CN112165130A - Servo power supply with independently controllable charging and discharging and implementation method thereof - Google Patents
Servo power supply with independently controllable charging and discharging and implementation method thereof Download PDFInfo
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- CN112165130A CN112165130A CN202010880789.XA CN202010880789A CN112165130A CN 112165130 A CN112165130 A CN 112165130A CN 202010880789 A CN202010880789 A CN 202010880789A CN 112165130 A CN112165130 A CN 112165130A
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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
- 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
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- 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
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- 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
- H01M10/60—Heating or cooling; Temperature control
- H01M10/61—Types of temperature control
- H01M10/615—Heating or keeping warm
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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
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/00302—Overcharge protection
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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
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/00306—Overdischarge protection
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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
- H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
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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
- H02J7/0068—Battery or charger load switching, e.g. concurrent charging and load supply
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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
- 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
Abstract
The invention relates to a charge-discharge autonomous controllable servo power supply, which comprises a lithium ion battery pack and a management module, wherein the lithium ion battery pack comprises n parallel battery groups, and each battery group is formed by connecting m lithium ion battery monomers in series; the management module comprises a main control operation unit, an information acquisition unit, a thermal management unit, a balance management unit, a bidirectional DC/DC conversion unit and a peak compensation unit. The invention also relates to a method for realizing the independently controllable charging and discharging servo power supply. When a certain battery group has a fault, the fault group is cut off through the redundancy management unit, and other normal battery groups can still ensure the normal work of the servo power supply, so that the reliability of the servo power supply is greatly improved. The invention realizes the stability of the bus voltage in the working process by designing the bidirectional DC/DC conversion unit, protects the safety of a single battery when charging and inputting, and ensures that the rapid dynamic adjustment characteristic of the servo control system meets the requirement.
Description
Technical Field
The invention relates to a charging and discharging independently controllable servo power supply and an implementation method thereof, and belongs to the field of rocket-borne energy.
Background
At present, a thermal battery, a zinc/silver oxide reserve battery and the like are commonly used as a servo power primary energy source in the field of aerospace, and the servo power primary energy source has the advantages of simplicity in use, convenience for long-term storage and the like, but the servo power primary energy source is a primary battery, cannot be recharged, and cannot meet the requirements of long endurance, on-track charging, reusability and the like.
With the introduction of low-cost and reusable concepts of vehicles and the development of battery technology, the application of power lithium ion batteries in aerospace servo energy sources is becoming mature. The lithium ion battery has the advantages of high specific energy, no memory effect, long service life, high cycle number, small volume, light weight and the like, is a battery system with the best comprehensive performance at present, is widely applied to a plurality of portable electronic devices, and becomes an indispensable important energy source for modern and future military equipment. However, the single cells of the lithium battery are low in voltage, and a plurality of cells are generally used in series and parallel, so that a corresponding safety management system needs to be designed to monitor the charging and discharging processes and the health state of the battery.
The servo power supply adopting the lithium ion battery is still in an exploration stage at present, and the following difficulties exist in the design and development processes:
1. a plurality of monomers are used in series-parallel connection, and the whole lithium ion battery pack cannot work due to the failure of one monomer, so that the reliability is low.
2. The servo power supply is used as an important component of an electromechanical servo system, and in order to meet the requirements of increasingly improved power density and low cost, the servo power supply needs to meet the requirements of high voltage, high specific power, light weight, miniaturization, reusability and the like; because the high-rate discharge capacity of the lithium ion battery is weak, in order to meet the short-time and high-power requirements, the design capacity is generally required to be increased, and the specific power is reduced.
3. In the working process, the fluctuation range of the bus voltage is large, and the dynamic adjustment characteristic of the servo control system is seriously influenced.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the servo power supply overcomes the defects of the prior art, provides the servo power supply with the independently controllable charge and discharge and the implementation method thereof, meets the high reliability requirement in the rocket field, and simultaneously meets the requirements of a servo system on small power in long time, large power in short time, on-track charging and repeated use.
The technical solution of the invention is as follows:
a servo power supply with an independently controllable charge and discharge function comprises a lithium ion battery pack and a management module, wherein the management module comprises a main control operation unit, an information acquisition unit, a heat management unit, a balance management unit, a bidirectional DC/DC conversion unit and a peak compensation unit;
the lithium ion battery pack comprises n parallel battery groups, and each battery group is formed by connecting m lithium ion battery monomers in series;
an information acquisition unit: collecting bus voltage, bus current, working temperature of the lithium ion battery pack and voltage of each lithium ion battery monomer in real time, conditioning signals, and sending conditioned signals to a master control operation unit;
a main control operation unit: calculating the electric quantity of the lithium ion battery pack according to the voltage, current and temperature signals transmitted by the information acquisition unit; when the bus voltage is higher than the set voltage and the electric quantity of the lithium ion battery pack is less than 100%, sending a charging instruction to a bidirectional DC/DC conversion unit; when the bus voltage is lower than the set voltage and the electric quantity of the lithium ion battery pack is greater than 10%, sending a discharging instruction to the bidirectional DC/DC conversion unit; in the charging process of the lithium ion battery pack, if the voltage of a certain lithium ion battery cell is less than an equalization opening threshold value, a starting instruction is sent to an equalization management unit; when the voltage of the lithium ion battery monomer in the balancing is greater than the balancing closing threshold, sending a closing instruction to the balancing management unit; when the temperature of the lithium ion battery pack is lower than-10 degrees, a heating instruction is sent to the thermal management unit; when the temperature of the lithium ion battery pack is higher than 0 degrees, sending a closing instruction to a thermal management unit; transmitting the electric quantity of the lithium ion battery pack and the health state of each battery group to a servo control system in real time through a control bus;
bidirectional DC/DC conversion unit: after receiving a charging instruction, starting a charging circuit to control the energy on the bus to flow to the lithium ion battery pack so as to charge the lithium ion battery pack; after receiving a discharge instruction, starting a discharge circuit to control the energy of the lithium ion battery pack to flow to a bus to realize the discharge of the lithium ion battery pack;
a balance management unit: when a starting instruction is received, the voltage of the bus of the lithium ion battery pack is subjected to voltage reduction and transformation, and is output to a lithium ion battery monomer with the voltage smaller than the balanced starting threshold value after isolation and voltage stabilization; stopping working when receiving a closing instruction;
a thermal management unit: when a heating instruction is received, the lithium ion battery pack is heated through the heating loop, so that the lithium ion battery pack works in a proper temperature range; cutting off the heating loop when receiving a closing instruction;
a peak compensation unit: when the lithium ion battery pack discharges, the electric energy fed back by the external load of the servo power supply is absorbed and stored, and when the external load needs peak pulse current, the peak compensation unit releases the stored electric energy to the external load for peak compensation.
The system also comprises a redundancy management unit;
the main control operation unit judges the health state of each battery group of the lithium ion battery pack according to the voltage, current and temperature signals transmitted by the information acquisition unit; according to the health state of each battery group, determining the battery groups capable of participating in work, and sending an access or removal instruction to a redundancy management unit;
the redundancy management unit groups and accesses the corresponding batteries into the servo power supply according to the access instruction; and cutting off the corresponding battery grouping connection according to the cutting-off instruction.
The main control arithmetic unit judges the health state of the ith battery group of the lithium ion battery pack by using the following method, i belongs to [1, n ]:
if the voltage difference between the ith battery group and any other battery group is more than 5V, the voltage of the battery group is considered to be in fault, and the battery group cannot participate in the work;
after the ith battery group is cut off by the redundancy management unit, in the working process of the servo power supply, if the differential pressure between the ith battery group and any one of other battery groups is not more than 1V, the battery group is considered to be capable of participating in the work;
if the current of the ith battery group is too large or the current direction is inconsistent with the current direction of other battery groups, the battery group is considered to be in fault and cannot participate in the work;
if the temperature of the ith battery pack is higher than the temperature of each of the other battery packs by more than 10 degrees, the battery pack is considered to be in fault and cannot participate in the work.
The lithium ion battery monomer adopts a lithium ion battery of a lithium iron phosphate system or a ternary lithium system, the number m of the lithium ion battery monomers of each battery group is matched with the voltage requirement of a servo system, the capacity of all the batteries after the batteries are grouped and connected in parallel is matched with the discharge current of the servo system in time, and the design margin of the voltage and current parameters of the lithium ion battery pack is not lower than 10%.
The balance starting threshold value is equal to the average value of all the single lithium ion battery voltages, namely-0.2V; the equilibrium shutdown threshold is the average of all the cell voltages of the lithium ion battery + 0.1V.
The bidirectional DC/DC conversion unit comprises a switching tube Q1, a switching tube Q2, a switching tube Q3, a fuse F1, an inductor L1 and a drive control circuit;
the drain of a switching tube Q1 is connected with the positive output end of the peak value compensation unit, the source of the switching tube Q1 is simultaneously connected with the drain of a switching tube Q3 and the source of a switching tube Q2, the drain of the switching tube Q2 is connected with one end of an inductor L1, the other end of the inductor L1 is connected with the positive output end of the redundancy management unit, the source of the switching tube Q3 is connected with one end of a fuse F1, and the other end of the fuse F1 is simultaneously connected with the negative output end of the redundancy management unit and the negative output end of the peak value compensation unit;
the grid electrode of the switching tube Q1, the grid electrode of the switching tube Q2 and the grid electrode of the switching tube Q3 are all connected with the driving control circuit.
When the main control operation unit sends a charging instruction to the bidirectional DC/DC conversion unit, the driving control circuit receives the charging instruction, sends an opening signal to the grid of the switching tube Q2, sends a PWM driving pulse to the grid of the switching tube Q1 and sends a closing signal to the grid of the switching tube Q3;
when the main control operation unit sends a discharge command to the bidirectional DC/DC conversion unit, the drive control circuit receives the discharge command, sends opening signals to the grid electrode of the switching tube Q2 and the grid electrode of the switching tube Q1, and sends PWM drive pulses to the grid electrode of the switching tube Q3.
A method for realizing a servo power supply with controllable charge and discharge comprises the following steps:
(1) the information acquisition unit acquires bus voltage, bus current, lithium ion battery pack temperature and voltage of each lithium ion battery monomer in real time, conditions signals and sends conditioned signals to the master control operation unit; when the temperature of the lithium ion battery pack is lower than minus 10 degrees, the main control operation unit sends a heating instruction to the thermal management unit, the step (2) is carried out, and when the temperature of the lithium ion battery pack is not lower than minus 10 degrees, the step (3) is carried out;
(2) when the thermal management unit receives a heating instruction, the lithium ion battery pack is heated through the heating loop; when the temperature of the lithium ion battery pack is higher than 0 degrees, the main control operation unit sends a closing instruction to the thermal management unit, the thermal management unit cuts off a heating loop, and the step (3) is carried out;
(3) the main control operation unit judges the health state of each battery group of the lithium ion battery pack in real time according to the voltage, current and temperature signals transmitted by the information acquisition unit; according to the health state of each battery group, determining the battery groups which can participate in the work and the battery groups which have faults and need to be cut off, and accordingly sending an access or cut-off instruction to a redundancy management unit in real time;
(4) the redundancy management unit groups and accesses the corresponding batteries into the servo power supply according to the access instruction; cutting off the corresponding battery grouping connection according to the cutting-off instruction;
(5) the main control operation unit calculates the electric quantity of the lithium ion battery pack in real time according to the voltage, current and temperature signals transmitted by the information acquisition unit; when the bus voltage is higher than the set voltage and the electric quantity of the lithium ion battery pack is less than 100%, sending a charging instruction to a bidirectional DC/DC conversion unit;
(6) after the bidirectional DC/DC conversion unit receives the charging instruction, the charging circuit is started to control the energy on the bus to flow to the lithium ion battery pack, so that the lithium ion battery pack is charged;
(7) in the charging process of the lithium ion battery pack, if the voltage of a certain lithium ion battery cell is less than an equalization opening threshold value, a main control operation unit sends a starting instruction to an equalization management unit;
(8) after receiving the starting instruction, the balance management unit performs voltage reduction transformation on the bus voltage of the lithium ion battery pack, and outputs the voltage to the lithium ion battery monomer with the voltage smaller than the balance starting threshold value after isolation and voltage stabilization;
(9) when the voltage of the lithium ion battery monomer in the balancing is greater than the balancing closing threshold, sending a closing instruction to the balancing management unit, and stopping the balancing management unit;
(10) when the bus voltage is lower than the set voltage and the electric quantity of the lithium ion battery pack is greater than 10%, the main control operation unit sends a discharge instruction to the bidirectional DC/DC conversion unit;
(11) after the bidirectional DC/DC conversion unit receives the discharge instruction, a discharge circuit is started to control the energy of the lithium ion battery pack to flow to the bus, so that the discharge of the lithium ion battery pack is realized;
(12) the main control operation unit transmits the electric quantity of the lithium ion battery pack and the health state of each battery group to the servo control system in real time through the control bus, and the servo control system dynamically adjusts the load according to the electric quantity of the lithium ion battery pack and the health state of each battery group.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention abandons the traditional mode of using a plurality of monomers in series-parallel connection, divides the lithium ion battery pack into n parallel battery groups, and each battery group is formed by connecting m lithium ion battery monomers in series, thereby realizing the redundancy design of the battery pack, and realizes that when a certain battery group fails, the failure group is cut off through the redundancy management unit through the real-time monitoring of the health state of each battery group, and other normal battery groups can still ensure the normal work of the servo power supply, thereby greatly improving the reliability of the servo power supply.
(2) The invention designs a bidirectional DC/DC conversion unit for a servo power supply, and when the bus voltage is higher than the set voltage and the electric quantity of the lithium ion battery pack is less than 100%, the lithium ion battery pack is charged through the bidirectional DC/DC conversion unit; when the bus voltage is lower than the set voltage and the electric quantity of the lithium ion battery pack is more than 10%, the lithium ion battery pack is discharged through the bidirectional DC/DC conversion unit. The process takes the state of charge as a constraint condition, avoids overcharge or overdischarge of the battery pack, realizes the stability of bus voltage in the working process, protects the safety of a battery monomer during charging input, and ensures that the dynamic adjustment characteristic of a servo control system meets the requirement. Meanwhile, the bidirectional DC/DC conversion unit is controlled based on the bus level signal, the response is fast, the voltage is higher than the set voltage and enters a charging state, the voltage is lower than the set voltage and enters a discharging state, and the larger the voltage difference is, the larger the power is. Meanwhile, the set voltage can be changed according to the bus instruction, and the output is adjustable.
(3) The peak value compensation unit is realized by adopting series-parallel connection of capacitors and is used for compensating the peak value current of a load. Meanwhile, the feedback energy can be absorbed quickly, and the impact of pulse energy on the battery is reduced. The requirement of short-time high power is met, the design capacity of the battery pack does not need to be increased, and the specific power of the battery pack is not influenced.
Drawings
FIG. 1 is a schematic diagram of a servo power supply with controllable charge and discharge;
FIG. 2 is a block diagram of the balance management unit;
fig. 3 is a schematic diagram of a bidirectional DC/DC conversion unit.
Detailed Description
As shown in fig. 1, the present invention provides a charge/discharge autonomous controllable servo power supply, which includes a lithium ion battery pack and a management module, wherein the management module includes a main control operation unit 2.1, an information acquisition unit 2.2, a thermal management unit 2.3, a balance management unit 2.4, a redundancy management unit 2.5, a bidirectional DC/DC conversion unit 2.6, and a peak compensation unit 2.7.
In order to meet the design capacity, when the power supply battery pack is designed, a plurality of single batteries are usually connected in parallel to meet the capacity requirement, and then are connected in series in multiple stages to meet the voltage requirement. In order to improve the reliability and fault-tolerant capability of the system, the battery pack is designed to adopt grouping series connection and then parallel connection, and the redundancy of the power supply is realized through a redundancy management unit. The lithium ion battery pack comprises n parallel battery groups, each battery group is formed by connecting m lithium ion battery monomers in series, and the number of the battery monomers connected in series in each battery group is the same. In order to simplify the complexity of redundancy control, the value of n is 4-6. All battery grouping outputs are connected to a management module for redundancy control. M is a natural number greater than 1.
Information acquisition unit 2.2: the system is composed of sensors (temperature, voltage, current and the like) and a signal processing circuit, and is used for collecting bus voltage, bus current, working temperature of the lithium ion battery pack and voltage of each lithium ion battery monomer in real time, conditioning the signals and sending the conditioned signals to a main control operation unit 2.1.
Main control arithmetic unit 2.1: according to the voltage, current and temperature signals transmitted by the information acquisition unit 2.2, calculating the electric quantity of the lithium ion battery pack, and judging the health state of each battery group of the lithium ion battery pack; taking the power generator and the lithium ion battery pack as an example for supplying power to the servo system, when the output power of the power generator is smaller than the power consumption power of the servo system (when the bus voltage is lower than the set voltage) and the electric quantity of the lithium ion battery pack is larger than 10%, a discharging instruction is sent to the bidirectional DC/DC conversion unit 2.6; when the output power of the generator is larger than the power consumption power of the servo system (when the bus voltage is higher than the set voltage) and the electric quantity of the lithium ion battery pack is smaller than 100 percent, a charging instruction is sent to the bidirectional DC/DC conversion unit 2.6; in the charging process of the lithium ion battery pack, if the voltage of a certain lithium ion battery cell is less than an equilibrium opening threshold value (the average value of the voltages of all the lithium ion battery cells is-0.2V), a starting instruction is sent to an equilibrium management unit 2.4; when the voltage of the lithium ion battery cell in the balancing is greater than the balancing closing threshold (the average value of the voltages of all the lithium ion battery cells is +0.1V), a closing instruction is sent to the balancing management unit 2.4; according to the health state of each battery group, determining the battery group participating in the work, and sending an access or removal instruction to the redundancy management unit 2.5; when the temperature of the lithium ion battery pack is lower than-10 degrees, a heating instruction is sent to the thermal management unit 2.3; when the temperature of the lithium ion battery pack is higher than 0 degrees, a closing instruction is sent to the thermal management unit 2.3; and the electric quantity of the lithium ion battery pack and the health state of each battery group are transmitted to the servo control system in real time through the control bus.
Bidirectional DC/DC conversion unit 2.6: after receiving a charging instruction, starting a charging circuit to control the energy on the bus to flow to the lithium ion battery pack so as to charge the lithium ion battery pack; and after receiving the discharge instruction, starting a discharge circuit to control the energy of the lithium ion battery pack to flow to the bus, so as to realize the discharge of the lithium ion battery pack.
As shown in fig. 3, the bidirectional DC/DC conversion unit 2.6 includes a switching tube Q1, a switching tube Q2, a switching tube Q3, a fuse F1, an inductor L1, and a drive control circuit.
The drain of the switching tube Q1 is connected with the positive output end of the peak compensation unit 2.7, the source of the switching tube Q1 is connected with the drain of the switching tube Q3 and the source of the switching tube Q2, the drain of the switching tube Q2 is connected with one end of the inductor L1, the other end of the inductor L1 is connected with the positive output end of the redundancy management unit, the source of the switching tube Q3 is connected with one end of the fuse F1, and the other end of the fuse F1 is connected with the negative output end of the redundancy management unit and the negative output end of the peak compensation unit 2.7.
The grid electrode of the switching tube Q1, the grid electrode of the switching tube Q2 and the grid electrode of the switching tube Q3 are all connected with the driving control circuit.
When the main control arithmetic unit 2.1 sends a charging command to the bidirectional DC/DC conversion unit 2.6, the drive control circuit receives the charging command, and sends an on signal to the gate of the switching tube Q2, a PWM drive pulse to the gate of the switching tube Q1, and an off signal to the gate of the switching tube Q3. When the main control arithmetic unit 2.1 sends a discharge command to the bidirectional DC/DC conversion unit 2.6, the drive control circuit receives the discharge command, sends an opening signal to the gate of the switching tube Q2 and the gate of the switching tube Q1, and sends a PWM drive pulse to the gate of the switching tube Q3.
When Q3 has short-circuit fault, F1 fuses to prevent internal short circuit of lithium ion battery pack. When the lithium ion battery pack is electrified, the output voltage is slowly increased by controlling the opening time of the Q2, the surge current is restrained, and when the lithium ion battery pack has an external short circuit, the Q2 is closed, so that the lithium ion battery pack can be protected. Therefore, the bidirectional DC/DC conversion unit can realize the functions of power-on surge suppression, short-circuit protection, overcurrent protection and the like, ensure the safety of the servo power supply and improve the power supply reliability.
Balance management unit 2.4: when a starting instruction is received, the voltage of the bus of the lithium ion battery pack is subjected to voltage reduction and transformation, and is output to a lithium ion battery monomer with the voltage smaller than the balanced starting threshold value after isolation and voltage stabilization; and when a closing instruction is received, stopping working. The specific composition of the balance management unit 2.4 is shown in fig. 2.
Thermal management unit 2.3: the heating loop is formed by a heating wire and a control circuit, and when a heating instruction is received, the lithium ion battery pack is heated through the heating loop, so that the lithium ion battery pack works in a proper temperature range; and when receiving a closing command, cutting off the heating loop. The lithium ion battery pack is ensured to work in a proper temperature range, and the influence of low temperature on the discharge capacity of the battery is reduced.
The power consumption of the servo system has the characteristics of large pulse short-time discharge, braking regenerative electric energy and the like. In the working process of the servo system, the servo motor has two working states of a motor and a generator which are carried out alternately. When the servo system is in a braking state, the motor is in a power generation state, and the kinetic energy of the load (the spray pipe/the air rudder) is converted into electric energy, so that the voltage of a bus is rapidly increased, and the phenomenon of backward flowing and impacting of regenerated electric energy is formed. The peak value compensation unit 2.7 is composed of a capacitor, the regenerated energy is absorbed by the stored energy of the capacitor, and when the peak pulse current is required to be provided for an external load (a spray pipe/an air rudder), the stored electric energy is released, so that the influence of pulse heavy current output on the battery is reduced, and the defect of high-rate output capability of the lithium ion battery is overcome. Specifically, when the servo motor is in a power generation state, electric energy fed back by an external load of the servo power supply is absorbed and stored, and when the external load requires a peak pulse current, the peak compensation unit 2.7 releases the stored electric energy to the external load for peak compensation.
The master control arithmetic unit 2.1 judges the health status of the ith battery group of the lithium ion battery pack by using the following method, i belongs to [1, n ]:
and if the voltage difference between the ith battery group and any other battery group is more than 5V, the voltage of the battery group is considered to be in fault, and the battery group cannot participate in the work.
After the ith battery group is cut off by the redundancy management unit, in the working process of the servo power supply, if the differential pressure between the ith battery group and any other battery group is not more than 1V, the battery group is considered to be capable of participating in the work.
And if the current of the ith battery group is too large or the current direction is inconsistent with the current direction of other battery groups, the battery group is considered to be in fault and cannot participate in the work.
If the temperature of the ith battery pack is higher than the temperature of each of the other battery packs by more than 10 degrees, the battery pack is considered to be in fault and cannot participate in the work.
Redundancy management unit 2.5: and according to the access command, the corresponding battery groups are accessed into the servo power supply, and according to the cut-off command, the corresponding battery groups are cut off. The redundancy management unit 2.5 is composed of a power output circuit and a driving circuit thereof, manages the output control of each battery group, and if the battery group is abnormal, cuts off the output of the group according to the cutting instruction, and controls each battery group independently, thereby realizing the redundancy management of the battery pack and improving the system reliability.
The lithium ion battery monomer adopts a lithium ion battery of a lithium iron phosphate system or a ternary lithium system, the number m of the lithium ion battery monomers of each battery group is matched with the voltage requirement of a servo system, the capacity of all the batteries after the batteries are grouped and connected in parallel is matched with the discharge current of the servo system in time and long, the design margin of the voltage and current parameters of the lithium ion battery pack is not lower than 10 percent, the later-stage servo power utilization requirement is ensured, and the battery pack is arranged in a metal box body so as to improve the mechanical environment adaptability.
The invention provides a method for realizing a servo power supply with controllable charge and discharge, which comprises the following steps:
(1) the information acquisition unit 2.2 acquires bus voltage, bus current, lithium ion battery pack temperature and voltage of each lithium ion battery monomer in real time, conditions signals and sends the conditioned signals to the main control operation unit 2.1; when the temperature of the lithium ion battery pack is lower than minus 10 degrees, the main control operation unit 2.1 sends a heating instruction to the thermal management unit 2.3, the step (2) is carried out, and when the temperature of the lithium ion battery pack is not lower than minus 10 degrees, the step (3) is carried out;
(2) when the thermal management unit 2.3 receives the heating instruction, the lithium ion battery pack is heated through the heating loop; when the temperature of the lithium ion battery pack is higher than 0 degrees, the main control operation unit 2.1 sends a closing instruction to the thermal management unit 2.3, the thermal management unit 2.3 cuts off a heating loop, and the step (3) is carried out;
(3) the main control operation unit 2.1 judges the health state of each battery group of the lithium ion battery pack in real time according to the voltage, current and temperature signals transmitted by the information acquisition unit 2.2; according to the health state of each battery group, determining the battery groups which can participate in the work and the battery groups which have faults and need to be cut off, and accordingly sending an access or cut-off instruction to the redundancy management unit 2.5 in real time;
(4) the redundancy management unit 2.5 groups and accesses the corresponding batteries into the servo power supply according to the access instruction; cutting off the corresponding battery grouping connection according to the cutting-off instruction;
(5) the main control operation unit 2.1 calculates the electric quantity of the lithium ion battery pack in real time according to the voltage, current and temperature signals transmitted by the information acquisition unit 2.2; when the bus voltage is higher than the set voltage and the electric quantity of the lithium ion battery pack is less than 100%, sending a charging instruction to the bidirectional DC/DC conversion unit 2.6;
(6) after receiving the charging instruction, the bidirectional DC/DC conversion unit 2.6 starts a charging circuit to control the energy on the bus to flow to the lithium ion battery pack so as to charge the lithium ion battery pack;
(7) in the charging process of the lithium ion battery pack, if the voltage of a certain lithium ion battery cell is less than the equalization opening threshold value, the main control operation unit 2.1 sends a starting instruction to the equalization management unit 2.4;
(8) after receiving the starting instruction, the balance management unit 2.4 performs voltage reduction transformation on the bus voltage of the lithium ion battery pack, and outputs the voltage to the lithium ion battery monomer with the voltage smaller than the balance starting threshold value after isolation and voltage stabilization;
(9) when the voltage of the lithium ion battery monomer in the balancing is greater than the balancing closing threshold, sending a closing instruction to the balancing management unit 2.4, and stopping the balancing management unit 2.4;
(10) when the bus voltage is lower than the set voltage and the electric quantity of the lithium ion battery pack is more than 10%, the main control operation unit 2.1 sends a discharge instruction to the bidirectional DC/DC conversion unit 2.6;
(11) after receiving the discharge instruction, the bidirectional DC/DC conversion unit 2.6 starts a discharge circuit to control the energy of the lithium ion battery pack to flow to the bus, so that the discharge of the lithium ion battery pack is realized;
(12) the main control arithmetic unit 2.1 transmits the electric quantity of the lithium ion battery pack and the health state of each battery group to the servo control system in real time through the control bus, and the servo control system dynamically adjusts the load according to the electric quantity of the lithium ion battery pack and the health state of each battery group.
The invention provides a servo power supply combination scheme of 'battery + power supply management', which has the characteristics of high safety, high reliability and high adaptability. The invention can improve the power density of the servo power supply, stabilize the output voltage, realize peak current compensation and absorb and manage the specific regenerated energy of the electromechanical servo; meanwhile, the management module can also judge the consistency problem of the single lithium ion battery, so that active balance is realized, and the influence caused by the inconsistency of the single lithium ion battery is reduced; the low-temperature performance of the lithium ion battery is improved by collecting the working temperature of the battery pack and laying the heating resistance wires. Meanwhile, the battery packs are connected in parallel after being connected in series in groups, and power redundancy is realized through the redundancy management unit.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (8)
1. The utility model provides a fill servo power supply of autonomic controllable which characterized in that: the lithium ion battery pack management system comprises a lithium ion battery pack and a management module, wherein the management module comprises a main control operation unit (2.1), an information acquisition unit (2.2), a thermal management unit (2.3), a balance management unit (2.4), a bidirectional DC/DC conversion unit (2.6) and a peak compensation unit (2.7);
the lithium ion battery pack comprises n parallel battery groups, and each battery group is formed by connecting m lithium ion battery monomers in series;
information acquisition unit (2.2): collecting bus voltage, bus current, working temperature of the lithium ion battery pack and voltage of each lithium ion battery monomer in real time, conditioning signals, and sending conditioned signals to a main control operation unit (2.1);
master arithmetic unit (2.1): calculating the electric quantity of the lithium ion battery pack according to the voltage, current and temperature signals transmitted by the information acquisition unit (2.2); when the bus voltage is higher than the set voltage and the electric quantity of the lithium ion battery pack is less than 100%, sending a charging instruction to a bidirectional DC/DC conversion unit (2.6); when the bus voltage is lower than the set voltage and the electric quantity of the lithium ion battery pack is more than 10%, sending a discharging instruction to a bidirectional DC/DC conversion unit (2.6); in the charging process of the lithium ion battery pack, if the voltage of a certain lithium ion battery cell is less than an equalization opening threshold value, a starting instruction is sent to an equalization management unit (2.4); when the voltage of the lithium ion battery monomer in the balancing is larger than the balancing closing threshold value, sending a closing instruction to a balancing management unit (2.4); when the temperature of the lithium ion battery pack is lower than-10 degrees, a heating instruction is sent to a thermal management unit (2.3); when the temperature of the lithium ion battery pack is higher than 0 degrees, sending a closing instruction to a thermal management unit (2.3); transmitting the electric quantity of the lithium ion battery pack and the health state of each battery group to a servo control system in real time through a control bus;
bidirectional DC/DC conversion unit (2.6): after receiving a charging instruction, starting a charging circuit to control the energy on the bus to flow to the lithium ion battery pack so as to charge the lithium ion battery pack; after receiving a discharge instruction, starting a discharge circuit to control the energy of the lithium ion battery pack to flow to a bus to realize the discharge of the lithium ion battery pack;
balance management unit (2.4): when a starting instruction is received, the voltage of the bus of the lithium ion battery pack is subjected to voltage reduction and transformation, and is output to a lithium ion battery monomer with the voltage smaller than the balanced starting threshold value after isolation and voltage stabilization; stopping working when receiving a closing instruction;
thermal management unit (2.3): when a heating instruction is received, the lithium ion battery pack is heated through the heating loop, so that the lithium ion battery pack works in a proper temperature range; cutting off the heating loop when receiving a closing instruction;
peak compensation unit (2.7): when the lithium ion battery pack discharges, the electric energy fed back by the external load of the servo power supply is absorbed and stored, and when the external load needs peak pulse current, the peak value compensation unit (2.7) releases the stored electric energy to the external load for peak value compensation.
2. The servo power supply with the controllable charging and discharging functions as claimed in claim 1, characterized in that: also comprises a redundancy management unit (2.5);
the main control operation unit (2.1) judges the health state of each battery group of the lithium ion battery pack according to the voltage, current and temperature signals transmitted by the information acquisition unit (2.2); according to the health state of each battery group, determining the battery groups capable of participating in work, and sending an access or cut-off instruction to a redundancy management unit (2.5);
the redundancy management unit (2.5) groups and accesses the corresponding batteries into the servo power supply according to the access instruction; and cutting off the corresponding battery grouping connection according to the cutting-off instruction.
3. The servo power supply with the controllable charging and discharging functions as claimed in claim 2, characterized in that: the main control arithmetic unit (2.1) judges the health state of the ith battery group of the lithium ion battery pack by using the following method, i belongs to [1, n ]:
if the voltage difference between the ith battery group and any other battery group is more than 5V, the voltage of the battery group is considered to be in fault, and the battery group cannot participate in the work;
after the ith battery group is cut off by the redundancy management unit, in the working process of the servo power supply, if the differential pressure between the ith battery group and any one of other battery groups is not more than 1V, the battery group is considered to be capable of participating in the work;
if the current of the ith battery group is too large or the current direction is inconsistent with the current direction of other battery groups, the battery group is considered to be in fault and cannot participate in the work;
if the temperature of the ith battery pack is higher than the temperature of each of the other battery packs by more than 10 degrees, the battery pack is considered to be in fault and cannot participate in the work.
4. The servo power supply with the controllable charging and discharging functions as claimed in claim 1, characterized in that: the lithium ion battery monomer adopts a lithium ion battery of a lithium iron phosphate system or a ternary lithium system, the number m of the lithium ion battery monomers of each battery group is matched with the voltage requirement of a servo system, the capacity of all the batteries after the batteries are grouped and connected in parallel is matched with the discharge current of the servo system in time, and the design margin of the voltage and current parameters of the lithium ion battery pack is not lower than 10%.
5. The servo power supply with the controllable charging and discharging functions as claimed in claim 1, characterized in that: the balance starting threshold value is equal to the average value of all the single lithium ion battery voltages, namely-0.2V; the equilibrium shutdown threshold is the average of all the cell voltages of the lithium ion battery + 0.1V.
6. The servo power supply with the controllable charging and discharging functions as claimed in claim 1, characterized in that: the bidirectional DC/DC conversion unit (2.6) comprises a switching tube Q1, a switching tube Q2, a switching tube Q3, a fuse F1, an inductor L1 and a drive control circuit;
the drain of the switching tube Q1 is connected with the positive output end of the peak value compensation unit (2.7), the source of the switching tube Q1 is simultaneously connected with the drain of the switching tube Q3 and the source of the switching tube Q2, the drain of the switching tube Q2 is connected with one end of an inductor L1, the other end of the inductor L1 is connected with the positive output end of the redundancy management unit, the source of the switching tube Q3 is connected with one end of a fuse F1, and the other end of the fuse F1 is simultaneously connected with the negative output end of the redundancy management unit and the negative output end of the peak value compensation unit (2.7);
the grid electrode of the switching tube Q1, the grid electrode of the switching tube Q2 and the grid electrode of the switching tube Q3 are all connected with the driving control circuit.
7. The servo power supply with the controllable charging and discharging functions as claimed in claim 6, wherein: when the main control arithmetic unit (2.1) sends a charging instruction to the bidirectional DC/DC conversion unit (2.6), the drive control circuit receives the charging instruction, sends an opening signal to the grid electrode of the switching tube Q2, sends a PWM drive pulse to the grid electrode of the switching tube Q1 and sends a closing signal to the grid electrode of the switching tube Q3;
when the main control arithmetic unit (2.1) sends a discharge command to the bidirectional DC/DC conversion unit (2.6), the drive control circuit receives the discharge command, sends opening signals to the grid electrode of the switching tube Q2 and the grid electrode of the switching tube Q1, and sends PWM drive pulses to the grid electrode of the switching tube Q3.
8. A method for realizing a servo power supply with controllable charge and discharge is characterized by comprising the following steps:
(1) the information acquisition unit (2.2) acquires bus voltage, bus current, lithium ion battery pack temperature and voltage of each lithium ion battery monomer in real time, conditions signals and sends conditioned signals to the main control operation unit (2.1); when the temperature of the lithium ion battery pack is lower than minus 10 degrees, the main control operation unit (2.1) sends a heating instruction to the thermal management unit (2.3), the step (2) is carried out, and when the temperature of the lithium ion battery pack is not lower than minus 10 degrees, the step (3) is carried out;
(2) when the heat management unit (2.3) receives the heating instruction, the lithium ion battery pack is heated through the heating loop; when the temperature of the lithium ion battery pack is higher than 0 degrees, the main control operation unit (2.1) sends a closing instruction to the thermal management unit (2.3), the thermal management unit (2.3) cuts off a heating loop, and the step (3) is carried out;
(3) the main control operation unit (2.1) judges the health state of each battery group of the lithium ion battery pack in real time according to the voltage, current and temperature signals transmitted by the information acquisition unit (2.2); according to the health state of each battery group, determining the battery groups which can participate in the work and the battery groups which have faults and need to be cut off, and accordingly sending an access or cut-off instruction to a redundancy management unit (2.5) in real time;
(4) the redundancy management unit (2.5) groups and accesses the corresponding batteries into the servo power supply according to the access instruction; cutting off the corresponding battery grouping connection according to the cutting-off instruction;
(5) the main control operation unit (2.1) calculates the electric quantity of the lithium ion battery pack in real time according to the voltage, current and temperature signals transmitted by the information acquisition unit (2.2); when the bus voltage is higher than the set voltage and the electric quantity of the lithium ion battery pack is less than 100%, sending a charging instruction to a bidirectional DC/DC conversion unit (2.6);
(6) after receiving the charging instruction, the bidirectional DC/DC conversion unit (2.6) starts a charging circuit to control the energy on the bus to flow to the lithium ion battery pack so as to charge the lithium ion battery pack;
(7) in the charging process of the lithium ion battery pack, if the voltage of a certain lithium ion battery cell is less than an equalization opening threshold value, a main control operation unit (2.1) sends a starting instruction to an equalization management unit (2.4);
(8) after receiving the starting instruction, the balance management unit (2.4) performs voltage reduction transformation on the bus voltage of the lithium ion battery pack, and outputs the voltage to the lithium ion battery monomer with the voltage smaller than the balance starting threshold value after isolation and voltage stabilization;
(9) when the voltage of the lithium ion battery monomer in the balancing is greater than the balancing closing threshold value, a closing instruction is sent to the balancing management unit (2.4), and the balancing management unit (2.4) stops working;
(10) when the bus voltage is lower than the set voltage and the electric quantity of the lithium ion battery pack is more than 10%, the main control operation unit (2.1) sends a discharge instruction to the bidirectional DC/DC conversion unit (2.6);
(11) after the bidirectional DC/DC conversion unit (2.6) receives the discharge instruction, a discharge circuit is started to control the energy of the lithium ion battery pack to flow to the bus, so that the discharge of the lithium ion battery pack is realized;
(12) the main control operation unit (2.1) transmits the electric quantity of the lithium ion battery pack and the health state of each battery group to the servo control system in real time through the control bus, and the servo control system dynamically adjusts the load according to the electric quantity of the lithium ion battery pack and the health state of each battery group.
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