage device and the power output of this high-energy energy storage device are all relevant with the residual electricity of this high power energy storage device, and the summation of the power output of the power output of this high power energy storage device and this high-energy energy storage device is same as this estimated power.
In energy management method of the present invention, this chargeable range be defined at be associated with this external energy source one preset in-position and one preset disengaging configuration between, and have one be positioned between this in-position and this disengaging configuration preset switching position.In step (B), if the position of this carrier is between this in-position and this switching position, perform the energy trasfer of this energy load of only originating from this external energy, if the position of this carrier is between this switching position and this disengaging configuration, perform the energy trasfer from both this high power energy storage device and this external energy source to this energy load, the power output Pes in the power output Php of this high power energy storage device and this external energy source is as follows respectively:
Pes=(L2-L)/(L2-L1)×Pset1，
Php=PR-Pes，
Wherein, L is the position of this carrier, and L1 is this switching position, and L2 is this disengaging configuration, and Pset1 is default first set value of the power, and PR is this estimated power.
In energy management method of the present invention, in step (E), if the residual electricity of this high power energy storage device is greater than the predetermined threshold level of this second lower limit, only perform from this high power energy storage device to the energy trasfer of this energy load, if the residual electricity of this high power energy storage device is less than this threshold value, perform from this high power energy storage device and this both high-energy energy storage device to the energy trasfer of this energy load, the power output Php of this high power energy storage device and the power output Phe of this high-energy energy storage device is as follows respectively:
Php=(Qhp-Q2)/(Q1-Q2)×Pset2，
Phe=PR-Php，
Wherein, Qhp is the residual electricity of this high power energy storage device, and Q1 is this threshold value, and Q2 is this second lower limit, and Pset2 is default second set value of the power, and PR is this estimated power.
Energy management method of the present invention, also comprise following steps: (G) is when judging that in step (A) this carrier is not mobile away from this external energy source, by this energy management apparatus, perform the energy trasfer of at least one this high power energy storage device, this high-energy energy storage device and this energy load of originating from this external energy.
Energy management method of the present invention, also comprise following steps: (H) when judging that the residual electricity of this high-energy energy storage device is not more than this first lower limit in step (C), by this energy management apparatus, perform only from this high-energy energy storage device to the energy trasfer of this energy load, the power output of this high-energy energy storage device is the smaller in this estimated power and first power limit preset; And (I) when judging that the residual electricity of this high power energy storage device is not more than this second lower limit in step (D), by this energy management apparatus, only perform from this high-energy energy storage device to the energy trasfer of this energy load, the power output of this high-energy energy storage device is the smaller in this estimated power and second power limit preset, and this second power limit is greater than this first power limit.
In energy management method of the present invention, in step (I), also obtain this second power limit according to the output voltage of this high-energy energy storage device and a predetermined current higher limit.
Beneficial effect of the present invention is: by this energy management apparatus perform to originate from this high power energy storage device and this external energy both to the energy trasfer of this energy load, and perform from this high power energy storage device and this high-energy energy storage device to the energy trasfer of this energy load, the input power of this energy load can be avoided to occur larger temporary decline.
Accompanying drawing explanation
Fig. 1 is a calcspar, and the preferred embodiment of energy management apparatus of the present invention is described;
Fig. 2 and Fig. 3 is flow chart, and the energy management method that preferred embodiment uses is described;
Fig. 4 is a sequential chart, and the operation of preferred embodiment is described.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
Consult Fig. 1, the preferred embodiment of energy management apparatus 1 of the present invention is adapted to be mounted to a carrier 2.Carrier 2 comprises high power energy storage device 21, high-energy energy storage device 22, at least one energy load 23, senses module 24 and other necessary element (not shown).High power energy storage device 21(such as super capacitor) power density be greater than the power density of high-energy energy storage device 22.High-energy energy storage device 22(such as battery) energy density be greater than the energy density of high power energy storage device 21.
In the present embodiment, carrier 2 is pure electronic buses, and only includes an energy load 23(i.e. motor).In other embodiments, carrier 2 can be compound (hybrid) electric motor car, it can be other form such as locomotive, automobile, or multiple energy load 23(such as motor and air-conditioning can be comprised), those skilled in the art can know other embodiment by inference for illustrating of the present embodiment how this realizes according to following, therefore will not add explanation.
Sensing module 24 is electrically connected to high power energy storage device 21, high-energy energy storage device 22 and energy load 23, sense multiple state being associated with carrier 2 power demand, to produce the first sensing signal of these states of instruction, and the residual electricity of sensing high power energy storage device 21 and the residual electricity of high-energy energy storage device 22 and output voltage, to produce the second sensing signal of these parameters of instruction.In the present embodiment, the state being associated with carrier 2 power demand comprises the driving condition of carrier 2 and the mode of operation of energy load 23, the driving condition of carrier 2 comprises translational speed, the accelerator pedal degree of depth and the brake pedal degree of depth, energy load 23(i.e. motor) mode of operation comprise torque.In other embodiments, when carrier 2 is compound electric motor-cars, the state being associated with carrier 2 power demand also comprises the mode of operation of engine.
The present embodiment energy management apparatus 1 comprises a power demand evaluation unit 11, and allocates control unit 12 and an energy trasfer unit 13.
Power demand evaluation unit 11 is suitable for being electrically connected to sensing module 24 to receive the first sensing signal, the driving condition of the carrier 2 indicated by the first sensing signal and the mode of operation of energy load 23, the estimated power of estimation needed for carrier 2, to produce the estimating signal of an instruction estimated power.
Energy trasfer unit 13 is suitable for being electrically connected to high power energy storage device 21, high-energy energy storage device 22 and energy load 23, and energy transfer unit 13 coordinates external energy source (as charging station) to arrange, so that when carrier 2 is in a preset charged scope relative to external energy source 3, energy trasfer unit 13 can be electrically connected to external energy source 3.
Allotment control unit 12 is electrically connected to power demand evaluation unit 11, energy trasfer unit 13 and sensing module 24, receive the estimating signal from power demand evaluation unit 11, carry out the second sensing signal of self-inductance measurement module 24, and one the 3rd sensing signal, estimated power indicated by estimating signal, the residual electricity of the high power energy storage device 21 indicated by the second sensing signal and the residual electricity of high-energy energy storage device 22, and the 3rd energy trasfer unit 13 indicated by sensing signal whether be electrically connected to the position of external energy source 3 and carrier 2, produce an allotment control signal, and export allotment control signal to energy trasfer unit 13, so that energy trasfer unit 13 performs high power energy storage device 21 according to allotment control signal, high-energy energy storage device 22, energy trasfer between external energy source 3 and energy load 23.
In the present embodiment, sensing module 24 goes back the position whether sensing energy buanch unit 13 is electrically connected to external energy source 3 and carrier 2, to produce the 3rd sensing signal of these information of instruction, and exports the 3rd sensing signal to allotment control unit 12.In other embodiments, can be originated 3 to carry out sensing energy buanch unit 13 and whether be electrically connected to external energy and originate 3 and the position of carrier 2 by external energy, to produce the 3rd sensing signal of these information of instruction, and export the 3rd sensing signal to allotment control unit 12.In addition, such as image identification technology or magnet valve can be utilized to sense the position of carrier 2.
Consult Fig. 1, Fig. 2 and Fig. 3, the energy management method that the present embodiment energy management apparatus 1 uses comprises following steps 401 ~ 412.
In step 401, the driving condition of the carrier 2 of power demand evaluation unit 11 indicated by the first sensing signal and the mode of operation of energy load 23, the power of estimation needed for carrier 2, to produce the estimating signal of instruction estimated power.
In step 402, allotment control unit 12, according to the 3rd sensing signal, judges whether energy trasfer unit 13 is electrically connected to external energy source 3.If so, then step 403 is jumped to.If not, then step 406 is jumped to.
In step 403, the position of the carrier 2 of allotment control unit 12 indicated by the 3rd sensing signal, judges whether carrier 2 moves away from external energy source 3.If not, represent that carrier 2 to move or static close to external energy source 3, then jump to step 404.If so, then step 405 is jumped to.
In the present embodiment, chargeable range is defined at the default in-position and being associated with external energy source 3 and presets between disengaging configuration, and have one and be positioned at default switching position between in-position and disengaging configuration, and one is positioned at default stop position between in-position and switching position.Carrier 2 enters chargeable range from in-position, rests in stop position, and departs from chargeable range from disengaging configuration.According to the position of carrier 2, whether allotment control unit 12 judges between stop position and disengaging configuration whether carrier 2 moves away from external energy source 3, if the position of carrier 2 is between stop position and disengaging configuration, then judge that carrier 2 moves away from external energy source 3.
In step 404, allocate control unit 12 and make the instruction of allotment control signal from external energy source 3 to the energy trasfer of at least one high power energy storage device 21, high-energy energy storage device 22 and energy load 23.Then step 412 is jumped to.
In step 405, the position of the carrier 2 of allotment control unit 12 indicated by the 3rd sensing signal, allotment control signal is made to indicate one in following information: (1) is only from external energy source 3 to the energy trasfer of energy load 23, and the power output in external energy source 3, wherein, the power output in external energy source 3 is same as estimated power; And (2) from high power energy storage device 21 and external energy originate to originate to the power output of the energy trasfer of energy load 23, high power energy storage device 21 and external energy both 33 power output, wherein, the power output in the power output of high power energy storage device 21 and external energy source 3 is all relevant with the position of carrier 2, the power output of high power energy storage device 21 and external energy originate 3 the summation of power output be same as estimated power.Then step 412 is jumped to.
In the present embodiment, if the position of carrier 2 between in-position and switching position (or more particularly, between between stop position and switching position), then allocating control unit 12 makes allotment control signal indicate only from external energy source 3 to the energy trasfer of energy load 23, and the power output in external energy source 3.If the position of carrier 2 is between switching position and disengaging configuration, then allocate control unit 12 make allotment control signal indicate from high power energy storage device 21 and external energy originate originate to the power output of the energy trasfer of energy load 23, high power energy storage device 21 and external energy both 33 power output, and the power output Php of high power energy storage device 21 and external energy originate 3 power output Pes difference as follows:
Pes=(L2-L)/(L2-L1)×Pset1，
Php=PR-Pes，
Wherein, L is the position of carrier 2, and L1 is switching position, and L2 is disengaging configuration, and Pset1 is default first set value of the power, and PR is estimated power.
In a step 406, whether the residual electricity allocating the high-energy energy storage device 22 that control unit 12 judges indicated by the second sensing signal is greater than first lower limit preset.If so, represent that the residual electricity of high-energy energy storage device 22 is enough high, then jump to step 407.If not, represent that the residual electricity of high-energy energy storage device 22 is not high enough, then jump to step 409.
In step 407, whether the residual electricity allocating the high power energy storage device 21 that control unit 12 judges indicated by the second sensing signal is greater than second lower limit preset.If so, represent that the residual electricity of high power energy storage device 21 is enough high, then jump to step 408.If not, represent that the residual electricity of high power energy storage device 21 is not high enough, then jump to step 410.
In a step 408, the residual electricity of the high power energy storage device 21 of allotment control unit 12 indicated by the second sensing signal, allotment control signal is made to indicate one in following information: (1) is only from high power energy storage device 21 to the energy trasfer of energy load 23, and the power output of high power energy storage device 21, wherein, the power output of high power energy storage device 21 is same as estimated power; And (2) are from high power energy storage device 21 and both high-energy energy storage devices 22 to the energy trasfer of energy load, the power output of high power energy storage device 21 and the power output of high-energy energy storage device 22, wherein, the power output of high power energy storage device 21 and the power output of high-energy energy storage device 22 are all relevant with the residual electricity of high power energy storage device 21, and the summation of the power output of high power energy storage device 21 and the power output of high-energy energy storage device 22 is same as estimated power.Then step 412 is jumped to.
In the step 408 of the present embodiment, if the residual electricity of high power energy storage device 21 is greater than the threshold value preset of the second lower limit, allotment control unit 12 makes allotment control signal only indicate from high power energy storage device 21 to the energy trasfer of energy load 23, and the power output of high power energy storage device 21, and the power output of high power energy storage device 21 is same as estimated power.If the residual electricity of high power energy storage device 21 is less than threshold value, allotment control unit 12 makes allotment control signal indicate energy trasfer, the power output of high power energy storage device 21 and the power output of high-energy energy storage device 22 from high power energy storage device 21 and both high-energy energy storage devices 22 to energy load, and the power output Phe of the power output Php of high power energy storage device 21 and high-energy energy storage device 22 is as follows respectively:
Php=(Qhp-Q2)/(Q1-Q2)×Pset2，
Phe=PR-Php，
Wherein, Qhp is the residual electricity of high power energy storage device 21, and Q1 is threshold value, and Q2 is the second lower limit, and Pset2 is default second set value of the power, and PR is estimated power.
In step 409, allocating control unit 12 makes a power limit be same as first power limit preset.Then step 411 is jumped to.
In step 410, allocating control unit 12 makes power limit be same as second power limit preset.Second power limit is greater than the first power limit.Then step 411 is jumped to.
In the present embodiment, allocate control unit 12 output voltage of the high-energy energy storage device 22 indicated by the second sensing signal and a predetermined current higher limit are multiplied, to obtain the second power limit.Predetermined current higher limit is not more than specified (rated) value of the output current of high-energy energy storage device 22.
In step 411, allotment control unit 12 makes allotment control signal only indicate from high-energy energy storage device 22 to the energy trasfer of energy load 23, and the power output of high-energy energy storage device 22, wherein, the power output of high-energy energy storage device 22 is the smaller in estimated power and corresponding power limit.
In step 412, energy trasfer unit 13 according to allotment control signal perform high power energy storage device 21, high-energy energy storage device 22, external energy source 3 and energy load 23 between energy trasfer.Then rebound step 401.
Consult Fig. 1 and Fig. 4, for example, to be originated by external energy at carrier 2 from resting in stop position 3 be charged to and sail out of during chargeable range advances outside, the operation of the present embodiment energy management apparatus 1 can be divided into six stages, is first stage I, second stage II, phase III III, fourth stage IV, five-stage V and the 6th stage VI respectively.
I in the first phase, carrier 2 rests in stop position and energy trasfer unit 13 is electrically connected to external energy source 3.Now, energy load 23(i.e. motor) to be failure to actuate, the translational speed of carrier 2 is 0, and estimated power is 0.Therefore, allotment control unit 12 can carry out step 404(and see Fig. 2), so that energy trasfer unit 13 performs the energy trasfer from external energy source 3 to high power energy storage device 21, and also perform the energy trasfer of external energy source 3 to high-energy energy storage device 22 where necessary.In other words, external energy 3 pairs of high power energy storage devices 21 of originating charge, and also charge to high-energy energy storage device 22 where necessary, so that the residual electricity of high power energy storage device 21 is greater than threshold value, and the residual electricity of high-energy energy storage device 22 is greater than the first lower limit.
In second stage II, carrier 2 starts to move away from external energy source 3, and the position of carrier 2 is between stop position and switching position, and energy trasfer unit 13 is still electrically connected to external energy source 3.Now, energy load 23(i.e. motor) start action, the translational speed of carrier 2 starts to rise, and estimated power is greater than 0.Therefore, allotment control unit 12 can carry out step 405(and see Fig. 2), thus energy trasfer unit 13 performs only from external energy source 3 to the energy trasfer of energy load 23, and the power output in external energy source 3 is same as estimated power.In other words, external energy source 3 stops charging to high power energy storage device 21 and high-energy energy storage device 22, and starts supplying energy to carrier 2.
In phase III III, carrier 2 continues to move away from external energy source 3, and the position of carrier 2 is between switching position and disengaging configuration, and energy trasfer unit 13 is still electrically connected to external energy source 3.Now, energy load 23(i.e. motor) perseveration, the translational speed of carrier 2 continues to rise, and estimated power is not 0.Therefore, allotment control unit 12 can carry out step 405(and see Fig. 2), so that energy trasfer unit 13 performs the energy trasfer from both high power energy storage device 21 and external energy source 3 to energy load 23, and the power output of high power energy storage device 21 rises gradually, the power output in external energy source 3 declines gradually, the power output of high power energy storage device 21 and external energy originate 3 the summation of power output be same as estimated power.In other words, high power energy storage device 21 and external energy source 3 simultaneously supplying energy to carrier 2.
In fourth stage IV, carrier 2 moves to outside chargeable range, and the residual electricity of high power energy storage device 21 is greater than threshold value, and the residual electricity of high-energy energy storage device 22 is greater than the first lower limit.Now, energy load 23(i.e. motor) perseveration, the translational speed of carrier 2 continues to rise, and estimated power is not 0.Therefore, allotment control unit 12 can carry out step 408(and see Fig. 3), thus energy trasfer unit 13 performs only from high power energy storage device 21 to the energy trasfer of energy load 23, and the power output of high power energy storage device 21 is same as estimated power.In other words, only surplus high power energy storage device 21 supplying energy to carrier 2.
In five-stage V, carrier 2 continues in chargeable range movement outward, and the residual electricity of high power energy storage device 21 drops between threshold value and the second lower limit, and the residual electricity of high-energy energy storage device 22 is still greater than the first lower limit.Now, energy load 23(i.e. motor) perseveration, the translational speed of carrier 2 arrives a target velocity, and estimated power is not 0.Therefore, allotment control unit 12 can carry out step 408(and see Fig. 3), so that energy trasfer unit 13 performs the energy trasfer from both high power energy storage device 21 and high-energy energy storage device 22 to energy load 23, and the power output of high power energy storage device 21 declines gradually, the power output of high-energy energy storage device 22 rises gradually, and the summation of the power output of high power energy storage device 21 and the power output of high-energy energy storage device 22 is same as estimated power.In other words, high power energy storage device 21 and high-energy energy storage device 22 simultaneously supplying energy to carrier 2.
In the 6th stage VI, carrier 2 continues in chargeable range movement outward, and the residual electricity of high power energy storage device 21 drops to and is less than the second lower limit.Now, energy load 23(i.e. motor) perseveration, the translational speed of carrier 2 maintains target velocity, and estimated power is not 0.Therefore, when the residual electricity of high-energy energy storage device 22 is greater than the first lower limit, allotment control unit 12 can carry out step 410, 411(is shown in Fig. 3), so that energy trasfer unit 13 only performs from high-energy energy storage device 22 to the energy trasfer of energy load 23, and the power output of high-energy energy storage device 22 can be restricted to and is not more than the second power limit, and after the residual electricity of high-energy energy storage device 22 drops to and is less than the first lower limit, allotment control unit 12 transfers to carry out step 409, 411(is shown in Fig. 3), so that energy trasfer unit 13 still performs only from high-energy energy storage device 22 to the energy trasfer of energy load 23, but the power output of high-energy energy storage device 22 can be restricted to and be not more than the first power limit.In other words, only surplus high-energy energy storage device 22 supplying energy to carrier 2.
In sum, the present embodiment energy management apparatus 1 is when changing into high power energy storage device 21 by the source of energy load 23 energy requirements from external energy source 3, can only originated by external energy 3 supplying energies and only by high power energy storage device 21 supplying energy between insert by external energy originate 3 and high power energy storage device 21 both supplying energy, and and when high-energy energy storage device 22 is changed into from high power energy storage device 21 in the source of energy load 23 energy requirements, can only by high power energy storage device 21 supplying energy and only by high-energy energy storage device 22 supplying energy between insert by both high power energy storage device 21 and high-energy energy storage device 22 supplying energy, this can be avoided the input power of energy load 23 to occur larger temporary decline, carrier 2 can smoothly be advanced.In addition, the present embodiment energy management apparatus 1 the residual electricity of high power energy storage device 21 or the residual electricity of high-energy energy storage device 22 not high enough time, can make restriction to the electric discharge of high-energy energy storage device 22, this can extend the useful life of high-energy energy storage device 22.So the present embodiment energy management apparatus 1 can reach object of the present invention really.
Claims (15)
1. an energy management apparatus, be adapted to be mounted to a carrier, this carrier comprises a high power energy storage device, a high-energy energy storage device and at least one energy load, the power density of this high power energy storage device is greater than the power density of this high-energy energy storage device, the energy density of this high-energy energy storage device is greater than the energy density of this high power energy storage device, and the feature of this energy management apparatus is that it comprises:
One energy trasfer unit, be suitable for being electrically connected to this high power energy storage device, this high-energy energy storage device and this energy load, and when this carrier is in a chargeable range preset relative to an external energy source, this energy trasfer unit can be electrically connected to this external energy source; And
One allotment control unit, be electrically connected to this energy trasfer unit, at least whether be electrically connected to this external energy source according to the residual electricity of this high power energy storage device, the residual electricity of this high-energy energy storage device, this energy trasfer unit, and the position of this carrier, produce an allotment control signal, and export this allotment control signal to this energy trasfer unit so that this energy trasfer unit according to this allotment control signal perform this high power energy storage device, this high-energy energy storage device, this external energy source and this energy load between energy trasfer;
When this allotment control unit judges that this energy trasfer unit is electrically connected to this external energy source and this carrier is mobile away from this external energy source, this energy trasfer unit responds this allotment control signal, perform only from this external energy source or from both this high power energy storage device and this external energy source to the energy trasfer of this energy load, this energy trasfer unit performs the position which kind of energy trasfer depends on this carrier
When this allotment control unit judge this energy trasfer unit be not electrically connected to this external energy source, this high-energy energy storage device residual electricity be greater than one preset the first lower limit and the residual electricity of this high power energy storage device be greater than one preset the second lower limit time, this energy trasfer unit responds this allotment control signal, perform only from this high power energy storage device or from this high power energy storage device and this both high-energy energy storage device to the energy trasfer of this energy load, this energy trasfer unit performs the residual electricity which kind of energy trasfer depends on this high power energy storage device.
2. energy management apparatus according to claim 1, is characterized in that it also comprises:
One power demand evaluation unit, according to the driving condition of this carrier and the mode of operation of this energy load, estimates the estimated power needed for this carrier, to produce the estimating signal of this estimated power of instruction;
This allotment control unit is also electrically connected to this power demand evaluation unit to receive the estimating signal from this power demand evaluation unit, and this estimated power also indicated by this estimating signal produces this allotment control signal,
When this energy trasfer unit responds this allotment control signal, perform when only originating the energy trasfer of this energy load from this external energy, the power output in this external energy source is same as this estimated power,
When this energy trasfer unit responds this allotment control signal, when performing the energy trasfer from both this high power energy storage device and this external energy source to this energy load, the power output in the power output of this high power energy storage device and this external energy source is all relevant with the position of this carrier, and the summation of the power output that the power output of this high power energy storage device and this external energy are originated is same as this estimated power
When this energy trasfer unit responds this allotment control signal, when performing only from this high power energy storage device to the energy trasfer of this energy load, the power output of this high power energy storage device is same as this estimated power,
When this energy trasfer unit responds this allotment control signal, when performing from this high power energy storage device and this both high-energy energy storage device to the energy trasfer of this energy load, the power output of this high power energy storage device and the power output of this high-energy energy storage device are all relevant with the residual electricity of this high power energy storage device, and the summation of the power output of the power output of this high power energy storage device and this high-energy energy storage device is same as this estimated power.
3. energy management apparatus according to claim 2, it is characterized in that: this chargeable range be defined at be associated with this external energy source one preset in-position and one preset disengaging configuration between, and have one be positioned between this in-position and this disengaging configuration preset switching position.
4. energy management apparatus according to claim 3, is characterized in that: when this allotment control unit judges that this energy trasfer unit is electrically connected to this external energy source and this carrier is mobile away from this external energy source:
If the position of this carrier is between this in-position and this switching position, this energy trasfer unit responds this allotment control signal, performs the energy trasfer of this energy load of only originating from this external energy;
If the position of this carrier is between this switching position and this disengaging configuration, this energy trasfer unit responds this allotment control signal, perform the energy trasfer from both this high power energy storage device and this external energy source to this energy load, the power output Pes in the power output Php of this high power energy storage device and this external energy source is as follows respectively:
Pes=(L2-L)/(L2-L1)×Pset1，
Php=PR-Pes，
Wherein, L is the position of this carrier, and L1 is this switching position, and L2 is this disengaging configuration, and Pset1 is first set value of the power preset, and PR is this estimated power.
5. energy management apparatus according to claim 2, is characterized in that: when this allotment control unit judge this energy trasfer unit be not electrically connected to this external energy source, this high-energy energy storage device residual electricity be greater than this first lower limit and the residual electricity of this high power energy storage device is greater than this second lower limit time:
If the residual electricity of this high power energy storage device is greater than the threshold value preset of this second lower limit, this energy trasfer unit responds this allotment control signal, only performs from this high power energy storage device to the energy trasfer of this energy load;
If the residual electricity of this high power energy storage device is less than this threshold value, this energy trasfer unit responds this allotment control signal, perform from this high power energy storage device and this both high-energy energy storage device to the energy trasfer of this energy load, the power output Php of this high power energy storage device and the power output Phe of this high-energy energy storage device is as follows respectively:
Php=(Qhp-Q2)/(Q1-Q2)×Pset2，
Phe=PR-Php，
Wherein, Qhp is the residual electricity of this high power energy storage device, and Q1 is this threshold value, and Q2 is this second lower limit, and Pset2 is second set value of the power preset, and PR is this estimated power.
6. energy management apparatus according to claim 2, it is characterized in that: when this allotment control unit judges that this energy trasfer unit is electrically connected to this external energy source and this carrier is not when originating mobile away from this external energy, this energy trasfer unit responds this allotment control signal, performs the energy trasfer of at least one this high power energy storage device, this high-energy energy storage device and this energy load of originating from this external energy.
7. energy management apparatus according to claim 2, is characterized in that:
When this allotment control unit judge this energy trasfer unit be not electrically connected to this external energy source and the residual electricity of this high-energy energy storage device be not more than this first lower limit time, this energy trasfer unit responds this allotment control signal, perform only from this high-energy energy storage device to the energy trasfer of this energy load, the power output of this high-energy energy storage device is the smaller in this estimated power and first power limit preset; And
When this allotment control unit judge this energy trasfer unit be not electrically connected to this external energy source, this high-energy energy storage device residual electricity be greater than this first lower limit and the residual electricity of this high power energy storage device is not more than this second lower limit time, this energy trasfer unit responds this allotment control signal, only perform from this high-energy energy storage device to the energy trasfer of this energy load, the power output of this high-energy energy storage device is the smaller in this estimated power and second power limit preset, and this second power limit is greater than this first power limit.
8. energy management apparatus according to claim 7, is characterized in that: this allotment control unit obtains this second power limit according to the output voltage of this high-energy energy storage device and a upper current limit value preset.
9. an energy management method, one is utilized to be installed on the energy management apparatus of a carrier to carry out the energy management of this carrier, this carrier comprises a high power energy storage device, one high-energy energy storage device and at least one energy load, the power density of this high power energy storage device is greater than the power density of this high-energy energy storage device, the energy density of this high-energy energy storage device is greater than the energy density of this high power energy storage device, this energy management apparatus is electrically connected to this high power energy storage device, this high-energy energy storage device and this energy load, and when this carrier is in a chargeable range preset relative to an external energy source, this energy management apparatus can be electrically connected to this external energy source, the feature of this energy management method is that it comprises following steps:
(A) when this energy management apparatus is electrically connected to this external energy source, by this energy management apparatus, according to the position of this carrier, judge that whether this carrier is mobile away from this external energy source;
(B) when judging that in step (A) this carrier is mobile away from this external energy source, by this energy management apparatus, at least according to the position of this carrier, perform the energy trasfer to this energy load both only originating from this external energy source or from this high power energy storage device and this external energy, this energy management apparatus performs the position which kind of energy trasfer depends on this carrier;
(C) when this energy management apparatus is not electrically connected to this external energy source, by this energy management apparatus, judge whether the residual electricity of this high-energy energy storage device is greater than first lower limit preset;
(D) when judging that the residual electricity of this high-energy energy storage device is greater than this first lower limit in step (C), by this energy management apparatus, judge whether the residual electricity of this high power energy storage device is greater than second lower limit preset; And
(E) when judging that the residual electricity of this high power energy storage device is greater than this second lower limit in step (D), by this energy management apparatus, at least according to the residual electricity of this high power energy storage device, perform only from this high power energy storage device or from this high power energy storage device and this both high-energy energy storage device to the energy trasfer of this energy load, this energy management apparatus performs the residual electricity which kind of energy trasfer depends on this high power energy storage device.
10. energy management method according to claim 9, is characterized in that it is also included in the front following steps of step (A):
(F) by this energy management apparatus, according to the driving condition of this carrier and the mode of operation of this energy load, the estimated power needed for this carrier is estimated;
In step (B), also be pursuant to this estimated power of gained in step (F), perform only from this external energy source or from both this high power energy storage device and this external energy source to the energy trasfer of this energy load, when perform only originate the energy trasfer of this energy load from this external energy time, the power output in this external energy source is same as this estimated power, when performing the energy trasfer from both this high power energy storage device and this external energy source to this energy load, the power output in the power output of this high power energy storage device and this external energy source is all relevant with the position of this carrier, and the summation of the power output in the power output of this high power energy storage device and this external energy source is same as this estimated power,
In step (E), also be pursuant to this estimated power of gained in step (F), only perform from this high power energy storage device or from this high power energy storage device and this both high-energy energy storage device to the energy trasfer of this energy load, when performing only from this high power energy storage device to the energy trasfer of this energy load, the power output of this high power energy storage device is same as this estimated power, when performing from this high power energy storage device and this both high-energy energy storage device to the energy trasfer of this energy load, the power output of this high power energy storage device and the power output of this high-energy energy storage device are all relevant with the residual electricity of this high power energy storage device, and the summation of the power output of the power output of this high power energy storage device and this high-energy energy storage device is same as this estimated power.
11. energy management methods according to claim 10, it is characterized in that: this chargeable range is defined at and is associated with between an in-position of presetting in this external energy source and a disengaging configuration preset, and have one be positioned between this in-position and this disengaging configuration preset switching position, in step (B):
If the position of this carrier is between this in-position and this switching position, perform the energy trasfer of this energy load of only originating from this external energy;
If the position of this carrier is between this switching position and this disengaging configuration, perform the energy trasfer from both this high power energy storage device and this external energy source to this energy load, the power output Pes in the power output Php of this high power energy storage device and this external energy source is as follows respectively:
Pes=(L2-L)/(L2-L1)×Pset1，
Php=PR-Pes，
Wherein, L is the position of this carrier, and L1 is this switching position, and L2 is this disengaging configuration, and Pset1 is default first set value of the power, and PR is this estimated power.
12. energy management methods according to claim 10, is characterized in that in step (E):
If the residual electricity of this high power energy storage device is greater than the predetermined threshold level of this second lower limit, only perform from this high power energy storage device to the energy trasfer of this energy load;
If the residual electricity of this high power energy storage device is less than this threshold value, perform from this high power energy storage device and this both high-energy energy storage device to the energy trasfer of this energy load, the power output Php of this high power energy storage device and the power output Phe of this high-energy energy storage device is as follows respectively:
Php=(Qhp-Q2)/(Q1-Q2)×Pset2，
Phe=PR-Php，
Wherein, Qhp is the residual electricity of this high power energy storage device, and Q1 is this threshold value, and Q2 is this second lower limit, and Pset2 is default second set value of the power, and PR is this estimated power.
13. energy management methods according to claim 9, is characterized in that it also comprises following steps:
(G) when judging that in step (A) this carrier is not mobile away from this external energy source, by this energy management apparatus, perform the energy trasfer of at least one this high power energy storage device, this high-energy energy storage device and this energy load of originating from this external energy.
14. energy management methods according to claim 10, is characterized in that it also comprises following steps:
(H) when judging that the residual electricity of this high-energy energy storage device is not more than this first lower limit in step (C), by this energy management apparatus, perform only from this high-energy energy storage device to the energy trasfer of this energy load, the power output of this high-energy energy storage device is the smaller in this estimated power and first power limit preset; And
(I) when judging that the residual electricity of this high power energy storage device is not more than this second lower limit in step (D), by this energy management apparatus, only perform from this high-energy energy storage device to the energy trasfer of this energy load, the power output of this high-energy energy storage device is the smaller in this estimated power and second power limit preset, and this second power limit is greater than this first power limit.
15. energy management methods according to claim 14, is characterized in that: in step (I), also obtain this second power limit according to the output voltage of this high-energy energy storage device and a predetermined current higher limit.
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| WO2020107451A1 (en) * | 2018-11-30 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Control method for movable platform, movable platform and storage medium |
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| CN106828114B (en) * | 2015-12-03 | 2019-05-10 | 财团法人车辆研究测试中心 | Kinetic energy recharges controller, kinetic energy recharges control system and its control method |
| WO2020107451A1 (en) * | 2018-11-30 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Control method for movable platform, movable platform and storage medium |
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