CN112564249A - Control method and device for realizing charge and discharge functions - Google Patents
Control method and device for realizing charge and discharge functions Download PDFInfo
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- CN112564249A CN112564249A CN202011221347.0A CN202011221347A CN112564249A CN 112564249 A CN112564249 A CN 112564249A CN 202011221347 A CN202011221347 A CN 202011221347A CN 112564249 A CN112564249 A CN 112564249A
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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
- H02J7/14—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
- H02J7/1469—Regulation of the charging current or voltage otherwise than by variation of field
- H02J7/1492—Regulation of the charging current or voltage otherwise than by variation of field by means of controlling devices between the generator output and the battery
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/04—Control effected upon non-electric prime mover and dependent upon electric output value of the generator
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles
Abstract
The invention is suitable for the field of motor control, and provides a control method and a device for realizing charge and discharge functions, wherein the method is applied to a power system, the power system comprises a battery, a generator electrically connected with the battery and an engine mechanically connected with the generator, and the method comprises the following steps: when a starting instruction is received, the battery is controlled to supply power to the generator, the generator starts the engine, the engine enters an ignition state capable of working normally, and the engine drives the generator to rotate; and controlling the generator to charge the battery. The engine driven by fuel drives the generator to rotate, and then the generator is controlled to charge the battery, so that the battery can be charged by using the power system, and the problem that the software control process of the conventional power system only uses the battery to drive the power system to operate and does not use the power system to reversely charge the battery is solved.
Description
Technical Field
The invention belongs to the field of motor control, and particularly relates to a control method and a control device for realizing charge and discharge functions.
Background
The use of electric energy to drive motors is a common technical means in modern automation technology, which can convert electric energy into mechanical energy, and is often used in cooperation with specific mechanical mechanisms to realize specific automation functions (e.g., driving a car, driving a fan to blow air, etc.). In practical applications, a battery is often used to provide electric energy for the motor to drive the motor to work, and after the battery successfully supplies power to the motor, the motor starts to consume the electric energy in the battery and outputs mechanical energy. The existing software control process of the motor only utilizes the battery to drive the motor to operate, but does not utilize the motor to reversely charge the battery, so that the electric energy in the battery is consumed along with the operation of the motor. After the electric energy in the battery is consumed, the battery needs to be charged so that the battery can continuously provide the electric energy for the motor.
Disclosure of Invention
The embodiment of the invention provides a control method for realizing a charge and discharge function, and aims to solve the problems that the existing software control process of a motor only utilizes a battery to drive the motor to operate and does not utilize the motor to reversely charge the battery.
The embodiment of the invention is realized in such a way that a control method for realizing the charge and discharge function is applied to a power system, the power system comprises a battery, a generator electrically connected with the battery and an engine mechanically connected with the generator, and the control method comprises the following steps:
when a starting instruction is received, the battery is controlled to supply power to the generator, the generator starts the engine, the engine enters an ignition state capable of working normally, and the engine drives the generator to rotate;
controlling the generator to charge the battery.
Further, the step of controlling the generator to charge the battery specifically includes:
and controlling the generating voltage of the generator through the lower tube of the control bridge circuit, and controlling the generating voltage to be transmitted to two ends of the battery so that the generator charges the battery.
Furthermore, the control bridge circuit and the winding of the generator form a BOOST circuit, and the step of controlling the generated voltage of the generator through the lower tube of the control bridge circuit specifically includes:
and controlling the generating voltage of the generator through the BOOST circuit.
Still further, the control method further includes the steps of:
when a power generation mode selection instruction is received, acquiring actual working parameters of the generator for charging the battery;
and adjusting the duty ratio of a lower tube of the control bridge circuit through a PID algorithm according to the difference value of the actual working parameter and the target working parameter so as to enable the generator to realize constant output corresponding to the target working parameter.
Further, the power generation mode selection instruction includes a constant current power generation mode selection instruction, a constant voltage power generation mode selection instruction, and a constant power generation mode selection instruction.
The embodiment of the invention also provides a control device for realizing the charge and discharge function, which is characterized in that the control device is applied to a power system, the power system comprises a battery, a generator electrically connected with the battery and an engine mechanically connected with the generator, and the control device comprises:
the power supply unit is used for controlling the battery to supply power to the generator when a starting instruction is received, the generator starts the engine, the engine enters an ignition state capable of working normally, and the engine drives the generator to rotate;
and the charging unit is used for controlling the generator to charge the battery.
Still further, the charging unit includes:
and the charging module is used for controlling the generating voltage of the generator through the lower tube of the control bridge circuit and controlling the generating voltage to be transmitted to two ends of the battery so that the generator charges the battery.
Further, the control bridge and the generator winding form a BOOST circuit, and the charging module includes:
and the generating voltage control submodule is used for controlling the generating voltage of the generator through the BOOST circuit.
Still further, the control device further includes:
the actual working parameter acquisition unit is used for acquiring actual working parameters of the generator for charging the battery when receiving a power generation mode selection instruction;
and the constant output unit is used for adjusting and controlling the duty ratio of a lower tube of the bridge circuit through a PID algorithm according to the difference value of the actual working parameter and the target working parameter so as to enable the generator to realize constant output corresponding to the target working parameter.
Further, the power generation mode selection instruction includes a constant current power generation mode selection instruction, a constant voltage power generation mode selection instruction, and a constant power generation mode selection instruction.
In the embodiment of the invention, after a starting instruction is received, the battery is controlled to drive the generator to start, then the generator drives the engine to start and enables the engine to enter an ignition state, the engine enters the ignition state and then the engine burns fuel to maintain the running state, at the moment, the engine driven by the fuel drives the generator to rotate, and then the generator is controlled to charge the battery, so that the battery can be charged by utilizing the power system, and the problem that the software control process of the conventional power system only utilizes the battery to drive the power system to run and does not utilize the reverse process of the power system to charge the battery is solved.
Drawings
Fig. 1 is a flowchart of a first control method for implementing a charge and discharge function according to an embodiment of the present invention;
fig. 2 is a flowchart of a second control method for implementing a charge and discharge function according to an embodiment of the present invention;
FIG. 3 is an overall circuit diagram showing the connection of the control bridge to the generator in the control method shown in FIG. 2;
fig. 4 is a flowchart of a third control method for implementing a charge and discharge function according to an embodiment of the present invention;
FIG. 5 is a circuit diagram showing an equivalent BOOST circuit in the two-phase control in the control method shown in FIG. 4;
fig. 6 is an equivalent BOOST circuit diagram showing a certain time when three-phase control is performed in the control method shown in fig. 4;
fig. 7 is an equivalent BOOST circuit diagram showing another timing when three-phase control is performed in the control method shown in fig. 4;
FIG. 8 is a spatial phase diagram of a rotor in a stator three-phase coordinate system according to an embodiment of the present invention;
FIG. 9 is an equivalent circuit diagram provided by an embodiment of the present invention;
fig. 10 is a flowchart of a fourth control method for implementing a charge and discharge function according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a first control device for implementing a charge and discharge function according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a second control device for implementing a charge and discharge function according to an embodiment of the present invention;
fig. 13 is a schematic structural diagram of a third control device for implementing a charge and discharge function according to an embodiment of the present invention;
fig. 14 is a schematic structural diagram of a fourth control device for implementing a charge and discharge function according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a control method and a device for realizing charge and discharge functions, which are characterized in that a battery is controlled to drive a generator to start so as to drive an engine to start, the generator is driven by the engine to rotate after the engine is started, and then the generator is controlled to charge a battery, so that the battery can be charged by utilizing a power system, and the problem that the existing software control process of the power system only utilizes the battery to drive the power system to operate and does not utilize the power system to reversely charge the battery is solved.
Example one
Fig. 1 is a flowchart of a first control method for implementing a charge and discharge function according to an embodiment of the present invention. The control method for realizing the charge and discharge functions described in fig. 1 may be used in a power system, which may be used in an oil-electric hybrid electrical device, such as a mower, a large sweeping robot, and the like, and the power system includes a battery, a generator electrically connected to the battery, and an engine mechanically connected to the generator, in this embodiment, the generator may be a dc brushless motor. The first control method for realizing the charge and discharge function can comprise the following steps:
101. when a starting instruction is received, the battery is controlled to supply power to the generator, the generator starts the engine, the engine enters an ignition state capable of working normally, and the engine drives the generator to rotate.
In step 101, after the controller of the power system receives a start instruction (the start instruction may be triggered by a key of the superior controller) sent by the superior controller, the battery supplies power to the generator to start the generator, the generator drives the crankshaft of the engine to rotate after being started, and at this time, the throttle, the accelerator, and the spark plug of the engine are controlled to perform an ignition operation, and the engine enters an ignition state after the ignition is successful (in the ignition state, the engine can maintain the rotation of the crankshaft by burning fuel). After the engine enters an ignition state, the rotating speed of the engine is stabilized within a few seconds, namely, a generator mechanically connected with the engine can be stably driven to rotate, and therefore a battery electrically connected with the generator is charged.
102. And controlling the generator to charge the battery.
In step 102, controlling the generator to charge the battery may be achieved by pulling the voltage across the generator (e.g., pulling the voltage across the power system via a control bridge circuit described in the following embodiments), and when the voltage across the generator is higher than the voltage across the battery, a state transition from the battery-driven generator to the battery-charged state can be achieved. According to the law of conservation of energy, when the generator is in a state of charging the battery, the generator will consume mechanical energy for driving the generator to rotate so as to charge the battery, at the moment, the rotating speed of the generator should be reduced until the voltage at two ends of the generator is equal to the voltage at two ends of the battery, so that the state of charging the battery cannot be maintained for a long time. In this case, more fuel is consumed to maintain the same rotational speed of the generator in the power generation state as compared to the generator not in the power generation state, and thus, the chemical energy in the fuel is converted into electric energy to charge the battery. Alternatively, the generator may be charged to the battery by increasing the rotation speed of the engine, and when the rotation speed of the engine is higher than the rotation speed that the battery can drive the generator, the generator can be switched from the state of being driven by the battery to the state of being charged to the battery because the generator is mechanically connected to the engine (i.e., the rotation speeds of the generator and the engine are synchronous), so that the chemical energy in the fuel can be converted into the electric energy to be charged to the battery.
It can be seen that, in the first control method for implementing the charge and discharge function described in fig. 1, the battery is controlled to drive the generator to start to drive the engine to start, the engine drives the generator to rotate after the engine starts and can maintain the operating state by burning fuel, and then the generator is controlled to charge the battery, so that the battery can be charged by using the power system, and thus two functions of starting the engine and charging the battery can be implemented by using the same power system, and the problem that the software control process of the existing power system only uses the battery to drive the power system to operate, and does not use the power system to reversely charge the battery is solved.
Example two
Fig. 2 is a flowchart of a second control method for implementing a charge and discharge function according to an embodiment of the present invention. The control method for realizing the charge and discharge functions described in fig. 2 can be used in a power system, and the power system comprises a battery, a generator electrically connected with the battery and an engine mechanically connected with the generator. The second control method for realizing the charge and discharge function can comprise the following steps:
201. when a starting instruction is received, the battery is controlled to supply power to the generator, the generator starts the engine, the engine enters an ignition state capable of working normally, and the engine drives the generator to rotate.
For the detailed description of step 201, reference may be made to the detailed description of step 101, which is not described in detail here.
202. The lower tube of the control bridge circuit is used for controlling the generating voltage of the generator and controlling the generating voltage to be transmitted to two ends of the battery so that the generator charges the battery.
In the above step 202, referring to fig. 3, fig. 3 is an overall circuit diagram showing the connection of the control bridge to the generator in the control method shown in fig. 2. The motor comprises an A-phase winding, a B-phase winding and a C-phase winding, the control bridge circuit comprises six switching tubes including Q1, Q2, Q3, Q4, Q5 and Q6 (Q2, Q4 and Q6 are lower tubes in the control bridge circuit), and six diodes including D1, D2, D3, D4, D5 and D6, wherein the diodes can be independent diodes or diodes with self-integrated switching tubes, and the C1 shares at least one capacitor. Vout is the voltage output terminal, and GND is the ground terminal. Taking the control of the generated voltage of the generator by the a-phase and the B-phase of the generator as an example, controlling the switch tube Q1 (which can be complementarily turned on with the switch tube Q2), Q3, Q5 and Q6 to be in an open state, the switch tube Q4 to be in a closed state, then enabling the a-phase and B-phase windings and the switch tube Q2, the diode D1, the switch tube Q4 and the capacitor C1 to form a BOOST circuit by continuously and repeatedly controlling the on-off of the switch tube Q2, when the switch tube Q2 is in the closed state, the a-phase and the B-phase (which is equivalent to an inductor) store electric energy, when the switch tube Q2 is in the open state, the a-phase and the B-phase (which is equivalent to an inductor) release the stored electric energy to charge the capacitor C1, induced potentials of the a-phase and the B-phase (which is equivalent to an inductor) are superposed with the counter electromotive force of the power system, thereby enabling the voltage across the capacitor C1 to be increased, thereby enabling, causing the generator to charge the battery.
Further, in the present embodiment, the power supply circuit and the charging circuit of the control bridge circuit can be the same unit, i.e., the same bridge circuit, thereby achieving the purpose of reducing the size of the control board and reducing the cost.
It can be seen that, by implementing the second control method for implementing the charge and discharge function described in fig. 2, the generator can charge the battery by controlling the on/off of the switching tube in the control bridge circuit to make the generating voltage of the generator higher than the voltage across the battery.
EXAMPLE III
Fig. 4 is a flowchart of a third control method for implementing a charge and discharge function according to an embodiment of the present invention. The control method for realizing the charge and discharge functions described in fig. 4 can be used in a power system, the power system comprises a battery, a generator electrically connected with the battery and a motor mechanically connected with the generator, and the control bridge circuit and the winding of the generator form a BOOST circuit. The third control method for realizing the charge and discharge function can comprise the following steps:
301. when a starting instruction is received, the battery is controlled to supply power to the generator, the generator starts the engine, the engine enters an ignition state capable of working normally, and the engine drives the generator to rotate.
For the detailed description of step 301, reference may be made to the detailed description of step 101, which is not described herein again.
302. The generating voltage of the generator is controlled by the BOOST circuit, and the generating voltage is controlled to be transmitted to two ends of the battery, so that the generator charges the battery.
In the step 302, the switching tube is controlled to be switched on and off, so that the BOOST circuit formed by the control bridge circuit and the winding of the generator has the following two implementation modes:
(1) two phase control
Taking the AB phase of the generator as an example, the switching on and off of the switching tubes in the control bridge circuit are controlled, so that the a-phase winding, the B-phase winding, the Q2, the D1(D1 may be an independent diode, or a body diode of Q1), the Q4, and the C1 form a BOOST circuit, and the voltage Vout is output. Referring to fig. 5, fig. 5 is a circuit diagram illustrating an equivalent BOOST circuit during two-phase control in the control method shown in fig. 4, where E is a back electromotive force of a power system winding, and L is a winding equivalent inductance. Since the BOOST circuit has a boosting function, the output voltage Vout is higher than the voltage across the battery, thereby enabling charging of the battery.
(2) Three-phase control
Taking a certain time as an example, the a-phase, the B-phase, the C-phase winding, Q2, D1(D1 may be an independent diode, or a body diode of Q1), Q4, Q6, and C1 form a BOOST circuit, thereby outputting the voltage Vout. Referring to fig. 6, fig. 6 is an equivalent BOOST circuit diagram showing a certain time when three-phase control is performed in the control method shown in fig. 4, where E is a power system winding back electromotive force, and L1 and L2 are winding equivalent inductances. Since the BOOST circuit has a boosting function, the output voltage Vout is higher than the voltage across the battery, thereby enabling charging of the battery.
Taking another time as an example, the a-phase and B-phase, C-phase windings, Q2, D1(D1 may be an independent diode, or a body diode of Q1), D3(D3 may be an independent diode, or a body diode of Q3), Q4, Q6, and C1 form a BOOST circuit, thereby outputting the voltage Vout. Referring to fig. 7, fig. 7 is an equivalent BOOST circuit diagram showing another time when three-phase control is performed in the control method shown in fig. 4, where E is the power system winding back electromotive force, and L1 and L2 are winding equivalent inductances. Since the BOOST circuit has a boosting function, the output voltage Vout is higher than the voltage across the battery, thereby enabling charging of the battery.
The BOOST circuit can control the generated voltage of the generator, and can control the voltage difference between the generated voltage and the voltage across the battery to control the charging current, and the charging current increases as the voltage difference between the generated voltage and the voltage across the battery increases.
It can be seen that, by implementing the third control method for implementing the charge and discharge function described in fig. 4, the on/off of the switching tube in the control bridge circuit is controlled, so that the control bridge circuit and the winding of the generator form a BOOST circuit, and the BOOST characteristic of the BOOST circuit is utilized to make the generating voltage of the generator higher than the voltage at two ends of the battery, thereby enabling the generator to charge the battery.
In addition, referring to fig. 10 and 11, the operation principle of controlling the conduction time of the lower tube of the control bridge connected to the generator winding is described as follows:
the voltage equation of the three-phase winding of the permanent magnet synchronous motor is as follows:
ua＝Raia+dΨa/dt；
ub＝Rbib+dΨb/dt；
uc＝Rcic+dΨc/dt；
in the formula (d)Ψa、dΨb、dΨc) For the full flux linkage of the three-phase winding, the three equations are converted into a vector equation as follows:
us＝Rsis+dΨs/dt；
Ψs＝Lsis+Ψfis a flux linkage vector equation, LsisIs a stator armature flux linkage vector, ΨfIs the rotor flux linkage vector;
so that it can be known that: u. ofs＝Rsis+Lsdi/dt+dΨf/dt；
Therein, Ψf＝Ψfe-jθr，θrFor the spatial phase of the rotor in the stator three-phase coordinate system, the three-phase coordinate system (ABC axis system) is shown in fig. 10;
in addition, the first and second substrates are,
due to psifIs constant, therefore
Is zero; the term 2 is a kinematic electromotive force term, which is an induced electromotive force generated by the rotation of the rotor magnetic field, and is also called a counter electromotive force, so that a stator voltage vector equation can be obtained: u. ofs＝Rsis+Lsdi/dt+jwrΨf；
It can be expressed in equivalent circuit form as shown in FIG. 11, where eo＝jwrΨfAs a vector of counter electromotive force, eo＝jwrΨfIn, wrThe higher the rotational speed (radian/second) of the rotor, the larger the back electromotive force, and if the back electromotive force is larger than usThen, IsDirection reversalIn the direction of motor usCharging, LsIs an equivalent inductance.
Example four
Fig. 10 is a flowchart of a fourth control method for implementing a charge and discharge function according to an embodiment of the present invention. The control method for realizing the charge and discharge functions described in fig. 10 can be used in a power system, and the power system comprises a battery, a generator electrically connected with the battery, and an engine mechanically connected with the generator. The fourth control method for implementing the charge and discharge function may include the following steps:
401. when a starting instruction is received, the battery is controlled to supply power to the generator, the generator starts the engine, the engine enters an ignition state capable of working normally, and the engine drives the generator to rotate.
402. And controlling the generator to charge the battery.
For the specific description of the step 401 and the step 402, reference may be made to the specific description of the step 101 and the step 102, which is not described in detail here.
403. And when a power generation mode selection instruction is received, acquiring actual working parameters of the generator for charging the battery.
In the step 403, the power generation mode selection command may be sent from the host controller. The power generation mode selection instruction may include a constant current power generation mode selection instruction, a constant voltage power generation mode selection instruction, and a constant power generation mode selection instruction. Correspondingly, the obtained actual operating parameters of the generator for charging the battery may include an actual current during charging, an actual voltage during charging, and an actual power during charging. When the received power generation mode selection instruction is a constant current power generation mode selection instruction, the obtained actual working parameter is the actual current during charging; when the received power generation mode selection instruction is a constant-voltage power generation mode selection instruction, the obtained actual working parameter is the actual voltage during charging; and when the received power generation mode selection instruction is a constant power generation mode selection instruction, the obtained actual working parameter is the actual power during charging. Obtaining the actual power during charging can be achieved by: and acquiring the actual current and the actual voltage during charging, and calculating the product of the actual current and the actual voltage to obtain the actual power.
404. And adjusting the duty ratio of a lower tube of the control bridge circuit through a PID algorithm according to the difference value of the actual working parameter and the target working parameter so as to enable the generator to realize constant output corresponding to the target working parameter.
In the step 404, the power generation mode selection instruction sent by the superior controller may further include a target operating parameter, and when the power generation mode selection instruction is a constant current power generation mode selection instruction, the target operating parameter is a target current during charging; when the power generation mode selection instruction is a constant-voltage power generation mode selection instruction, the target working parameter is a target voltage during charging; when the power generation mode selection instruction is a constant power generation mode selection instruction, the target operating parameter is a target power during charging. Taking the power generation mode selection instruction as a constant current power generation mode selection instruction, and taking the target current with the target operating parameter of 5A as an example, if the obtained actual current 4A, that is, the difference value between the actual operating parameter and the target operating parameter is-1A, the difference value is calculated by a PID algorithm and then outputs the duty ratio of the lower tube of the control bridge circuit, and then the duty ratio of the lower tube of the control bridge circuit is adjusted to the output duty ratio, so that the power generation voltage of the generator is increased, and the power generation current is increased, so that the actual current value is gradually increased and gradually approaches the target current value. If the obtained actual current 6A, namely the difference between the actual operating parameter and the target operating parameter is 6-5 to 1A, the difference is calculated by a PID algorithm and then the duty ratio of the lower tube of the control bridge circuit is output, and then the duty ratio of the lower tube of the control bridge circuit is adjusted to the output duty ratio, so that the generating voltage of the generator is reduced, and the generating current is reduced, so that the actual current value is gradually reduced and gradually approaches the target current value. The control process of the constant voltage power generation mode and the constant power generation mode is similar to that of the constant current power generation mode.
It can be seen that, by implementing the fourth control method for implementing the charge and discharge function described in fig. 10, the output of the generator can be adjusted by obtaining the difference between the actual working parameter of the battery charging and the target working parameter, and then adjusting the duty ratio of the lower tube of the control bridge circuit according to the difference by using the PID algorithm, so as to implement the constant output of the generator.
EXAMPLE five
Fig. 11 is a schematic structural diagram of a first control device for implementing a charge and discharge function according to an embodiment of the present invention. The control device for realizing the charging and discharging functions depicted in fig. 11 may be used in a power system, which may be used in an electric device with hybrid power and oil, such as a lawn mower, a large sweeping robot, and the like, and the power system includes a battery, a generator electrically connected to the battery, and an engine mechanically connected to the generator, in this embodiment, the generator may be a dc brushless motor. The first control device for realizing the charge and discharge function may include:
the power supply unit 901 is used for controlling the battery to supply power to the generator when receiving a starting instruction, and the generator starts the engine to enable the engine to enter an ignition state capable of working normally, and the engine drives the generator to rotate;
and a charging unit 902 for controlling the generator to charge the battery.
In the power supply unit 901, after a controller of the power system receives a start instruction (the start instruction may be triggered by a key of the superior controller) sent by the superior controller, the battery supplies power to the generator to start the generator, the generator drives a crankshaft of the engine to rotate after being started, a throttle, an accelerator and a spark plug of the engine are controlled to perform an ignition operation, and the engine enters an ignition state after the ignition is successful (in the ignition state, the engine can maintain rotation of the crankshaft by burning fuel). After the engine enters an ignition state, the rotating speed of the engine is stabilized within a few seconds, namely, a generator mechanically connected with the engine can be stably driven to rotate, and therefore a battery electrically connected with the generator is charged.
In the charging unit 902, the generator can be controlled to charge the battery by pulling the voltage across the generator (for example, by pulling the voltage across the power system through a control bridge circuit described in the following embodiments), and when the voltage across the generator is higher than the voltage across the battery, the state of the generator being driven by the battery can be converted into the state of the battery being charged by the generator. According to the law of conservation of energy, when the generator is in a state of charging the battery, the generator will consume mechanical energy for driving the generator to rotate so as to charge the battery, at the moment, the rotating speed of the generator should be reduced until the voltage at two ends of the generator is equal to the voltage at two ends of the battery, so that the state of charging the battery cannot be maintained for a long time. In this case, more fuel is consumed to maintain the same rotational speed of the generator in the power generation state as compared to the generator not in the power generation state, and thus, the chemical energy in the fuel is converted into electric energy to charge the battery. Alternatively, the generator may be charged to the battery by increasing the rotation speed of the engine, and when the rotation speed of the engine is higher than the rotation speed that the battery can drive the generator, the generator can be switched from the state of being driven by the battery to the state of being charged to the battery because the generator is mechanically connected to the engine (i.e., the rotation speeds of the generator and the engine are synchronous), so that the chemical energy in the fuel can be converted into the electric energy to be charged to the battery.
It can be seen that, in the first control device for implementing the charge and discharge function described in fig. 11, the battery is controlled to drive the generator to start to drive the engine to start, the engine drives the generator to rotate after the engine starts and can maintain the operating state by burning fuel, and then the generator is controlled to charge the battery, so that the battery can be charged by using the power system, and therefore, two functions of starting the engine and charging the battery can be implemented by using the same power system, and the problem that the software control process of the existing power system only uses the battery to drive the power system to operate, and does not use the power system to reversely charge the battery is solved.
EXAMPLE six
Fig. 12 is a schematic structural diagram of a second control device for implementing a charge and discharge function according to an embodiment of the present invention. The control device for realizing the charge and discharge functions described in fig. 12 may be used in a power system including a battery, a generator electrically connected to the battery, and an engine mechanically connected to the generator. The second control device for realizing the charge and discharge function may include:
the power supply unit 901 is used for controlling the battery to supply power to the generator when receiving a starting instruction, and the generator starts the engine to enable the engine to enter an ignition state capable of working normally, and the engine drives the generator to rotate;
a charging unit 902 for controlling the generator to charge the battery;
and, the charging unit 902 includes:
and the charging module 9021 is configured to control the generated voltage of the generator through the lower tube of the control bridge circuit, and control the generated voltage to be transmitted to two ends of the battery, so that the generator charges the battery.
In the above-described charging module 9021, referring to fig. 3, fig. 3 is an overall circuit diagram showing the connection of the control bridge to the generator in the control method shown in fig. 2. The motor comprises an A-phase winding, a B-phase winding and a C-phase winding, the control bridge circuit comprises six switching tubes including Q1, Q2, Q3, Q4, Q5 and Q6 (Q2, Q4 and Q6 are lower tubes in the control bridge circuit), and six diodes including D1, D2, D3, D4, D5 and D6, wherein the diodes can be independent diodes or diodes with self-integrated switching tubes, and the C1 shares at least one capacitor. Vout is the voltage output terminal, and GND is the ground terminal. Taking the control of the generated voltage of the generator by the a-phase and the B-phase of the generator as an example, controlling the switch tube Q1 (which can be complementarily turned on with the switch tube Q2), Q3, Q5 and Q6 to be in an open state, the switch tube Q4 to be in a closed state, then enabling the a-phase and B-phase windings and the switch tube Q2, the diode D1, the switch tube Q4 and the capacitor C1 to form a BOOST circuit by continuously and repeatedly controlling the on-off of the switch tube Q2, when the switch tube Q2 is in the closed state, the a-phase and the B-phase (which is equivalent to an inductor) store electric energy, when the switch tube Q2 is in the open state, the a-phase and the B-phase (which is equivalent to an inductor) release the stored electric energy to charge the capacitor C1, induced potentials of the a-phase and the B-phase (which is equivalent to an inductor) are superposed with the counter electromotive force of the power system, thereby enabling the voltage across the capacitor C1 to be increased, thereby enabling, causing the generator to charge the battery.
For specific descriptions of the power supply unit 901 and the charging unit 902 in this embodiment, reference may be made to the specific descriptions of the power supply unit 901 and the charging unit 902 in the fifth embodiment, and details are not repeated here.
Further, in the present embodiment, the power supply circuit and the charging circuit of the control bridge circuit can be the same unit, i.e., the same bridge circuit, thereby achieving the purpose of reducing the size of the control board and reducing the cost.
It can be seen that, by implementing the second control device for implementing the charge and discharge function described in fig. 12, the generator can charge the battery by controlling the on/off of the switching tube in the control bridge circuit to make the generating voltage of the generator higher than the voltage across the battery.
EXAMPLE seven
Fig. 13 is a schematic structural diagram of a third control device for implementing a charge and discharge function according to an embodiment of the present invention. The control device for performing the charge and discharge functions depicted in fig. 13 may be used in a power system including a battery, a generator electrically connected to the battery, and a motor mechanically connected to the generator, wherein the control bridge and the windings of the generator form a BOOST circuit. The third control device for realizing the charge and discharge function may include:
the power supply unit 901 is used for controlling the battery to supply power to the generator when receiving a starting instruction, and the generator starts the engine to enable the engine to enter an ignition state capable of working normally, and the engine drives the generator to rotate;
a charging unit 902 for controlling the generator to charge the battery;
and, the charging unit 902 includes:
the charging module 9021 is configured to control the generated voltage of the generator through the lower tube of the control bridge circuit, and control the generated voltage to be transmitted to two ends of the battery, so that the generator charges the battery;
and, the charging module 9021 includes:
and a generation voltage control submodule 90211 for controlling the generation voltage of the generator through the BOOST circuit.
In the above-mentioned generation voltage control submodule 90211, the switching of the switching tube is controlled so that the control bridge circuit and the winding of the generator form a BOOST circuit, which has the following two implementation modes:
(1) two phase control
Taking the AB phase of the generator as an example, the switching on and off of the switching tubes in the control bridge circuit are controlled, so that the a-phase winding, the B-phase winding, the Q2, the D1(D1 may be an independent diode, or a body diode of Q1), the Q4, and the C1 form a BOOST circuit, and the voltage Vout is output. Referring to fig. 5, fig. 5 is a circuit diagram illustrating an equivalent BOOST circuit during two-phase control in the control method shown in fig. 4, where E is a back electromotive force of a power system winding, and L is a winding equivalent inductance. Since the BOOST circuit has a boosting function, the output voltage Vout is higher than the voltage across the battery, thereby enabling charging of the battery.
(2) Three-phase control
Taking a certain time as an example, the a-phase, the B-phase, the C-phase winding, Q2, D1(D1 may be an independent diode, or a body diode of Q1), Q4, Q6, and C1 form a BOOST circuit, thereby outputting the voltage Vout. Referring to fig. 6, fig. 6 is an equivalent BOOST circuit diagram showing a certain time when three-phase control is performed in the control method shown in fig. 4, where E is a power system winding back electromotive force, and L1 and L2 are winding equivalent inductances. Since the BOOST circuit has a boosting function, the output voltage Vout is higher than the voltage across the battery, thereby enabling charging of the battery.
Taking another time as an example, the a-phase and B-phase, C-phase windings, Q2, D1(D1 may be an independent diode, or a body diode of Q1), D3(D3 may be an independent diode, or a body diode of Q3), Q4, Q6, and C1 form a BOOST circuit, thereby outputting the voltage Vout. Referring to fig. 7, fig. 7 is an equivalent BOOST circuit diagram showing another time when three-phase control is performed in the control method shown in fig. 4, where E is the power system winding back electromotive force, and L1 and L2 are winding equivalent inductances. Since the BOOST circuit has a boosting function, the output voltage Vout is higher than the voltage across the battery, thereby enabling charging of the battery.
The BOOST circuit can control the generated voltage of the generator, and can control the voltage difference between the generated voltage and the voltage across the battery to control the charging current, and the charging current increases as the voltage difference between the generated voltage and the voltage across the battery increases.
For specific descriptions of the power supply unit 901, the charging unit 902, and the charging module 9021 in this embodiment, reference may be made to the specific descriptions of the power supply unit 901, the charging unit 902, and the charging module 9021 in the sixth embodiment, and details are not repeated here.
It can be seen that, with the third control device for implementing the charge and discharge function described in fig. 13, the BOOST circuit is formed by controlling the on/off of the switching tube in the control bridge circuit so that the windings of the control bridge circuit and the generator form a BOOST circuit, and the BOOST characteristic of the BOOST circuit is utilized to make the generating voltage of the generator higher than the voltage at two ends of the battery, so that the generator can charge the battery.
In addition, referring to fig. 10 and 11, the operation principle of controlling the conduction time of the lower tube of the control bridge connected to the generator winding is described as follows:
the voltage equation of the three-phase winding of the permanent magnet synchronous motor is as follows:
ua＝Raia+dΨa/dt；
ub＝Rbib+dΨb/dt；
uc＝Rcic+dΨc/dt；
in the formula (d)Ψa、dΨb、dΨc) For the full flux linkage of the three-phase winding, the three equations are converted into a vector equation as follows:
us＝Rsis+dΨs/dt；
Ψs＝Lsis+Ψfis a flux linkage vector equation, LsisIs a stator armature flux linkage vector, ΨfIs the rotor flux linkage vector;
so that it can be known that: u. ofs＝Rsis+Lsdi/dt+dΨf/dt；
Therein, Ψf＝Ψfe-jθr，θrFor the spatial phase of the rotor in the stator three-phase coordinate system, the three-phase coordinate system (ABC axis system) is shown in fig. 10;
in addition, the first and second substrates are,
due to psifIs constant, therefore
Is zero; the term 2 is a kinematic electromotive force term, which is an induced electromotive force generated by the rotation of the rotor magnetic field, and is also called a counter electromotive force, so that a stator voltage vector equation can be obtained: u. ofs＝Rsis+Lsdi/dt+jwrΨf；
It can be expressed in equivalent circuit form as shown in FIG. 11, where eo＝jwrΨfAs a vector of counter electromotive force, eo＝jwrΨfIn, wrThe higher the rotational speed (radian/second) of the rotor, the larger the back electromotive force, and if the back electromotive force is larger than usThen, IsDirection is reversed, motor direction usCharging, LsIs an equivalent inductance.
Example eight
Fig. 14 is a schematic structural diagram of a fourth control device for implementing a charge and discharge function according to an embodiment of the present invention. The control device for realizing the charge and discharge functions depicted in fig. 14 may be used in a power system including a battery, a generator electrically connected to the battery, and an engine mechanically connected to the generator. The fourth control device for implementing the charge and discharge function may include:
the power supply unit 901 is used for controlling the battery to supply power to the generator when receiving a starting instruction, and the generator starts the engine to enable the engine to enter an ignition state capable of working normally, and the engine drives the generator to rotate;
a charging unit 902 for controlling the generator to charge the battery;
an actual operating parameter obtaining unit 903, configured to obtain an actual operating parameter of the generator charging the battery when the power generation mode selection instruction is received;
and a constant output unit 904, configured to adjust a duty ratio of a lower tube of the control bridge circuit through a PID algorithm according to a difference between the actual working parameter and the target working parameter, so that the generator realizes constant output corresponding to the target working parameter.
In the above-described actual operating parameter acquiring unit 903, the power generation mode selection command may be sent from a higher-level controller. The power generation mode selection instruction may include a constant current power generation mode selection instruction, a constant voltage power generation mode selection instruction, and a constant power generation mode selection instruction. Correspondingly, the obtained actual operating parameters of the generator for charging the battery may include an actual current during charging, an actual voltage during charging, and an actual power during charging. When the received power generation mode selection instruction is a constant current power generation mode selection instruction, the obtained actual working parameter is the actual current during charging; when the received power generation mode selection instruction is a constant-voltage power generation mode selection instruction, the obtained actual working parameter is the actual voltage during charging; and when the received power generation mode selection instruction is a constant power generation mode selection instruction, the obtained actual working parameter is the actual power during charging. Obtaining the actual power during charging can be achieved by: and acquiring the actual current and the actual voltage during charging, and calculating the product of the actual current and the actual voltage to obtain the actual power.
In the constant output unit 904, the power generation mode selection instruction sent by the superior controller may further include a target operating parameter, and when the power generation mode selection instruction is a constant current power generation mode selection instruction, the target operating parameter is a target current during charging; when the power generation mode selection instruction is a constant-voltage power generation mode selection instruction, the target working parameter is a target voltage during charging; when the power generation mode selection instruction is a constant power generation mode selection instruction, the target operating parameter is a target power during charging. Taking the power generation mode selection instruction as a constant current power generation mode selection instruction, and taking the target current with the target operating parameter of 5A as an example, if the obtained actual current 4A, that is, the difference value between the actual operating parameter and the target operating parameter is-1A, the difference value is calculated by a PID algorithm and then outputs the duty ratio of the lower tube of the control bridge circuit, and then the duty ratio of the lower tube of the control bridge circuit is adjusted to the output duty ratio, so that the power generation voltage of the generator is increased, and the power generation current is increased, so that the actual current value is gradually increased and gradually approaches the target current value. If the obtained actual current 6A, namely the difference between the actual operating parameter and the target operating parameter is 6-5 to 1A, the difference is calculated by a PID algorithm and then the duty ratio of the lower tube of the control bridge circuit is output, and then the duty ratio of the lower tube of the control bridge circuit is adjusted to the output duty ratio, so that the generating voltage of the generator is reduced, and the generating current is reduced, so that the actual current value is gradually reduced and gradually approaches the target current value. The control process of the constant voltage power generation mode and the constant power generation mode is similar to that of the constant current power generation mode.
For specific descriptions of the power supply unit 901 and the charging unit 902 in this embodiment, reference may be made to the specific descriptions of the power supply unit 901 and the charging unit 902 in the fifth embodiment, and details are not repeated here.
It can be seen that, in the fourth control device for implementing the charge and discharge function described in fig. 14, the output of the generator can be adjusted by obtaining the difference between the actual working parameter of the battery charging and the target working parameter, and then adjusting the duty ratio of the lower tube of the control bridge circuit according to the difference by using the PID algorithm, so as to implement the constant output of the generator.
In the embodiment of the invention, the battery is controlled to drive the generator to start so as to drive the engine to start, the engine drives the generator to rotate after the engine is started and can maintain the running state by burning fuel, and then the generator is controlled to charge the battery, so that the power system can be used for charging the battery, two functions of starting the engine and charging the battery are realized by using the same power system, and the problem that the software control process of the conventional power system only uses the battery to drive the power system to run and does not use the power system to reversely charge the battery is solved. In addition, the power generation voltage of the generator is higher than the voltage at two ends of the battery by controlling the on-off of the switching tube in the control bridge circuit, specifically, the power generation voltage of the generator is higher than the voltage at two ends of the battery by using the BOOST characteristic of the BOOST circuit by controlling the on-off of the switching tube in the control bridge circuit to enable the winding of the control bridge circuit and the generator to form the BOOST circuit, so that the generator can charge the battery. In addition, the output of the generator can be adjusted by acquiring the difference value between the actual working parameter and the target working parameter of the battery charging and then adjusting the duty ratio of the lower tube of the control bridge circuit according to the difference value by using a PID algorithm, so that the constant output of the generator can be realized.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A control method for realizing charge and discharge functions is applied to a power system, the power system comprises a battery, a generator electrically connected with the battery and an engine mechanically connected with the generator, and the control method comprises the following steps:
when a starting instruction is received, the battery is controlled to supply power to the generator, the generator starts the engine, the engine enters an ignition state capable of working normally, and the engine drives the generator to rotate;
controlling the generator to charge the battery.
2. The control method for realizing the charge and discharge function according to claim 1, wherein the step of controlling the generator to charge the battery specifically comprises:
and controlling the generating voltage of the generator through the lower tube of the control bridge circuit, and controlling the generating voltage to be transmitted to two ends of the battery so that the generator charges the battery.
3. The control method for realizing the charge-discharge function according to claim 2, wherein the control bridge circuit and the winding of the generator form a BOOST circuit, and the step of controlling the generated voltage of the generator through the lower tube of the control bridge circuit specifically comprises:
and controlling the generating voltage of the generator through the BOOST circuit.
4. The control method for realizing the charge and discharge function according to claim 1, further comprising the steps of:
when a power generation mode selection instruction is received, acquiring actual working parameters of the generator for charging the battery;
and adjusting the duty ratio of a lower tube of the control bridge circuit through a PID algorithm according to the difference value of the actual working parameter and the target working parameter so as to enable the generator to realize constant output corresponding to the target working parameter.
5. The control method for realizing the charge and discharge function according to claim 4, wherein the power generation mode selection command includes a constant current power generation mode selection command, a constant voltage power generation mode selection command, and a constant power generation mode selection command.
6. The utility model provides a realize controlling means of charge-discharge function which characterized in that is applied to driving system, driving system include the battery, with the generator that the battery electricity is connected and with generator mechanical connection's engine, controlling means includes:
the power supply unit is used for controlling the battery to supply power to the generator when a starting instruction is received, the generator starts the engine, the engine enters an ignition state capable of working normally, and the engine drives the generator to rotate;
and the charging unit is used for controlling the generator to charge the battery.
7. The control device for realizing the charge and discharge function according to claim 6, wherein the charging unit comprises:
and the charging module is used for controlling the generating voltage of the generator through the lower tube of the control bridge circuit and controlling the generating voltage to be transmitted to two ends of the battery so that the generator charges the battery.
8. The control device for performing charge and discharge functions according to claim 7, wherein the control bridge circuit and the generator winding form a BOOST circuit, and the charging module comprises:
and the generating voltage control submodule is used for controlling the generating voltage of the generator through the BOOST circuit.
9. The control device for realizing the charge and discharge function according to claim 6, wherein the control device further comprises:
the actual working parameter acquisition unit is used for acquiring actual working parameters of the generator for charging the battery when receiving a power generation mode selection instruction;
and the constant output unit is used for adjusting and controlling the duty ratio of a lower tube of the bridge circuit through a PID algorithm according to the difference value of the actual working parameter and the target working parameter so as to enable the generator to realize constant output corresponding to the target working parameter.
10. The control device for realizing the charge and discharge function according to claim 9, wherein the power generation mode selection command includes a constant current power generation mode selection command, a constant voltage power generation mode selection command, and a constant power generation mode selection command.
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