CN110492566A - A kind of in-pipeline detector power supply energy management system and method - Google Patents

A kind of in-pipeline detector power supply energy management system and method Download PDF

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Publication number
CN110492566A
CN110492566A CN201910783317.XA CN201910783317A CN110492566A CN 110492566 A CN110492566 A CN 110492566A CN 201910783317 A CN201910783317 A CN 201910783317A CN 110492566 A CN110492566 A CN 110492566A
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battery pack
module
power
detector
sensor
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CN110492566B (en
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刘金海
徐行
胡旭光
韩宇
马大中
曹佳佳
汪刚
张佳楠
程煌伦
王睿
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Northeastern University China
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Northeastern University China
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
    • G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
    • G01R31/3842—Arrangements for monitoring battery or accumulator variables, e.g. SoC combining voltage and current measurements
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
    • H01M10/44—Methods for charging or discharging
    • H01M10/441—Methods for charging or discharging for several batteries or cells simultaneously or sequentially
    • 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
    • H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
    • H02J7/0014—Circuits for equalisation of charge between batteries
    • H02J7/0016—Circuits for equalisation of charge between batteries using shunting, discharge or bypass circuits
    • 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
    • H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
    • H02J7/1423—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle with multiple batteries
    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Secondary Cells (AREA)

Abstract

The present invention relates to in-pipeline detector power supply energy administrative skill field, a kind of in-pipeline detector power supply energy management system and method are provided.System of the invention includes equalizing circuit, charging circuit, generating equipment, acquisition module, control module；Equalizing circuit includes N group diode, second switch, third switch；It is in parallel with battery pack after charging circuit series connection third switch；The rotor of generator is connect with mileage wheel mechanical in generating equipment；Acquisition module includes current sensor, voltage sensor, temperature sensor；Control module is single-chip microcontroller, including speed calculation module, SOC estimation module, distance estimate module, power computation module, management of charging and discharging module, energy-optimised module, are built-in with pulse receiver.The present invention can be improved the precision of SOC value estimation, can optimize control to the power supply energy under detector multiple-working mode, realizes the self-adjusted block scheduling of electric energy, improves efficiency, quality and the adaptability of power supply energy management.

Description

Power supply energy management system and method for detector in pipeline
Technical Field
The invention relates to the technical field of power supply energy management of detectors in pipelines, in particular to a power supply energy management system and method of detectors in pipelines.
Background
The detector contains multiunit group battery in the pipeline, and this kind of group battery is because inside being in the pipeline for a long time, can not charge in the mode access external power source with external commercial power, and in the inclosed pipeline of place, the energy storage of battery itself is limited, and its electric quantity will exhaust very fast, brings very big inconvenience and trouble for detection achievement for the detector can not reach the detection requirement smoothly, causes detection quality to descend even. Therefore, it is important to manage the power of the detector in the pipeline.
The key to power management of the in-pipeline detector is estimation of the power supply SOC value (State of Charge). The existing SOC estimation methods are various, such as an open-circuit voltage method, an ampere-hour integration method, a Kalman filtering method and the like. The existing methods mainly work according to working current and voltage, influence factors of an considered SOC value are too few, and internal changes of a battery, such as battery temperature and battery aging, are not considered, so that the estimation accuracy of the SOC value is low, and the accuracy of power supply energy management is further low.
In the existing power supply energy management technology of the in-pipeline detector, on one hand, power supply energy management is rarely integrated in one system, and only discharge of a power supply can be realized, and discharge and charging of the power supply cannot be simultaneously considered, so that balance of residual electric quantity of each battery pack cannot be realized, the efficiency of power supply energy management is low, and the working time of the in-pipeline detector cannot be effectively prolonged; on the other hand, power energy management in multiple operating modes of the detector cannot be realized, and adaptive distribution scheduling of power energy cannot be completed, so that the adaptability of power energy management is low.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a power supply energy management system and method for a detector in a pipeline, which can improve the estimation accuracy of an SOC value, realize the balance of the residual electric quantity of each battery pack, optimally control the power supply energy of the detector in multiple working modes, realize the self-adaptive distribution scheduling of the electric energy, improve the efficiency, the quality and the adaptability of power supply energy management, and effectively prolong the working time of the detector in the pipeline on the basis of ensuring the safe and high-quality completion of monitoring work.
The technical scheme of the invention is as follows:
the utility model provides a detector power energy management system in pipeline, the load of detector includes along the L circle sensor of pipeline axial equipartition, and every circle sensor is along pipeline circumference equipartition, the power includes N group parallel connection's group battery, every sensor establish ties behind the first switch with the power is parallelly connected, there are M mileage wheel along pipeline circumference evenly distributed on the detector, install impulse generator, its characterized in that on the mileage wheel: the device comprises an equalizing circuit, a charging circuit, power generation equipment, a data acquisition module and a control module;
the equalizing circuit comprises N groups of equalizing elements, and the nth group of equalizing elements comprises diodes D connected in seriesnA second switch KnThe nth group of equalizing elements also comprises a third switch SnGroup n of battery packs and diode DnA second switch KnAre sequentially connected in series;
the charging circuit is connected with a third switch S in seriesnThen the battery is connected with the nth group of battery packs in parallel;
the power generation equipment comprises M generators, a rotor of the mth generator is mechanically connected with the mth odometer, and the power generation equipment is sequentially connected with the frequency divider, the rectifying circuit and the charging circuit in parallel; wherein N belongs to {1, 2.. eta., N }, and M belongs to {1, 2.. eta., M };
the acquisition module comprises N +1 current sensors, N +1 voltage sensors and N temperature sensors, the nth current sensor is connected with the nth group of battery pack in series, the N +1 current sensor is connected with the power generation equipment in series, the nth voltage sensor is connected with the nth group of battery pack in parallel, the N +1 voltage sensor is connected with the power generation equipment in parallel, and the nth temperature sensor is arranged on the surface of the nth group of battery pack;
the control module is a single chip microcomputer and comprises a speed calculation module, an SOC estimation module, a distance estimation module, a power calculation module, a charge and discharge management module and an energy optimization module, and a pulse receiver is arranged in the control module;
the output ends of each current sensor, each voltage sensor and each temperature sensor are electrically connected with the input end of the control module, the pulse generator is wirelessly connected with the pulse receiver, and the output end of the control module is electrically connected with each first switch, each second switch and each third switch.
The nth current sensor, the nth voltage sensor and the nth temperature sensor are respectively used for collecting and transmitting the current I of the nth group of battery packsnVoltage UnTemperature TnThe data is sent to a control module, and the (N + 1) th current sensor and the (N + 1) th voltage sensor are respectively used for acquiring and transmitting current I and voltage U data of the power generation equipment to the control module;
the speed calculation module is used for calculating the distance L which the detector has run according to the time recorded by the internal clock circuit of the control module and the pulse number received by the pulse receiver in the time1The instantaneous speed v of the detector, and the distance L the detector has travelled1Data transmissionThe distance pre-estimation module transmits the instantaneous speed v of the detector to the energy optimization module;
the SOC estimation module is used for estimating the current I of the nth group of battery packsnVoltage UnTemperature TnCalculating SOC value SOC of the nth battery packnAnd the SOC value of the power supply is calculatedThe SOC values of all the battery packs are transmitted to a distance estimation module and an energy optimization module, and the SOC values of all the battery packs are transmitted to a charge and discharge management module;
the distance estimation module is used for estimating the distance L according to the distance which is traveled by the detector1Calculating the distance L that the detector can continue to operate according to the SOC value of the power supply2And the distance L that the detector can continue to operate2Transmitting to an energy optimization module;
the power calculation module is used for respectively calculating load power and generating power according to the current and voltage of each group of battery packs and the current and voltage of the power generation equipment and transmitting the load power and the generating power to the energy optimization module;
the charge and discharge management module is used for controlling charge and discharge of each battery pack according to the SOC value of each battery pack;
the energy optimization module is used for adopting one or more strategies in energy optimization strategies, wherein the energy optimization strategies comprise a first energy optimization strategy, a second energy optimization strategy and a third energy optimization strategy; the first energy optimization strategy is to change the sampling frequency f of the sensor according to the instantaneous speed v of the detector and the SOC value of the power supply; the second energy optimization strategy is based on the distance L that the detector can continue to operate2Performing load shedding operation under the condition that the judgment condition of load shedding is met; and the third energy optimization strategy is to adopt a corresponding control strategy according to the magnitude relation between the generated power and the load power.
The SOC estimation module is used for estimating the current I of the nth group of battery packsnVoltage UnTemperature TnCalculating the SOC value of the nth battery pack to be SOCn＝K1n lnUn-K2n(ii) a Wherein, K1n、K2nTemperature-dependent temperature compensation coefficients for the group n battery packs,rnnumber of cells serially connected for the nth group of cells, ZnIs the self-discharge rate of the nth group of battery packs.
The distance estimation module is used for estimating the distance L according to the distance which is traveled by the detector1The distance that the SOC value of the power supply can continue to run is
The charge and discharge management module is used for controlling charge and discharge of each battery pack according to the SOC value of each battery pack and comprises the following steps:
p1: sequencing the SOC values of the battery packs in a descending order to form an SOC value sequence;
p2: selecting a battery pack corresponding to the maximum SOC value in the SOC value sequence to form a discharge battery pack set, and removing the maximum SOC value from the SOC value sequence;
p3: judging whether the discharge current of the discharge battery pack set reaches a discharge required current value, if not, returning to P2, and if so, entering P4;
p4: implementing a balancing strategy: and the charge and discharge management module controls each battery pack in the discharge battery pack set to discharge and each battery pack corresponding to the SOC value sequence to charge.
The first energy optimization strategy is to change the sampling frequency of the sensor intoWherein, r1＝v1+cosv1，r2＝v2+k4，v1、v2、v3are all preset speed threshold values, v3Is the maximum travel speed of the detector in the pipeline.
The second energy optimization strategy is based on the distance L that the detector can continue to operate2The load shedding operation performed under the condition that the load shedding determination condition is satisfied includes: at a distance L over which the detector can continue to operate2Satisfy the requirement ofWhen the L-ring sensor is used, cutting off one half of the axial sensor in the L-ring sensor; wherein S is the total length of the pipeline, and K is the ratio of the sum of the charging current and the sum of the discharging current of the battery pack in the power supply.
The third energy optimization strategy is to adopt a corresponding control strategy according to the magnitude relation between the generated power and the load power, and the control strategy comprises the following steps:
if the generated power is larger than the load power, a first control strategy is adopted: supplying one part of the generated power to meet the load power and supplying the other part of the generated power to charge the battery pack;
if the generated power is smaller than the load power, a second control strategy is adopted: the generated power is completely supplied to the load, and the power of the load deficiency is supplied by the battery pack;
if the generated power is equal to the load power, a third control strategy is adopted: the generated power is supplied to the load in its entirety, and the battery pack is neither charged nor discharged.
A method for power management using the in-pipe detector power management system, comprising the steps of:
step 1: the mileage wheel of the detector rotates under the thrust of liquid in the pipeline so as to drive the rotor of the generator to rotate, and the generator outputs alternating current;
step 2: performing frequency division processing on alternating current output by the generator through a frequency divider, determining the frequency below 200Hz as a first frequency band and the frequency above 200Hz as a second frequency band, controlling the alternating current of the first frequency band by adopting a droop control method, and controlling the alternating current of the second frequency band by adopting a PID control method;
and step 3: rectifying the alternating current output by the generator through a rectifying circuit;
and 4, step 4: data acquisition is carried out through an acquisition module: the nth current sensor, the nth voltage sensor and the nth temperature sensor respectively collect and transmit the current I of the nth group of battery packsnVoltage UnTemperature TnThe data is sent to a control module, and the (N + 1) th current sensor and the (N + 1) th voltage sensor respectively acquire and transmit current I and voltage U data of the power generation equipment to the control module;
and 5: the speed calculation module calculates the distance L that the detector has run according to the time recorded by the internal clock circuit of the control module and the pulse number received by the pulse receiver in the time1The instantaneous speed v of the detector, and the distance L the detector has travelled1Data are transmitted to a distance pre-estimation module, and the instantaneous speed v of the detector is transmitted to an energy optimization module;
step 6: the SOC estimation module is used for estimating the current I of the nth battery packnVoltage UnTemperature TnCalculating SOC value SOC of the nth battery packnAnd the SOC value of the power supply is calculatedThe SOC values of all the battery packs are transmitted to a distance estimation module and an energy optimization module, and the SOC values of all the battery packs are transmitted to a charge and discharge management module;
and 7: the distance estimation module is used for estimating the distance L of the detector according to the distance1Calculating the distance L that the detector can continue to operate according to the SOC value of the power supply2And the distance L that the detector can continue to operate2Transmitting to an energy optimization module;
and 8: the power calculation module respectively calculates load power and generating power according to the current and voltage of each group of battery packs and the current and voltage of the generating equipment, and transmits the load power and the generating power to the energy optimization module;
and step 9: the charge and discharge management module controls charge and discharge of each battery pack according to the SOC value of each battery pack: the charging and discharging management module sends a closing signal to a second switch in series connection with each battery pack in the discharging battery pack set, sends a disconnecting signal to a third switch in parallel connection with each battery pack in the discharging battery pack set, and controls each battery pack in the discharging battery pack set to discharge; the charging and discharging management module sends a closing signal to a third switch connected with each battery pack corresponding to the SOC value sequence in parallel and sends a disconnecting signal to a second switch connected with each battery pack corresponding to the SOC value sequence in series, and each battery pack corresponding to the SOC value sequence is controlled to be charged, so that the balance of the residual electric quantity of each battery pack is realized;
step 10: the energy optimization module adopts one or more strategies in the energy optimization strategies to optimize the energy of the power supply; when a first energy optimization strategy is adopted, the energy optimization module calculates the sampling frequency f of the sensor according to the instantaneous speed v of the detector and the SOC value of the power supply, the control module converts the sampling frequency f into a first electric signal and sends the first electric signal to each sensor, and each sensor is controlled to change the sampling frequency f; when a second energy optimization strategy is adopted, the distance L that the detector can continue to operate is judged in the energy optimization module2When the judgment condition of load shedding is met, the control module sends a second electric signal to a first switch in series with a half of sensors in the L-ring sensors in the axial direction to control the first switch to be switched off, so that a half of load in the transverse direction is cut off; when a third energy optimization strategy is adopted, the energy optimization module adopts a corresponding control strategy according to the size relation between the generated power and the load power:
if the generated power is greater than the load power, a first control strategy is adopted, the generated power is supplied to one part to meet the load power and supplied to the other part to charge the battery pack, the control module sends a disconnection signal to a second switch which is connected with each battery pack in the discharge battery pack set in series, and each battery pack in the discharge battery pack set is controlled not to discharge;
if the generated power is less than the load power, a second control strategy is adopted, the generated power is completely supplied to the load, the power lacking in the load is supplied by the battery pack, the control module sends a disconnection signal to a third switch connected in parallel with each battery pack corresponding to the SOC value sequence, and each battery pack corresponding to the SOC value sequence is controlled not to be charged;
if the generated power is equal to the load power, a third control strategy is adopted, the generated power is completely supplied to the load, the battery packs are not charged or discharged, the control module sends a disconnection signal to a second switch connected in series with each battery pack in the discharging battery pack set and a third switch connected in parallel with each battery pack corresponding to the SOC value sequence, and each battery pack in the discharging battery pack set is controlled not to be discharged and each battery pack corresponding to the SOC value sequence is controlled not to be charged.
The invention has the beneficial effects that:
according to the method and the device, the SOC value of the battery pack is calculated according to the current, the voltage and the temperature of the battery pack, the influence of internal variation factors of the battery on the SOC value is considered, the accuracy of SOC value estimation is improved, and the accuracy of power supply energy management is further improved.
The invention integrates the discharging and charging of the power supply into a system, and realizes the integrated management of the power supply energy through the control module. According to the invention, the charging and discharging of each battery pack are controlled by the charging and discharging management module according to the SOC value of each battery pack, so that the balance of the residual electric quantity of each battery pack can be realized, the efficiency of power supply energy management is improved, and the working time of the detector in the pipeline is effectively prolonged. The invention realizes power supply energy management under various working modes of the detector through the energy optimization module, realizes the self-adaptive distribution and scheduling of the power supply, and improves the adaptability of the power supply energy management: according to the instantaneous speed of the detector and the SOC value of the power supply, the sampling frequency of the sensor is changed, so that the problems of insufficient sampling precision and energy waste can be effectively avoided; according to the distance that the detector can continue to operate, the load cutting operation is carried out under the condition that the load cutting judgment condition is met, and the inner detector can be ensured to completely complete the detection work under the condition that the battery is continuously charged; and according to the magnitude relation between the generated power and the load power, a corresponding control strategy is adopted, so that the energy can be optimally controlled.
Drawings
FIG. 1 is a schematic diagram of the in-pipeline detector power supply energy management system of the present invention;
FIG. 2 is a schematic diagram showing the connection relationship between the load, the power supply, the equalizing circuit and the charging circuit in the power supply energy management system of the in-pipeline detector according to the present invention;
FIG. 3 is a schematic diagram of a charging circuit in the in-duct detector power supply energy management system of the present invention in accordance with an exemplary embodiment;
FIG. 4 is a flowchart illustrating SOC estimation performed by the SOC estimation module in the in-pipeline detector power supply energy management system according to the present invention in an exemplary embodiment;
FIG. 5 is a flowchart illustrating the operation of the charge/discharge management module in the power management system of the in-duct detector according to the present invention to control the charging/discharging of each battery pack;
FIG. 6 is a flow chart of an energy optimization module in the in-pipeline detector power supply energy management system controlling the sampling frequency of a sensor according to an embodiment of the present invention;
FIG. 7 is a flow chart of the power generation and charging process of the in-duct detector power supply energy management system of the present invention in an exemplary embodiment.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic diagram of the power management system of the detector in the pipeline. The load of detector includes along the L circle sensor of pipeline axial equipartition, and every circle sensor is along pipeline circumference equipartition, the power includes N group parallel connection's group battery, every sensor establish ties behind the first switch with the power is parallelly connected, it has M mileage wheel to go up along pipeline circumference evenly distributed on the detector, the mileage takes turns to and installs impulse generator. The power supply energy management system of the detector in the pipeline comprises an equalizing circuit, a charging circuit, power generation equipment, a data acquisition module and a control module.
As shown in fig. 2, the equalization circuit includes N groups of equalization elements, and the nth group of equalization elements includes diodes D connected in seriesnA second switch KnThe nth group of equalizing elements also comprises a third switch SnN group of power supplyGroup battery, diode DnA second switch KnAre sequentially connected in series; the charging circuit is connected with a third switch S in seriesnAnd then connected with the nth group of battery packs in parallel. The charging circuit may be any circuit structure known to those skilled in the art that can charge the battery pack. In this embodiment, the charging circuit has a structure as shown in fig. 3.
The power generation equipment comprises M generators, a rotor of the mth generator is mechanically connected with the mth odometer, and the power generation equipment is sequentially connected with the frequency divider, the rectifying circuit and the charging circuit in parallel; wherein N belongs to {1, 2.. eta., N }, and M belongs to {1, 2.. eta., M }. In this embodiment, N is 6, M is 6, the generator is an ac generator, and a stepping motor is used, so that the low-speed characteristic is good, and the actual operating speed characteristic of the in-pipe detector is met. The running speed of the detector in the pipeline depends on the pressure and the flow speed of the liquid in the pipeline, and is generally 1-5 m/s.
The acquisition module comprises N +1 current sensors, N +1 voltage sensors and N temperature sensors, the nth current sensor is connected with the nth group battery in series, the N +1 current sensor is connected with the power generation equipment in series, the nth voltage sensor is connected with the nth group battery in parallel, the N +1 voltage sensor is connected with the power generation equipment in parallel, and the nth temperature sensor is arranged on the surface of the nth group battery.
The control module is a single chip microcomputer and comprises a speed calculation module, an SOC estimation module, a distance estimation module, a power calculation module, a charge and discharge management module and an energy optimization module, and a pulse receiver is arranged in the control module. In this embodiment, the control module is the minimum system of STM32 singlechip.
The output ends of each current sensor, each voltage sensor and each temperature sensor are electrically connected with the input end of the control module, the pulse generator is wirelessly connected with the pulse receiver, and the output end of the control module is electrically connected with each first switch, each second switch and each third switch.
The nth current sensor, the nth voltage sensor and the nth temperature sensor are respectively used for collecting and transmitting the nth current sensor, the nth voltage sensor and the nth temperature sensorCurrent I of the battery packnVoltage UnTemperature TnAnd the data is sent to the control module, and the (N + 1) th current sensor and the (N + 1) th voltage sensor are respectively used for acquiring and transmitting current I and voltage U data of the power generation equipment to the control module.
The speed calculation module is used for calculating the distance L which the detector has run according to the time recorded by the internal clock circuit of the control module and the pulse number received by the pulse receiver in the time1The instantaneous speed v of the detector, and the distance L the detector has travelled1And the data is transmitted to a distance estimation module, and the instantaneous speed v of the detector is transmitted to an energy optimization module.
As shown in fig. 4, the SOC estimation module is used for estimating the current I of the nth battery pack according to the currentnVoltage UnTemperature TnCalculating the SOC value of the nth battery pack to be SOCn＝K1n lnUn-K2nAnd the SOC value of the power supply is calculatedAnd the SOC values of the battery packs are transmitted to a distance estimation module and an energy optimization module, and are transmitted to a charge and discharge management module. Wherein, K1n、K2nTemperature-dependent temperature compensation coefficients for the group n battery packs,rnnumber of cells serially connected for the nth group of cells, ZnIs the self-discharge rate of the nth group of battery packs. In this example, rn＝3，Zn＝5％。
The distance estimation module is used for estimating the distance L according to the distance which is traveled by the detector1The distance that the SOC value of the power supply can continue to run isAnd the distance L that the detector can continue to operate2And transmitting the data to an energy optimization module.
The power calculation module is used for calculating load power and generating power respectively according to the current and voltage of each group of battery packs and the current and voltage of the power generation equipment, and transmitting the load power and the generating power to the energy optimization module.
As shown in fig. 5, the charge and discharge management module is configured to control charge and discharge of each battery pack according to an SOC value of each battery pack, and includes:
p1: sequencing the SOC values of the battery packs in a descending order to form an SOC value sequence;
p2: selecting a battery pack corresponding to the maximum SOC value in the SOC value sequence to form a discharge battery pack set, and removing the maximum SOC value from the SOC value sequence;
p3: judging whether the discharge current of the discharge battery pack set reaches a discharge required current value, if not, returning to P2, and if so, entering P4;
p4: implementing a balancing strategy: and the charge and discharge management module controls each battery pack in the discharge battery pack set to discharge and each battery pack corresponding to the SOC value sequence to charge.
The energy optimization module is used for adopting one or more strategies in energy optimization strategies, wherein the energy optimization strategies comprise a first energy optimization strategy, a second energy optimization strategy and a third energy optimization strategy; the first energy optimization strategy is to change the sampling frequency f of the sensor according to the instantaneous speed v of the detector and the SOC value of the power supply; the second energy optimization strategy is based on the distance L that the detector can continue to operate2Performing load shedding operation under the condition that the judgment condition of load shedding is met; and the third energy optimization strategy is to adopt a corresponding control strategy according to the magnitude relation between the generated power and the load power.
The first energy optimization strategy is to change the sampling frequency of the sensor intoWherein, r1＝v1+cosv1，r2＝v2+k4，v1、v2、v3are all preset speed threshold values, v3Is the maximum travel speed of the detector in the pipeline.
The second energy optimization strategy is based on the distance L that the detector can continue to operate2The load shedding operation performed under the condition that the load shedding determination condition is satisfied includes: at a distance L over which the detector can continue to operate2Satisfy the requirement ofWhen the L-ring sensor is used, cutting off one half of the axial sensor in the L-ring sensor; wherein S is the total length of the pipeline, and K is the ratio of the sum of the charging current and the sum of the discharging current of the battery pack in the power supply. In this example, K is 0.2.
The third energy optimization strategy is to adopt a corresponding control strategy according to the magnitude relation between the generated power and the load power, and the control strategy comprises the following steps:
if the generated power is larger than the load power, a first control strategy is adopted: supplying one part of the generated power to meet the load power and supplying the other part of the generated power to charge the battery pack;
if the generated power is smaller than the load power, a second control strategy is adopted: the generated power is completely supplied to the load, and the power of the load deficiency is supplied by the battery pack;
if the generated power is equal to the load power, a third control strategy is adopted: the generated power is supplied to the load in its entirety, and the battery pack is neither charged nor discharged.
The method for managing the power supply energy by using the power supply energy management system of the detector in the pipeline comprises the following steps:
step 1: the mileage wheel of the detector rotates under the thrust of liquid in the pipeline so as to drive the rotor of the generator to rotate, and the generator outputs alternating current.
In this embodiment, under the thrust of oil in the pipeline, 6 way mileage wheels drive 6 way alternators and generate electric energy, supply for group battery and load through charging circuit.
The battery is typically a lithium battery. The lithium battery pack has the problem of capacity attenuation along with the continuous increase of the service time in the use process, and particularly the battery pack has the phenomena of large-capacity charge and discharge and frequent charge and discharge in the use process, so that the attenuation situation is particularly serious. Different lithium battery packs are different from one another in individuals even if the lithium battery packs are products of the same manufacturer corresponding to the same batch. And thus energy management of the battery pack is extremely important.
Step 2: as shown in fig. 7, the ac power output from the generator is divided by a frequency divider, 200Hz or less is defined as a first frequency band, and 200Hz or more is defined as a second frequency band, the ac power in the first frequency band is controlled by a droop control method, and the ac power in the second frequency band is controlled by a PID control method.
The power generation equipment generates alternating current with various frequencies and amplitudes, and the droop control has no ideal control effect on the alternating current above 200Hz, so that the alternating current generated by the generator is subjected to frequency division treatment by the frequency divider, the frequency below 200Hz is determined as a first frequency band, the frequency above 200Hz is determined as a second frequency band, and the alternating current in the second frequency band is controlled by adopting a PID control method.
In the control of the droop in the form of the droop,in PID control, U ═ k (q-q)0). Wherein w is the angular velocity, w0、U0Rated values of angular velocity, voltage, p0、q0Respectively active power, reactive power, kp、kqAnd k is an empirical value, and the voltage can be kept constant by keeping the q value constant. In this example, w0＝378，U0＝11V，p0＝22*cos73＝6.432，q0＝22*sin73＝21，kp＝1*10-5，kq＝2*10-3，k＝9.13。
And step 3: the alternating current output by the generator is rectified by the rectifying circuit to obtain stable direct current, so that the voltage effective value is stabilized. In this embodiment, the rectifier circuit adopts a three-phase rectifier circuit, the three-phase rectifier circuit adopts 3 bridge arms, and each bridge arm is composed of a switching diode.
And 4, step 4: data acquisition is carried out through an acquisition module: the nth current sensor, the nth voltage sensor and the nth temperature sensor respectively collect and transmit the current I of the nth group of battery packsnVoltage UnTemperature TnAnd the data is sent to the control module, and the (N + 1) th current sensor and the (N + 1) th voltage sensor respectively acquire and transmit current I and voltage U data of the power generation equipment to the control module.
And 5: the speed calculation module calculates the distance L that the detector has run according to the time recorded by the internal clock circuit of the control module and the pulse number received by the pulse receiver in the time1The instantaneous speed v of the detector, and the distance L the detector has travelled1And the data is transmitted to a distance estimation module, and the instantaneous speed v of the detector is transmitted to an energy optimization module. In this embodiment, the instantaneous velocity v of the detector in the pipeline can be approximately obtained by taking a point every 40cm by the odometer wheel, wherein each 40cm distance corresponds to a time interval, and the ratio of the 40cm distance to the time interval.
Step 6: the SOC estimation module is used for estimating the current I of the nth battery packnVoltage UnTemperature TnCalculating SOC value SOC of the nth battery packnAnd the SOC value of the power supply is calculatedAnd the SOC values of the battery packs are transmitted to a distance estimation module and an energy optimization module, and are transmitted to a charge and discharge management module.
And 7: the distance estimation module is used for estimating the distance L of the detector according to the distance1Calculating the distance L that the detector can continue to operate according to the SOC value of the power supply2And the distance L that the detector can continue to operate2And transmitting the data to an energy optimization module.
And 8: the power calculation module respectively calculates load power and generating power according to the current and voltage of each group of battery packs and the current and voltage of the generating equipment, and transmits the load power and the generating power to the energy optimization module.
And step 9: the charge and discharge management module controls charge and discharge of each battery pack according to the SOC value of each battery pack: the charging and discharging management module sends a closing signal to a second switch in series connection with each battery pack in the discharging battery pack set, sends a disconnecting signal to a third switch in parallel connection with each battery pack in the discharging battery pack set, and controls each battery pack in the discharging battery pack set to discharge; and the charge and discharge management module sends a closing signal to a third switch connected with each battery pack corresponding to the SOC value sequence in parallel and sends a disconnecting signal to a second switch connected with each battery pack corresponding to the SOC value sequence in series, and each battery pack corresponding to the SOC value sequence is controlled to be charged, so that the balance of the residual electric quantity of each battery pack is realized.
Step 10: and the energy optimization module adopts one or more strategies in the energy optimization strategies to optimize the energy of the power supply.
When a first energy optimization strategy is adopted, the energy optimization module calculates the sampling frequency f of the sensor according to the instantaneous speed v of the detector and the SOC value of the power supply, the control module converts the sampling frequency f into a first electric signal and sends the first electric signal to each sensor, and each sensor is controlled to change the sampling frequency f:
in this example, v1＝1m/s，v2＝5m/s，v310 m/s. When the detector works in the pipeline, if the sensor adopts a single sampling frequency under different speed values, when the running speed of the detector is lower (less than 1m/s), energy waste is caused; when the running speed of the detector is high (more than 5m/s), the situation that the sampling precision is insufficient can occur; when the speed of the detector in the pipeline is 0, the detector in the pipeline is blocked, and at the moment, in order to save limited electric energy, sampling is stopped until the speed is not 0 m/s; the speed value of the detector in the pipeline does not exceed 10m/s, so as to ensure the accuracy of the detection work. As shown in FIG. 6, the sampling frequency is determined by the SOC value and the speed valueDetermining that the normal speed value of the detector in the pipeline is 1-5m/s, and combining the actual working condition of the detector in the pipeline, the sampling frequency is 5-6 kHz; when the speed value is lower than 1m/s, the sampling frequency is reduced and the accuracy of detection work can be ensured, wherein the sampling frequency is 1-2 kHz; when the speed value is higher than 5m/s, the sampling frequency is increased to 10kHz, and the accuracy of sampling operation can be ensured. Therefore, the first energy optimization strategy can effectively avoid the problems of insufficient sampling precision and energy waste, ensure that the sensor has multiple working frequencies corresponding to different working modes, realize the maximum utilization of energy on the basis of certain energy, prolong the working time of the detector in the pipeline and better finish the detection work.
When a second energy optimization strategy is adopted, the distance L that the detector can continue to operate is judged in the energy optimization module2When the judgment condition of load shedding is met, the control module sends a second electric signal to a first switch in series with a half of sensors in the L-ring sensors in the axial direction to control the first switch to be switched off, so that a half of load in the transverse direction is cut off;
when a third energy optimization strategy is adopted, the energy optimization module adopts a corresponding control strategy according to the size relation between the generated power and the load power:
if the 6-path odometer wheel normally rotates, no slipping occurs, the generated power is greater than the load power, a first control strategy is adopted, one part of the generated power is supplied to meet the load power, the other part of the generated power is supplied to charge the battery pack, the control module sends a disconnection signal to a second switch which is connected with each battery pack in the discharging battery pack set in series, and each battery pack in the discharging battery pack set is controlled not to discharge;
if a part of the odometer wheels slip and the generated power is smaller than the load power, a second control strategy is adopted, the generated power is completely supplied to the load, the power of load loss is supplied by the battery pack, the control module sends a disconnection signal to a third switch which is connected with each battery pack corresponding to the SOC value sequence in parallel, and each battery pack corresponding to the SOC value sequence is controlled not to be charged;
if a part of the odometer wheels slip and the generated power is equal to the load power, a third control strategy is adopted, the generated power is completely supplied to the load, the battery packs are not charged or discharged, the control module sends a disconnection signal to a second switch connected in series with each battery pack in the discharging battery pack set and a third switch connected in parallel with each battery pack corresponding to the SOC value sequence, and each battery pack in the discharging battery pack set is controlled not to be discharged and each battery pack corresponding to the SOC value sequence is not charged.
It is to be understood that the above-described embodiments are only a few embodiments of the present invention, and not all embodiments. The above examples are only for explaining the present invention and do not constitute a limitation to the scope of protection of the present invention. All other embodiments, which can be derived by those skilled in the art from the above-described embodiments without any creative effort, namely all modifications, equivalents, improvements and the like made within the spirit and principle of the present application, fall within the protection scope of the present invention claimed.

Claims (9)

1. The utility model provides a detector power energy management system in pipeline, the load of detector includes along the L circle sensor of pipeline axial equipartition, and every circle sensor is along pipeline circumference equipartition, the power includes N group parallel connection's group battery, every sensor establish ties behind the first switch with the power is parallelly connected, there are M mileage wheel along pipeline circumference evenly distributed on the detector, install impulse generator, its characterized in that on the mileage wheel: the device comprises an equalizing circuit, a charging circuit, power generation equipment, an acquisition module and a control module;
the equalizing circuit comprises N groups of equalizing elements, and the nth group of equalizing elements comprises diodes D connected in seriesnA second switch KnThe nth group of equalizing elements also comprises a third switch SnGroup n of battery packs and diode DnA second switch KnAre sequentially connected in series;
the charging circuit is connected with a third switch S in seriesnThen the battery is connected with the nth group of battery packs in parallel;
the power generation equipment comprises M generators, a rotor of the mth generator is mechanically connected with the mth odometer, and the power generation equipment is sequentially connected with the frequency divider, the rectifying circuit and the charging circuit in parallel; wherein N belongs to {1, 2.. eta., N }, and M belongs to {1, 2.. eta., M };
the acquisition module comprises N +1 current sensors, N +1 voltage sensors and N temperature sensors, the nth current sensor is connected with the nth group of battery pack in series, the N +1 current sensor is connected with the power generation equipment in series, the nth voltage sensor is connected with the nth group of battery pack in parallel, the N +1 voltage sensor is connected with the power generation equipment in parallel, and the nth temperature sensor is arranged on the surface of the nth group of battery pack;
the control module is a single chip microcomputer and comprises a speed calculation module, an SOC estimation module, a distance estimation module, a power calculation module, a charge and discharge management module and an energy optimization module, and a pulse receiver is arranged in the control module;
the output ends of each current sensor, each voltage sensor and each temperature sensor are electrically connected with the input end of the control module, the pulse generator is wirelessly connected with the pulse receiver, and the output end of the control module is electrically connected with each first switch, each second switch and each third switch.
2. The in-duct detector power supply energy management system of claim 1, wherein the nth current sensor, the nth voltage sensor and the nth temperature sensor are respectively used for collecting and transmitting the current I of the nth battery packnVoltage UnTemperature TnThe data is sent to a control module, and the (N + 1) th current sensor and the (N + 1) th voltage sensor are respectively used for acquiring and transmitting current I and voltage U data of the power generation equipment to the control module;
the speed calculation module is used for calculating the distance L which the detector has run according to the time recorded by the internal clock circuit of the control module and the pulse number received by the pulse receiver in the time1The instantaneous speed v of the detector, and the distance L the detector has travelled1Data are transmitted to a distance pre-estimation module, and the instantaneous speed v of the detector is transmitted to an energy optimization module;
the SOC estimation module is used for rootAccording to current I of nth group of battery packnVoltage UnTemperature TnCalculating SOC value SOC of the nth battery packnAnd the SOC value of the power supply is calculatedThe SOC values of all the battery packs are transmitted to a distance estimation module and an energy optimization module, and the SOC values of all the battery packs are transmitted to a charge and discharge management module;
the distance estimation module is used for estimating the distance L according to the distance which is traveled by the detector1Calculating the distance L that the detector can continue to operate according to the SOC value of the power supply2And the distance L that the detector can continue to operate2Transmitting to an energy optimization module;
the power calculation module is used for respectively calculating load power and generating power according to the current and voltage of each group of battery packs and the current and voltage of the power generation equipment and transmitting the load power and the generating power to the energy optimization module;
the charge and discharge management module is used for controlling charge and discharge of each battery pack according to the SOC value of each battery pack;
the energy optimization module is used for adopting one or more strategies in energy optimization strategies, wherein the energy optimization strategies comprise a first energy optimization strategy, a second energy optimization strategy and a third energy optimization strategy; the first energy optimization strategy is to change the sampling frequency f of the sensor according to the instantaneous speed v of the detector and the SOC value of the power supply; the second energy optimization strategy is based on the distance L that the detector can continue to operate2Performing load shedding operation under the condition that the judgment condition of load shedding is met; and the third energy optimization strategy is to adopt a corresponding control strategy according to the magnitude relation between the generated power and the load power.
3. The in-duct detector power supply energy management system of claim 2, wherein the SOC estimation module is configured to estimate the current I from the nth bank of battery packsnVoltage UnTemperature TnCalculating the SOC value of the nth battery pack to be SOCn＝K1nlnUn-K2n(ii) a Wherein, K1n、K2nTemperature-dependent temperature compensation coefficients for the group n battery packs,rnnumber of cells serially connected for the nth group of cells, ZnIs the self-discharge rate of the nth group of battery packs.
4. The in-duct detector power supply energy management system of claim 3, wherein the distance estimation module is configured to estimate the distance L that the detector has traveled based on1The distance that the SOC value of the power supply can continue to run is
5. The in-duct detector power supply energy management system of claim 4, wherein the charge and discharge management module for controlling the charging and discharging of each battery pack according to the SOC value of each battery pack comprises:
p1: sequencing the SOC values of the battery packs in a descending order to form an SOC value sequence;
p2: selecting a battery pack corresponding to the maximum SOC value in the SOC value sequence to form a discharge battery pack set, and removing the maximum SOC value from the SOC value sequence;
p3: judging whether the discharge current of the discharge battery pack set reaches a discharge required current value, if not, returning to P2, and if so, entering P4;
p4: implementing a balancing strategy: and the charge and discharge management module controls each battery pack in the discharge battery pack set to discharge and each battery pack corresponding to the SOC value sequence to charge.
6. The in-pipe detector power supply energy management system of claim 5, wherein the first energy optimization strategy is based on instantaneous speed v of the detector, power supplySOC value, changing the sampling frequency of the sensor toWherein, r1＝v1+cosv1，r2＝v2+k4，v1、v2、v3are all preset speed threshold values, v3Is the maximum travel speed of the detector in the pipeline.
7. The in-pipe detector power supply energy management system of claim 6, wherein the second energy optimization strategy is based on a distance L that the detector can continue to operate2The load shedding operation performed under the condition that the load shedding determination condition is satisfied includes: at a distance L over which the detector can continue to operate2Satisfy the requirement ofWhen the L-ring sensor is used, cutting off one half of the axial sensor in the L-ring sensor; wherein S is the total length of the pipeline, and K is the ratio of the sum of the charging current and the sum of the discharging current of the battery pack in the power supply.
8. The in-pipeline detector power supply energy management system of claim 7, wherein the third energy optimization strategy is based on a magnitude relationship between generated power and load power, and wherein taking a corresponding control strategy comprises:
if the generated power is larger than the load power, a first control strategy is adopted: supplying one part of the generated power to meet the load power and supplying the other part of the generated power to charge the battery pack;
if the generated power is smaller than the load power, a second control strategy is adopted: the generated power is completely supplied to the load, and the power of the load deficiency is supplied by the battery pack;
if the generated power is equal to the load power, a third control strategy is adopted: the generated power is supplied to the load in its entirety, and the battery pack is neither charged nor discharged.
9. A method of power supply energy management using the in-pipe detector power supply energy management system of claim 8, comprising the steps of:
step 1: the mileage wheel of the detector rotates under the thrust of liquid in the pipeline so as to drive the rotor of the generator to rotate, and the generator outputs alternating current;
step 2: performing frequency division processing on alternating current output by the generator through a frequency divider, determining the frequency below 200Hz as a first frequency band and the frequency above 200Hz as a second frequency band, controlling the alternating current of the first frequency band by adopting a droop control method, and controlling the alternating current of the second frequency band by adopting a PID control method;
and step 3: rectifying the alternating current output by the generator through a rectifying circuit;
and 4, step 4: data acquisition is carried out through an acquisition module: the nth current sensor, the nth voltage sensor and the nth temperature sensor respectively collect and transmit the current I of the nth group of battery packsnVoltage UnTemperature TnThe data is sent to a control module, and the (N + 1) th current sensor and the (N + 1) th voltage sensor respectively acquire and transmit current I and voltage U data of the power generation equipment to the control module;
and 5: the speed calculation module calculates the distance L that the detector has run according to the time recorded by the internal clock circuit of the control module and the pulse number received by the pulse receiver in the time1The instantaneous speed v of the detector, and the distance L the detector has travelled1Data are transmitted to a distance pre-estimation module, and the instantaneous speed v of the detector is transmitted to an energy optimization module;
step 6: the SOC estimation module is used for estimating the current I of the nth battery packnVoltage UnTemperature TnCalculating SOC value SOC of the nth battery packnAnd the SOC value of the power supply is calculatedThe SOC values of all the battery packs are transmitted to a distance estimation module and an energy optimization module, and the SOC values of all the battery packs are transmitted to a charge and discharge management module;
and 7: the distance estimation module is used for estimating the distance L of the detector according to the distance1Calculating the distance L that the detector can continue to operate according to the SOC value of the power supply2And the distance L that the detector can continue to operate2Transmitting to an energy optimization module;
and 8: the power calculation module respectively calculates load power and generating power according to the current and voltage of each group of battery packs and the current and voltage of the generating equipment, and transmits the load power and the generating power to the energy optimization module;
and step 9: the charge and discharge management module controls charge and discharge of each battery pack according to the SOC value of each battery pack: the charging and discharging management module sends a closing signal to a second switch in series connection with each battery pack in the discharging battery pack set, sends a disconnecting signal to a third switch in parallel connection with each battery pack in the discharging battery pack set, and controls each battery pack in the discharging battery pack set to discharge; the charging and discharging management module sends a closing signal to a third switch connected with each battery pack corresponding to the SOC value sequence in parallel and sends a disconnecting signal to a second switch connected with each battery pack corresponding to the SOC value sequence in series, and each battery pack corresponding to the SOC value sequence is controlled to be charged, so that the balance of the residual electric quantity of each battery pack is realized;
step 10: the energy optimization module adopts one or more strategies in the energy optimization strategies to optimize the energy of the power supply; when a first energy optimization strategy is adopted, the energy optimization module calculates the sampling frequency f of the sensor according to the instantaneous speed v of the detector and the SOC value of the power supply, the control module converts the sampling frequency f into a first electric signal and sends the first electric signal to each sensor, and each sensor is controlled to change the sampling frequency f; when a second energy optimization strategy is adopted, the distance L that the detector can continue to operate is judged in the energy optimization module2When the judgment condition of load shedding is met, the control module sends a second electric signalThe first switch which is connected with the axial half of the L-ring sensors in series is controlled to be switched off, so that the transverse half of the load is cut off; when a third energy optimization strategy is adopted, the energy optimization module adopts a corresponding control strategy according to the size relation between the generated power and the load power:
if the generated power is greater than the load power, a first control strategy is adopted, the generated power is supplied to one part to meet the load power and supplied to the other part to charge the battery pack, the control module sends a disconnection signal to a second switch which is connected with each battery pack in the discharge battery pack set in series, and each battery pack in the discharge battery pack set is controlled not to discharge;
if the generated power is less than the load power, a second control strategy is adopted, the generated power is completely supplied to the load, the power lacking in the load is supplied by the battery pack, the control module sends a disconnection signal to a third switch connected in parallel with each battery pack corresponding to the SOC value sequence, and each battery pack corresponding to the SOC value sequence is controlled not to be charged;
if the generated power is equal to the load power, a third control strategy is adopted, the generated power is completely supplied to the load, the battery packs are not charged or discharged, the control module sends a disconnection signal to a second switch connected in series with each battery pack in the discharging battery pack set and a third switch connected in parallel with each battery pack corresponding to the SOC value sequence, and each battery pack in the discharging battery pack set is controlled not to be discharged and each battery pack corresponding to the SOC value sequence is controlled not to be charged.
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