CN109450056A - A kind of underwater robot supplying cell failure solution - Google Patents

A kind of underwater robot supplying cell failure solution Download PDF

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Publication number
CN109450056A
CN109450056A CN201910019879.7A CN201910019879A CN109450056A CN 109450056 A CN109450056 A CN 109450056A CN 201910019879 A CN201910019879 A CN 201910019879A CN 109450056 A CN109450056 A CN 109450056A
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CN
China
Prior art keywords
lithium battery
group
supplying cell
underwater robot
monomer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910019879.7A
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Chinese (zh)
Inventor
任峰
叶银忠
马向华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Institute of Technology
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Shanghai Institute of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Institute of Technology filed Critical Shanghai Institute of Technology
Priority to CN201910019879.7A priority Critical patent/CN109450056A/en
Publication of CN109450056A publication Critical patent/CN109450056A/en
Pending legal-status Critical Current

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Classifications

    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0063Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
    • HELECTRICITY
    • H01ELECTRIC ELEMENTS
    • H01MPROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00Secondary cells; Manufacture thereof
    • H01M10/42Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
    • H01M10/44Methods for charging or discharging
    • H01M10/441Methods for charging or discharging for several batteries or cells simultaneously or sequentially
    • H02J2007/0067
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10Energy storage using batteries

Abstract

The invention discloses a kind of underwater robot supplying cell failure solutions, it specifically includes and sets lithium battery allowable pressure difference as Δ V, for completely new lithium battery, acquire the voltage of every section lithium battery monomer in one group of battery, when organizing interior pressure difference more than or equal to setting pressure difference, lithium battery is replaced, and the lithium battery replaced is sorted out, guarantees that each group of battery pressure difference is both less than Δ V;For the lithium battery used has been put into, allowable pressure difference Δ V is set, every section lithium battery discharge voltage in one group of battery is acquired, if pressure difference is more than or equal to Δ V in organizing, equalizing circuit weighting first control of discharge is carried out to it.The present invention can solve underwater robot supplying cell and discharge unbalanced fault state, reduce as battery core electric discharge it is unbalanced caused by the most common failures such as battery always forces down, machine continuation of the journey is short, improve properties of product.

Description

A kind of underwater robot supplying cell failure solution
Technical field
The invention belongs to robot device's fault detection technique field more particularly to a kind of events of underwater robot supplying cell Hinder solution.
Background technique
In recent years, energy field updates, lithium battery has the temperature environment that charge and discharge number is long, adapts to wider, and It is without memory.As the novel secondary power supply just to have grown up, robot, smart electronics field, are used as power electric more under water Source uses, and general supplying cell is first in parallel by multisection lithium battery monomer, then is composed in series, and for key control unit and executes list Member provides biggish driving current and higher output voltage.Therefrom machine energy is supplied, especially supplying cell pair The supply effect of underwater robot is essential.
But underwater robot is outdoors in operation process, since the failure of supplying cell causes underwater robot to be continued a journey It is short, cause its operating efficiency to substantially reduce, even directly goes on strike when serious, cause great security risk and economic loss.Its In, supplying cell failure is mainly shown as that electric discharge is unbalanced.
Summary of the invention
Technical purpose of the invention is to provide a kind of underwater robot supplying cell failure solution, can effectively solve electricity The unbalanced problem of tank discharge.
To solve the above problems, the technical solution of the present invention is as follows:
A kind of underwater robot supplying cell failure solution, the underwater robot supplying cell include the series connection of N group Lithium battery group, lithium battery group described in every group includes M lithium battery monomer in parallel, wherein N >=2, M >=3;The battery failures Solution includes:
The allowable voltage difference between two lithium battery monomers is set as Δ V;
Acquire each lithium battery monomer in lithium battery group described in every group in the new supplying cell of the underwater robot Voltage;
Calculate i-th of lithium battery monomer in the lithium battery group and j-th of lithium battery monomer in the lithium battery group Voltage difference delta Vij, wherein i ≠ j;
By the calculated voltage difference delta VijCompared with the allowable voltage difference Δ V;
If Δ VijI-th of lithium battery monomer is then classified as first kind lithium battery monomer by >=Δ V, by j-th of lithium Battery cell is classified as the second class lithium battery monomer;
If Δ VijI-th of lithium battery monomer and j-th of lithium battery monomer are then classified as described first by < Δ V Class lithium battery monomer, and calculate i-th of lithium battery monomer in the lithium battery group and the kth lithium electricity in the lithium battery group The voltage difference delta V of pond monomerik, wherein i ≠ k and j ≠ k, if Δ VikK-th of lithium battery monomer is then classified as institute by < Δ V State first kind lithium battery monomer;If Δ VikK-th of lithium battery monomer is then classified as the second class lithium battery list by >=Δ V Body;
Using the voltage value of the first kind lithium battery monomer as standard, chooses new lithium battery monomer and replace the lithium battery The second class lithium battery monomer in group.
An embodiment according to the present invention, underwater robot supplying cell failure solution further include to described in replacing out Second class lithium battery monomer is sorted out, and the voltage difference sorted out between the lithium battery monomer out is respectively less than the allowable voltage Poor Δ V.
An embodiment according to the present invention, the allowable voltage difference Δ V are the virtual voltage in lithium battery production testing report Difference.
The present invention also provides another underwater robot supplying cell failure solution, the underwater robot power supply Battery includes the concatenated lithium battery group of N group, wherein N >=2;The battery failures solution includes:
The allowable voltage difference between two groups of lithium battery groups is set as Δ V;
Acquire the voltage of lithium battery group described in every group in the used supplying cell of the underwater robot;
Voltage difference delta V ' between lithium battery group described in calculating every group and remaining described lithium battery group;
The calculated voltage difference delta V ' is compared with the allowable voltage difference Δ V;
Δ V ' >=Δ V if it exists then carries out the electric discharge control of equalizing circuit weighting first to the concatenated lithium battery group of the N group System.
An embodiment according to the present invention, the underwater robot supplying cell failure solution further include to balanced electricity The supplying cell of road control carries out real-time circulation detection, guarantees Δ V ' < Δ V.
An embodiment according to the present invention, the allowable voltage difference Δ V are the virtual voltage in lithium battery production testing report Difference.
The present invention due to using the technology described above, makes it have the following advantages that and actively imitate compared with prior art Fruit:
Supplying cell failure solution in one embodiment of the invention is made in every class by sorting out to new battery It is poor that voltage difference between the voltage of each lithium battery monomer is close and any two lithium battery monomer is less than allowable voltage, puts battery Electrical equalization extends the cruise duration of underwater robot;It avoids the voltage differences caused by battery production is not up to standard greatly due to makes electricity It discharges after pond is in parallel unbalanced phenomenon.
Supplying cell failure solution in one embodiment of the invention passes through to every group in used supplying cell The voltage of lithium battery group is detected, and calculates the voltage difference of every two groups of lithium battery groups, for being unsatisfactory for every two groups of lithium battery groups Voltage difference be less than allowable voltage difference condition underwater robot supplying cell carry out the control of equalization weights preferential discharge, make battery Group keeps equalization discharge, extends the cruise duration of underwater robot;It avoids the energy storage difference caused by cell degradation greatly due to makes It discharges after battery is in parallel unbalanced.
Detailed description of the invention
Fig. 1 is a kind of flow chart of supplying cell failure solution of the invention;
Fig. 2 is the flow chart of another supplying cell failure solution of the invention.
Specific embodiment
Below in conjunction with the drawings and specific embodiments to a kind of underwater robot supplying cell failure solution proposed by the present invention Method is described in further detail.According to following explanation and claims, advantages and features of the invention will be become apparent from.
Embodiment 1
Referring to Fig. 1, a kind of underwater robot supplying cell failure solution, underwater robot supplying cell includes N group Concatenated lithium battery group, every group of lithium battery group include M lithium battery monomer in parallel, wherein N >=2, M >=3;Battery failures solve Method includes: allowable voltage difference between setting two lithium battery monomers as Δ V;It acquires in the new supplying cell of underwater robot The voltage of each lithium battery monomer in every group of lithium battery group;Calculate i-th of the lithium battery monomer and lithium battery in lithium battery group The voltage difference delta V of j-th of lithium battery monomer in groupij, wherein i ≠ j;By calculated voltage difference delta VijIt is poor with allowable voltage Δ V compares;If Δ VijI-th of lithium battery monomer is then classified as first kind lithium battery monomer by >=Δ V, by j-th of lithium battery list Body is classified as the second class lithium battery monomer;If Δ VijI-th of lithium battery monomer and j-th of lithium battery monomer are then classified as by < Δ V A kind of lithium battery monomer, and calculate i-th of lithium battery monomer in lithium battery group and the kth lithium battery monomer in lithium battery group Voltage difference delta Vik, wherein i ≠ k and j ≠ k, if Δ VikK-th of lithium battery monomer is then classified as first kind lithium battery by < Δ V Monomer;If Δ VikK-th of lithium battery monomer is then classified as the second class lithium battery monomer by >=Δ V;With first kind lithium battery monomer Voltage value is standard, chooses the second class lithium battery monomer in new lithium battery monomer replacement lithium battery group.
Supplying cell failure solution in the present embodiment makes each lithium in every class by sorting out to new battery It is poor that voltage difference between the voltage of battery cell is close and any two lithium battery monomer is less than allowable voltage, keeps battery discharge equal Weighing apparatus, extends the cruise duration of underwater robot;It avoids the voltage differences caused by battery production is not up to standard greatly due to makes battery simultaneously It discharges after connection unbalanced phenomenon.
Further, underwater robot supplying cell failure solution further includes to the second class lithium battery list replaced out Body is sorted out, and sorts out the voltage difference between lithium battery monomer out and is respectively less than allowable voltage difference Δ V.
Further, allowable voltage difference Δ V is that the virtual voltage in lithium battery production testing report is poor.Specifically, this hair The specification of the lithium battery monomer of bright use are as follows: high 65.00 ± 0.15mm, 18.30 ± 0.10mm of diameter, the column of 42~43g of weight Shape body, normal voltage is in 3.7V or so, and full piezoelectric voltage is up to 4.2V;After by 6 lithium batteries and being unified into one group, then carry out 4 groups Series connection, battery expire piezoelectric voltage up to 16.8V.It is poor referring to the virtual voltage in lithium battery production testing report, it sets with a collection of lithium Battery allowable voltage difference Δ V is 10mV;Voltage acquisition preferably is carried out in the case where lithium battery monomer expires pressure condition, it is poor with allowable voltage 10mV is to guarantee the multiple groups lithium battery after sorting out according to the classification that 6 are one group is carried out, cell voltage is close in each group and group in The voltage difference of any two battery is no more than 10mV;Every group of 6 lithium battery monomers are in parallel, lithium battery group as 4 groups of selection A battery unit is formed after series connection, is powered to underwater robot.
Embodiment 2
Referring to Fig. 2, the present invention also provides another underwater robot supplying cell failure solution, underwater robots Supplying cell includes the concatenated lithium battery group of N group, wherein N >=2;Battery failures solution includes:
The allowable voltage difference between two groups of lithium battery groups is set as Δ V;
Acquire the voltage of every group of lithium battery group in the used supplying cell of underwater robot;
Calculate the voltage difference delta V ' between every group of lithium battery group and remaining lithium battery group;
Calculated voltage difference delta V ' is compared with allowable voltage difference Δ V;
Δ V ' >=Δ V if it exists then carries out equalizing circuit weighting first control of discharge to the concatenated lithium battery group of N group.
Supplying cell failure solution in the present embodiment passes through to every group of lithium battery in used supplying cell The voltage of group is detected, and calculates the voltage difference of every two groups of lithium battery groups, for the voltage for being unsatisfactory for every two groups of lithium battery groups The underwater robot supplying cell that difference is less than allowable voltage difference condition carries out the control of equalization weights preferential discharge, keeps battery pack Equalization discharge extends the cruise duration of underwater robot;It avoids the energy storage difference caused by cell degradation greatly due to makes battery simultaneously It discharges after connection unbalanced.
Specifically, selective weighting first electric discharge is carried out according to voltage differences, it may be assumed that
Instantaneous discharge voltage V=a1*C1+a2*C2+a3*C3+…+aN*CN,
A is the corresponding weight of each lithium battery group, and C is the voltage of each lithium battery group, and N is lithium battery group number.It is specific equal Existing equalizing circuit can be used in weighing apparatus circuit weighting first control of discharge.Synchronization selectively allows lithium battery group voltage big Preferential more electric discharges, the small lag of voltage discharges less, and real-time inspection and control weight allows each lithium battery group voltage difference to guarantee allowing In pressure differential range, achieve the effect that equalization discharge.
Further, underwater robot supplying cell failure solution further includes the power supply to equalizing circuit control Battery carries out real-time circulation detection, guarantees Δ V ' < Δ V.
Further, allowable voltage difference Δ V is that the virtual voltage in lithium battery production testing report is poor.It is specifically as follows 10mV。
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations Mode.Even if to the present invention, various changes can be made, if these variations belong to the model of the claims in the present invention and its equivalent technologies Within enclosing, then still fall within the protection scope of the present invention.

Claims (6)

1. a kind of underwater robot supplying cell failure solution, which is characterized in that the underwater robot supplying cell packet The concatenated lithium battery group of N group is included, lithium battery group described in every group includes M lithium battery monomer in parallel, wherein N >=2, M >=3;Institute Stating battery failures solution includes:
The allowable voltage difference between two lithium battery monomers is set as Δ V;
Acquire the electricity of each lithium battery monomer in lithium battery group described in every group in the new supplying cell of the underwater robot Pressure;
Calculate the electricity of i-th of lithium battery monomer in the lithium battery group and j-th of lithium battery monomer in the lithium battery group Pressure differential deltap Vij, wherein i ≠ j;
By the calculated voltage difference delta VijCompared with the allowable voltage difference Δ V;
If Δ VijI-th of lithium battery monomer is then classified as first kind lithium battery monomer by >=Δ V, by j-th of lithium battery Monomer is classified as the second class lithium battery monomer;
If Δ VijI-th of lithium battery monomer and j-th of lithium battery monomer are then classified as the first kind lithium by < Δ V Battery cell, and calculate i-th of lithium battery monomer in the lithium battery group and the kth lithium battery list in the lithium battery group The voltage difference delta V of bodyik, wherein i ≠ k and j ≠ k, if Δ VikK-th of lithium battery monomer is then classified as described by < Δ V A kind of lithium battery monomer;If Δ VikK-th of lithium battery monomer is then classified as the second class lithium battery monomer by >=Δ V;
Using the voltage value of the first kind lithium battery monomer as standard, chooses new lithium battery monomer and replace in the lithium battery group The second class lithium battery monomer.
2. underwater robot supplying cell failure solution as described in claim 1, which is characterized in that further include to replacement The second class lithium battery monomer out is sorted out, and the voltage difference sorted out between the lithium battery monomer out is respectively less than described Allowable voltage difference Δ V.
3. underwater robot supplying cell failure solution as claimed in claim 1 or 2, which is characterized in that described to allow Voltage difference delta V is that the virtual voltage in lithium battery production testing report is poor.
4. a kind of underwater robot supplying cell failure solution, which is characterized in that the underwater robot supplying cell packet The concatenated lithium battery group of N group is included, wherein N >=2;The battery failures solution includes:
The allowable voltage difference between two groups of lithium battery groups is set as Δ V;
Acquire the voltage of lithium battery group described in every group in the used supplying cell of the underwater robot;
Voltage difference delta V ' between lithium battery group described in calculating every group and remaining described lithium battery group;
The calculated voltage difference delta V ' is compared with the allowable voltage difference Δ V;
Δ V ' >=Δ V if it exists then carries out equalizing circuit weighting first control of discharge to the concatenated lithium battery group of the N group.
5. underwater robot supplying cell failure solution as claimed in claim 4, which is characterized in that further include to equilibrium The supplying cell of circuit control carries out real-time circulation detection, guarantees Δ V ' < Δ V.
6. underwater robot supplying cell failure solution as claimed in claim 4, which is characterized in that the allowable voltage Poor Δ V is that the virtual voltage in lithium battery production testing report is poor.
CN201910019879.7A 2019-01-09 2019-01-09 A kind of underwater robot supplying cell failure solution Pending CN109450056A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910019879.7A CN109450056A (en) 2019-01-09 2019-01-09 A kind of underwater robot supplying cell failure solution

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Application Number Priority Date Filing Date Title
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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102122826A (en) * 2011-01-17 2011-07-13 中国南方电网有限责任公司电网技术研究中心 Energy storage bidirectional current converter for high-capacity storage battery
CN202586386U (en) * 2012-01-18 2012-12-05 天津市泰威科技发展有限公司 An inspection and maintenance and equalizing maintenance device of motive power battery pack
CN103346605A (en) * 2013-07-24 2013-10-09 徐宏 Storage battery set voltage balancing device
CN103645444A (en) * 2013-12-23 2014-03-19 中国科学院电工研究所 Mode principle based battery consistency online evaluation method and detection circuit
CN103785629A (en) * 2014-01-13 2014-05-14 国家电网公司 Screening grouping method of echelon utilization type lithium batteries
CN106208235A (en) * 2016-08-18 2016-12-07 联方云天科技(北京)有限公司 The forecast Control Algorithm that a kind of lithium cell charging passively equalizes
CN205992777U (en) * 2016-09-18 2017-03-01 北京新能源汽车股份有限公司 A kind of electrokinetic cell system and automobile
CN108110352A (en) * 2016-11-25 2018-06-01 天津池瑞科技有限公司 A kind of lithium battery balanced management system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102122826A (en) * 2011-01-17 2011-07-13 中国南方电网有限责任公司电网技术研究中心 Energy storage bidirectional current converter for high-capacity storage battery
CN202586386U (en) * 2012-01-18 2012-12-05 天津市泰威科技发展有限公司 An inspection and maintenance and equalizing maintenance device of motive power battery pack
CN103346605A (en) * 2013-07-24 2013-10-09 徐宏 Storage battery set voltage balancing device
CN103645444A (en) * 2013-12-23 2014-03-19 中国科学院电工研究所 Mode principle based battery consistency online evaluation method and detection circuit
CN103785629A (en) * 2014-01-13 2014-05-14 国家电网公司 Screening grouping method of echelon utilization type lithium batteries
CN106208235A (en) * 2016-08-18 2016-12-07 联方云天科技(北京)有限公司 The forecast Control Algorithm that a kind of lithium cell charging passively equalizes
CN205992777U (en) * 2016-09-18 2017-03-01 北京新能源汽车股份有限公司 A kind of electrokinetic cell system and automobile
CN108110352A (en) * 2016-11-25 2018-06-01 天津池瑞科技有限公司 A kind of lithium battery balanced management system

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Application publication date: 20190308