CN113708441A - Power battery control method and device and electric stacking machine - Google Patents
Power battery control method and device and electric stacking machine Download PDFInfo
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- CN113708441A CN113708441A CN202110926629.9A CN202110926629A CN113708441A CN 113708441 A CN113708441 A CN 113708441A CN 202110926629 A CN202110926629 A CN 202110926629A CN 113708441 A CN113708441 A CN 113708441A
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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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- 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
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
- H02J7/00714—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery charging or discharging current
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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
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
- H02J7/007182—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery voltage
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Abstract
The application discloses power battery control method, device and electronic heap of high machine, power battery includes many parallelly connected branches, and power battery control method includes: acquiring the working mode of the power battery; the working modes of the power battery comprise a standby mode, a discharging mode and a charging mode; detecting operation information of the plurality of branches; wherein the operation information represents current states and voltage states of the plurality of branches; acquiring the running state of the power battery according to the running information of the plurality of branches; wherein the running state of the power battery comprises a normal state, a limp state, a balance charging state and a fault state; and controlling the power battery to work according to the working mode of the power battery and the running state of the power battery. The power battery of this application can be solved electronic heap high machine shortens life's problem easily at the high frequency charge-discharge in-process.
Description
Technical Field
The application relates to the technical field of stacking machines, in particular to a power battery control method and device and an electric stacking machine.
Background
The stacking machine is usually used for loading, unloading, stacking and carrying, the manual stacking machine is pushed, pulled and lifted completely by manpower, lifting is laborious, and carrying efficiency is low, so that the requirement of the industry on the full-electric stacking machine is increased, and the full-electric stacking machine adopts a power battery to provide a power source, so that the performance of the power battery influences the use of the electric stacking machine. The power battery is used as a storage structure of power energy, continuous charging and discharging are needed, the service life of the power battery is easily shortened by high-frequency charging and discharging, and the working efficiency of the stacking machine is reduced if the power battery is long in charging time and short in service time.
Disclosure of Invention
The present application is proposed to solve the above-mentioned technical problems. The embodiment of the application provides a power battery control method and device and an electric stacking machine, and can solve the problem that the service life of a power battery of the electric stacking machine is easily shortened in a high-frequency charging and discharging process.
According to one aspect of the application, a power battery control method is provided, wherein the power battery comprises a plurality of branches connected in parallel, and the power battery control method comprises the following steps: acquiring the working mode of the power battery; the working modes of the power battery comprise a standby mode, a discharging mode and a charging mode; detecting operation information of the plurality of branches; wherein the operation information represents current states and voltage states of the plurality of branches; acquiring the running state of the power battery according to the running information of the plurality of branches; wherein the running state of the power battery comprises a normal state, a limp state, a balance charging state and a fault state; and controlling the power battery to work according to the working mode of the power battery and the running state of the power battery.
In an embodiment, the obtaining the operating state of the power battery according to the operating information of the plurality of branches includes: when the number of available branches of the plurality of branches is less than or equal to a first preset number, the running state of the power battery is the limp state; the first preset number is smaller than the total number of the branches, and the first preset number is greater than one; wherein the available branch represents a branch that can be normally charged and discharged.
In an embodiment, the obtaining the operating state of the power battery according to the operating information of the plurality of branches includes: when the number of available branches of the plurality of branches is less than or equal to a second preset number, the running state of the power battery is the fault state; wherein the second predetermined number is less than or equal to the first predetermined number.
In one embodiment, obtaining the operating state of the power battery according to the operating information of the plurality of branches includes: and when the difference value between the lowest voltage and the highest voltage in the plurality of branches is greater than a preset voltage difference value, determining that the running state of the power battery is a balanced charging state.
In one embodiment, the controlling the operation of the power battery according to the operation mode of the power battery and the operation state of the power battery comprises: and when the working mode of the power battery is the discharging mode and the running state of the power battery is the limp state, forbidding closing the unavailable branch and the branch with the difference value with the highest voltage in the plurality of branches larger than the preset pressure difference value.
In one embodiment, the controlling the operation of the power battery according to the operation mode of the power battery and the operation state of the power battery comprises: when the working mode of the power battery is the charging mode and the running state of the power battery is the balanced charging state, sequentially closing available branches of the branches according to the voltage from low to high from the branch with the lowest voltage in the branches, and in the sequential closing process, reducing the charging current to zero before switching from the currently charging branch to the next available branch and then closing the next available branch; and when the number of available branches in the plurality of branches is smaller than or equal to the first preset number, converting the power battery from a balanced charging state to a limp state.
In one embodiment, the power battery control method further includes: when the working mode of the power battery is the discharging mode and the running state of the power battery is the limp state, transmitting a prompt signal to the vehicle control unit so as to reduce the load corresponding to the equipment by the vehicle control unit according to the prompt signal; the vehicle control unit is used for controlling electric equipment.
In one embodiment, the power battery control method further includes: when the working mode of the power battery is a discharging mode and the running state of the power battery is the normal state or the limp state, recovering the reverse feedback current generated by the electric equipment in the running process; when the value of the reverse feedback current is larger than a preset feedback current value, transmitting a limiting signal to the vehicle control unit so as to reduce the reverse feedback current by reducing the load of the electric equipment by the vehicle control unit; the preset recharging current value is the sum of the maximum recharging current allowed by the power battery and the power consumption current of other loads.
According to another aspect of the present application, there is provided a power battery control apparatus including: the acquisition mode module is used for acquiring the working mode of the power battery; the working modes of the power battery comprise a standby mode, a discharging mode and a charging mode; the detection module is used for detecting the operation information of the plurality of branches; wherein the operation information represents current states and voltage states of the plurality of branches; the state acquisition module is used for acquiring the running state of the power battery according to the running information of the plurality of branches; wherein the running state of the power battery comprises a normal state, a limp state, a balance charging state and a fault state; and the execution module is used for controlling the power battery to work according to the working mode of the power battery and the running state of the power battery.
According to another aspect of the present application, there is provided an electric fork lift, comprising: a travel motor; the electric stacker is used for driving the electric stacker to run; lifting a motor; the lifting mechanism is used for driving the electric stacker; an auxiliary motor; the electric stacker is used for driving the electric stacker to turn; the power battery comprises a plurality of branches connected in parallel, the power battery is connected with the running motor, the lifting motor and the auxiliary motor, and the power battery is used for providing electric energy for the electric fork lift truck; the power battery manager is connected with the power battery and used for executing the power battery control method in any one of the embodiments.
According to the power battery control method, the power battery control device and the electric stacker, the power battery is controlled to work by acquiring the working mode of the power battery and the running state of the power battery, a power battery control strategy is formed, the working mode of the power battery comprises a standby mode, a discharging mode and a charging mode, the running state of the power battery comprises a normal state, a limping state, a balanced charging state and a fault state, when the power battery is converted from one mode to the other mode, the specific working mode of the power battery is adjusted according to the current running state of the power battery, so that the power battery can cope with various conditions, even if a branch in the power battery fails, the discharging can be carried out, the electric equipment can be ensured to run temporarily or run to a maintenance place, and the charging can be completed in a safe mode according to the branch condition when the power battery is charged, the damage to the battery core and components is avoided, different power battery control strategies are executed according to conditions, the utilization efficiency of the power battery can be improved, and the service life of the power battery is prolonged.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic structural diagram of an electric fork lift truck according to an exemplary embodiment of the present application.
Fig. 2 is a schematic structural diagram of an electric fork lift truck according to another exemplary embodiment of the present application.
Fig. 3 is a schematic flow chart of a power battery control method according to an exemplary embodiment of the present application.
Fig. 4 is a schematic flow chart of a power battery control method according to another exemplary embodiment of the present application.
Fig. 5 is a schematic flow chart of a power battery control method according to another exemplary embodiment of the present application.
Fig. 6 is a schematic flow chart of a power battery control method according to another exemplary embodiment of the present application.
Fig. 7 is a schematic flow chart of a power battery control method according to another exemplary embodiment of the present application.
Fig. 8 is a schematic flow chart of power battery discharging in a limp home state according to an exemplary embodiment of the present disclosure.
Fig. 9 is a schematic flow chart of a power battery control method according to another exemplary embodiment of the present application.
Fig. 10 is a schematic flow chart of a power battery control method according to another exemplary embodiment of the present application.
Fig. 11 is a schematic flow chart of a power battery control method according to another exemplary embodiment of the present application.
Fig. 12 is a schematic flow chart of a power battery control method according to another exemplary embodiment of the present application.
Fig. 13 is a schematic flow chart of a power battery discharge mode according to an exemplary embodiment of the present application.
Fig. 14 is a schematic flow chart of a power battery charging mode provided in an exemplary embodiment of the present application.
Fig. 15 is a schematic structural diagram of a power battery control device according to an exemplary embodiment of the present application.
Fig. 16 is a schematic structural diagram of a power battery control device according to another exemplary embodiment of the present application.
Fig. 17 is a block diagram of an electronic device provided in an exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.
Exemplary System
Fig. 1 is a schematic structural diagram of an electric forklift provided in an exemplary embodiment of the present application, and as shown in fig. 1, the forklift includes: the power battery comprises a plurality of branches connected in parallel, and is used for providing electric energy for the electric fork lift truck; the high-voltage box is connected with the power battery system; the running motor controller is electrically connected with the high-voltage box; the running motor is connected with the running motor controller and is connected with a drive axle, and the drive axle is used for driving the stacking machine; the lifting motor controller is electrically connected with the high-voltage box; the lifting motor is connected with the lifting motor controller; the lifting motor is connected with a lifting oil pump, the lifting oil pump is used for controlling a lifting oil cylinder, and the lifting oil cylinder is connected with a gantry actuating mechanism; the auxiliary motor controller is electrically connected with the high-voltage box; the auxiliary motor is connected with the auxiliary motor controller, the auxiliary motor is connected with an auxiliary oil pump, the auxiliary oil pump is connected with a steering oil cylinder, the steering oil cylinder is used for controlling a steering axle connected with the steering oil cylinder, and the steering axle is used for controlling the steering of the forklift; the auxiliary oil pump is also connected with a lifting appliance oil cylinder group, the lifting appliance oil cylinder group is connected with a lifting appliance executing mechanism, and the lifting appliance executing mechanism is used for controlling a lifting appliance of the stacking machine; two charging ports are arranged on the high-voltage box; the power battery is connected with the running motor, the lifting motor and the auxiliary motor.
Fig. 2 is a schematic structural diagram of an electric fork lift truck according to another exemplary embodiment of the present application, and as shown in fig. 2, the electric fork lift truck includes a power battery manager connected to power batteries, the power battery manager being configured to manage power on and off of the branches and to control a thermal manager configured to control a temperature of the fork lift truck; the battery pack comprises a first battery branch, a second battery branch, a third battery branch and a fourth battery branch; the vehicle control unit is used for controlling the running motor controller, the lifting motor controller and the auxiliary motor controller; the communication controller EVCC-A and the communication controller EVCC-B are respectively in communication connection with a charging port A and a charging port B, and the charging port A and the charging port B are used for charging the battery.
Mouthful A and mouthful B that charges form single double gun and charge, and single double gun charges and includes: 1. single gun charging: only charging connection signals of the gun A or the gun B are detected; double-gun charging: detect A and B rifle simultaneously and charge the connection signal. 2. The charging current is doubled between a single gun and a double gun, wherein the single gun is 250A at the maximum and the double gun is 500A at the maximum; 3. and in the single-gun charging process, the second charging gun is not allowed to be connected into the charging gun again for charging. 4. EVCC1 corresponds to the a charging gun (dock) and EVCC2 corresponds to the B charging gun (dock). 5. When the single rifle charges, insert 1 rifle that charges on the charging seat of arbitrary whole car, then select the single rifle mode of charging and start charging on filling electric pile, open the single rifle promptly and charge. 6. When the double-gun charging is carried out, 2 charging guns are connected to two charging seats of the whole vehicle (without the sequence and the positions), then a master-slave charging mode is selected on a charging pile, the charging is started, and the double-gun charging is started.
The power battery is composed of 4 battery branches divided by a 12-type electric box (pack), each branch is provided with a positive branch relay and a negative branch relay, and a main loop of the power battery is provided with a manual maintenance switch and a main negative relay. The battery manager BMS consists of 1 main loop controller MBMU (main battery management unit) and 4 SBMUs (secondary battery management units). Each branch is designed with a controller SBMU (secondary battery management unit) for controlling each branch relay and detecting each branch voltage. And the main loop controller MBMU controls a relay in the main loop to detect the voltage of the main loop.
Exemplary method
Fig. 3 is a schematic flow chart of a power battery control method according to an exemplary embodiment of the present application, where as shown in fig. 3, the power battery includes multiple branches connected in parallel, and the power battery control method includes:
step 100: acquiring a working mode of a power battery; the working modes of the power battery comprise a standby mode, a discharging mode and a charging mode.
The working modes of the power battery can be switched with each other, the time for switching with each other between the modes is within two seconds, and the three modes are represented in the flow as the opening and closing actions of the relay in the high-voltage box.
Step 200: detecting operation information of a plurality of branches; wherein the operation information indicates a current state and a voltage state of the plurality of branches.
The main battery management unit is arranged in a main loop of the power battery, the relay in the main loop is controlled, the voltage of the main loop is detected, the secondary battery management units are designed in a plurality of branches, the relays of the plurality of branches are controlled, and the voltage of each branch is detected.
The current states of the multiple branches are detected, whether the branches can be charged and discharged normally or not can be determined, the voltage states of the multiple branches are detected, whether the voltage values are abnormal or not can be determined, and therefore whether the branches need to be disconnected or not is judged to avoid the power battery fault caused by the overlarge voltage difference.
Step 300: acquiring the running state of the power battery according to the running information of the plurality of branches; the running state of the power battery comprises a normal state, a limp state, a balance charging state and a fault state.
The running state of the power battery can be determined according to whether the multiple branches can be charged and discharged normally or not and whether voltage differences exist among the multiple branches or not, and all the branches of the power battery are in a usable state in a normal state; when the power battery is in a limp state, the power battery has the problem that the branch can not be normally used, namely the branch can have a short circuit or an open circuit, so that the branch can not be normally charged and discharged, but the number of the unavailable branches is less than the total number of the branches; when the charging state is balanced, the voltage difference between two branches in the plurality of branches is greater than the preset voltage difference value, namely the charging state is balanced, and the number of available branches in the charging state can be smaller than or equal to the total number of branches; in a fault state, only one branch circuit or all branch circuits in the power battery can not be used.
Step 400: and controlling the power battery to work according to the working mode of the power battery and the running state of the power battery.
Under different running states, the charging and discharging work of the power battery is different, and the power battery is controlled to perform corresponding work according to the charging mode and the discharging mode under each running state, so that the utilization efficiency of the power battery is improved, the damage probability of a battery cell and components is reduced, and the service life of the battery is prolonged.
The power battery control method provided by the application controls the power battery to work by acquiring the working mode of the power battery and the running state of the power battery to form a power battery control strategy, wherein the working mode of the power battery comprises a standby mode, a discharging mode and a charging mode, the running state of the power battery comprises a normal state, a limping state, a balanced charging state and a fault state, when the power battery is converted from one mode to the other mode, the specific working mode of the power battery is adjusted according to the current running state of the power battery, so that the power battery can cope with various conditions, even if a branch in the power battery fails, the power battery can perform discharging to ensure that electric equipment temporarily runs or runs to a maintenance place, and when the power battery is charged, the power battery can be charged in a safe mode according to the branch condition, so that the battery core and components are not damaged, different power battery control strategies are executed according to conditions, so that the utilization efficiency of the power battery can be improved, and the service life of the power battery can be prolonged.
When the power battery is switched from the standby mode to the discharge mode, the action sequence of the relay in the high-voltage box is as follows: closing negative electrode relays of a plurality of branches, closing positive electrode relays of the plurality of branches, closing main negative relays, closing a pre-charging relay, closing the pre-charging relay, judging that the pre-charging is successful if the outside voltage reaches 95% of the inside voltage within 5 seconds after the pre-charging relay is closed, prompting a pre-charging failure fault if the pre-charging is failed, closing the main relay after the pre-charging is successful, opening the pre-charging relay after the main relay is closed, and finally closing an air conditioner relay and a TMS (thermal management unit) relay after a power battery manager judges that the thermal management unit has no most serious fault (such as charging current overrun, current sampling fault and the like).
When the power battery is switched from the standby mode to the charging mode, the action sequence of the relay in the high-voltage box is as follows: closing a plurality of branch negative electrode relays, closing a plurality of branch positive electrode relays, closing a charging negative relay, closing a charging positive relay, closing a main negative relay and closing a TMS (thermal management system) relay.
When the power battery is switched from the discharge mode to the standby mode, the action sequence of the relay in the high-voltage box is as follows: and the air-conditioning relay, the PTC (positive temperature coefficient) relay and the TMS (thermal management unit) relay are disconnected, the main positive relay is disconnected, the main negative relay is disconnected, the negative relays of the multiple branches are disconnected, and the positive relays of the multiple branches are disconnected.
When the power battery is switched from the charging mode to the standby mode, the action sequence of the relay in the high-voltage box is as follows: and disconnecting the charging positive relay, the charging negative relay, the TMS (thermal management unit) relay, the main negative relay, the positive relays of the multiple branches and the negative relays of the multiple branches.
Fig. 4 is a schematic flow chart of a power battery control method according to another exemplary embodiment of the present application, and as shown in fig. 4, step 300 may include:
step 310: when the number of the available branches of the plurality of branches is smaller than or equal to a first preset number, the running state of the power battery is a limp state.
The first preset number is less than the total number of the plurality of branches, and the first preset number is more than one; wherein, the available branch represents a branch that can be normally charged and discharged.
When the branch circuit is in the unavailable state, the power battery can execute the charging and discharging method in the limping state to ensure that the electric equipment can temporarily continue to operate, or the electric equipment can continue to travel to a maintenance place, so that the working stagnation caused by the emergency power failure of the electric equipment is avoided, or the influence on the continuous operation of other electric equipment is avoided.
The relation between the first preset number and the total branch number satisfies the following conditions: the first preset number/total branch number is not less than 0.75 and not more than 1, the first preset number corresponding to different total branch numbers is set in an interval range, the limp state can be judged more accurately, and the method and the device can be suitable for power batteries with various specifications. When the ratio of the first preset number to the total branch number is 1, the ratio is an optimal ratio, that is, when the first preset number is equal to the total branch number, the available branch number is smaller than the total branch number, and the running state of the power battery can be judged to be a limp state. The limp state is judged according to the first preset number when the ratio of the first preset number to the total branch number is 1, and the limp state can be determined more accurately and timely.
Fig. 5 is a schematic flow chart of a power battery control method according to another exemplary embodiment of the present application, and as shown in fig. 5, step 300 may further include:
step 320: when the number of the available branches of the plurality of branches is less than or equal to a second preset number, the running state of the power battery is a fault state; wherein the second predetermined number is less than or equal to the first predetermined number.
When the number of available branches in the power battery is too few (for example, only one branch is available) or no available branch exists, the state of the power battery is determined to be a fault state, the power battery cannot perform any work in the state, the request is closed even after the power-on request is received, no work is performed, and when only one available branch exists, sufficient electric energy cannot be provided for the power battery, so that the situation that only one available branch exists is also determined to be the fault state.
The relationship between the second preset number and the total branch number satisfies the following conditions: the first preset number/total branch number is not less than 0.1 and not more than 0.5, the second preset number corresponding to different total branch numbers is set in an interval range, the fault state can be more accurately judged, and the method and the device can be suitable for power batteries with various specifications. And when the ratio of the second preset number to the total branch number is 0.25, the ratio is an optimal ratio. For example, when the total number of branches is 4, the second preset number is 1, and when the number of available branches of the plurality of branches is less than or equal to 1, the operating state of the power battery may be determined to be a fault state. And judging the fault state by using the standard of the second preset number when the ratio of the second preset number to the total branch number is 0.25, so that whether the power battery is in the fault state can be controlled more accurately.
Fig. 6 is a schematic flow chart of a power battery control method according to another exemplary embodiment of the present application, and as shown in fig. 6, step 300 may further include:
step 330: and when the difference value between the lowest voltage and the highest voltage in the plurality of branches is greater than a preset voltage difference value, determining the running state of the power battery to be a balanced charging state.
In a plurality of branches of the power battery, the pressure difference of two branches is larger than the preset pressure difference value, but the branches can be closed, the closing condition depends on specific conditions such as modes or the magnitude of the pressure difference, and the branch cannot be used at all in a limp state.
Fig. 7 is a schematic flow chart of a power battery control method according to another exemplary embodiment of the present application, and as shown in fig. 7, step 400 may include:
step 410: and when the working mode of the power battery is a discharging mode and the running state of the power battery is a limp state, the branch which is not available and has a difference value with the highest voltage in the plurality of branches larger than a preset pressure difference value is forbidden to be closed.
When the power battery is switched to the discharging mode from other modes, and the current running state of the power battery is a limp state, the closing of the unavailable branch and the branch with the difference value with the highest voltage in the plurality of branches being larger than the preset pressure difference value is forbidden for two reasons: firstly, because the electric equipment always works in the discharging mode, the direct closing can cause large current or on-load closing, so that risks can be caused; secondly, because the electric equipment is always working under the discharging mode, the current can not be reduced to 0A and then the relay is closed, so that the motor suddenly loses power and the accident risk exists.
The discharge in the limp state may take measures: the vehicle control unit controls the power consumption of a load to meet the discharge power of a power battery in a limp state; and secondly, the vehicle control unit controls the current of energy recovery to meet the maximum recovery current allowed by the power battery in the limp state.
Fig. 8 is a schematic flow chart of discharging in a limp state of the power battery provided by an exemplary embodiment of the present application, and as shown in fig. 8, the power battery includes four parallel branches, and when the operating mode of the power battery is the discharging mode and the state is the limp state, three cases are divided: when the available battery branch is one branch, the power battery manager breaks down, the warning level of the power battery manager reaches the highest level four (for example, a main positive relay cannot be closed, a main negative relay cannot be closed, and the like), the power battery manager enters a standby mode and enters a fault state, the power battery manager outputs a high voltage cut-off instruction, and the high voltage request is closed. When available battery branch road is two ways, power battery manager gets into the second limp state, and when the second limp state, power battery: i 'B nominally lasts 200A and I' Bmax 250A at maximum. And (3) vehicle system: the running motor limits reverse torque by 50% in the running brake (1), TD is less than or equal to 1200Nm, ID is less than or equal to 40A (feedback current) (2) and mechanical brake torque is 50%. The lifting motor is limited, the reverse torque is 80%, TL is less than or equal to 1600Nm, IL is less than or equal to 100A (feedback current), and the auxiliary motor is not limited to IA is less than or equal to 60A. Other loads: the air conditioner is limited to be started, the power supply conversion module is in a low power consumption mode, the heat management unit normally works, Iother is 30A, feedback current IM is ID + IL, and IM is not more than I' Bmax + IA + Iother. When the available branch is three, the power battery enters a first limp state, and when the available branch is three, the power battery: i 'B nominally lasts 300A and I' Bmax 375A at maximum. And (3) vehicle system: the method comprises the steps of (1) traveling motor limitation, reverse torque of 75%, TD of less than or equal to 1800Nm, ID of less than or equal to 80A (feedback current) (2) mechanical braking torque of 25%, lifting motor limitation, reverse torque of 50%, TL of less than or equal to 1000Nm, IL of less than or equal to 200A (feedback current), auxiliary motor limitation, and IA of less than or equal to 60A. Other loads: the air conditioner is limited to be started, the power supply conversion module is in a low power consumption mode, the heat management unit normally works, and Iother is 30A. The feedback current IM is equal to ID + IL, and IM is less than or equal to I' Bmax + IA + Iother.
Fig. 9 is a schematic flow chart of a power battery control method according to another exemplary embodiment of the present application, and as shown in fig. 9, step 400 may further include:
step 420: and when the working mode of the power battery is a discharging mode and the running state of the power battery is a balanced charging state, converting the balanced charging state into a limp state.
When the power battery is switched from other modes to the discharging mode, the balance charging state of the power battery is converted into a limp state, namely the discharging method of the power battery in the balance charging state is the same as that of the power battery in the limp state, and the discharging method in the limp state is adopted no matter the power battery is in the balance charging state or the limp state in the discharging mode.
When the power battery is in a balanced charging state in the standby mode and the vehicle control unit sends a discharging mode request, the power battery manager closes the branch main relay which is within a preset voltage difference value range (such as 15V) compared with the highest voltage branch. When the number of available branches is less than the total number of designed branches, the power battery enters a limp state.
Fig. 10 is a schematic flow chart of a power battery control method according to another exemplary embodiment of the present application, and as shown in fig. 10, step 400 includes:
step 430: when the working mode of the power battery is a charging mode and the running state of the power battery is a balanced charging state, starting from the branch with the lowest voltage in the multiple branches, closing available branches in the multiple branches in sequence from low to high according to the voltage, reducing the charging current to zero before switching from the currently charging branch to the next available branch in the sequential closing process, and then closing the next available branch.
When the power battery is switched from the other mode to the charging mode, and the operation state of the power battery is the balanced charging state in the other mode, the charging mode adopted in the charging mode is the specific charging mode in the balanced charging state, for example, the power battery has A, B, C, D four branches, when one of A, B two branches is the branch with the lowest voltage in the power battery, and the voltage difference of A, B two branches is within the preset voltage difference value range, the power battery manager will close the main relay in A, B two branches. When branch A, B is charged, the voltage value reaches the value of the lowest voltage branch except for branch A, B, such as the voltage value of branch C, because the charging current is larger at this time, the main relay of branch C needs to be closed after the charging current is gradually reduced to zero. The connected branches continue to be charged, at this time, the voltage value reaches the value of the lowest voltage branch except A, B, C, such as the voltage value of branch D, the main relay of branch D is closed after the charging current is gradually reduced to zero, and the process is repeated until all the branches are at the same voltage.
When the power battery is in a balanced charging state in the standby mode and the vehicle control unit sends a charging mode request, the power battery manager closes the branch main relay which is within a preset voltage difference value range (such as 15V) compared with the lowest voltage branch.
Step 440: and when the number of available branches in the plurality of branches is less than or equal to a first preset number, converting the power battery from a balance charging state into a limp state.
When the number of available branches is less than the total number of designed branches, the battery system enters a limp state, and charging is only carried out in the connected battery branches by adopting a charging method in the limp state, and the disconnected fault branches are not closed any more.
Fig. 11 is a schematic flow chart of a power battery control method according to another exemplary embodiment of the present application, and as shown in fig. 11, in an embodiment, the power battery control method further includes:
step 500: when the working mode of the power battery is a discharging mode and the running state of the power battery is a limp state, transmitting a prompt signal to the vehicle control unit so as to reduce the load corresponding to the electric equipment according to the prompt signal by the vehicle control unit; the vehicle control unit is used for controlling the electric equipment.
For example, when the total number of the branches connected in parallel in the power battery is 4, the power battery manager may send several conditions of a limp state in a discharge mode to the vehicle control unit through the CAN bus, and the vehicle control unit may limit the motor and the load, in three cases: the normal branch number N is 3, when the vehicle is in a limp state 1, the torque of a driving motor is limited by 50%, the rotating speed of a lifting motor is limited by 75%, an auxiliary motor is not limited, an air conditioner is limited to be started, a power supply conversion module is in a low-power-consumption mode, and a heat management unit TMS is normally started; the normal branch number N is 2, when the vehicle is in a limp state 2, the torque of a driving motor is limited by 35%, the rotating speed of a lifting motor is limited by 50%, an auxiliary motor is not limited, an air conditioner is limited to be started, a power supply conversion module is in a low-power-consumption mode, and a heat management unit TMS is normally started; and (4) setting the normal branch number N as 1, and entering a lower high-voltage process in a fault state.
Fig. 12 is a schematic flow chart of a power battery control method according to another exemplary embodiment of the present application, where as shown in fig. 12, the power battery control method further includes:
step 600: when the working mode of the power battery is a discharging mode and the running state of the power battery is a normal state or a limp state, the reverse feedback current generated by the electric equipment in the running process is recovered.
Step 700: when the value of the reverse feedback current is larger than the preset feedback current value, transmitting a limiting signal to the vehicle control unit so as to reduce the reverse feedback current by reducing the load of the electric equipment; the preset recharging current value is the sum of the maximum recharging current allowed by the power battery and the power consumption current of other loads.
The electric equipment may have a special case of capacity recovery in the discharge mode, namely service brake recovery: braking a running motor of the electric equipment to generate reverse feedback current; descending potential energy and recovering: the gantry of the electric equipment descends (particularly with load), the lifting oil pump reversely drags to drive the lifting motor to reversely rotate, and reverse feedback current is generated. The energy generated by the two is recharged by a current IMThe energy recharging current is less than or equal to the maximum recharging current I allowed by the power battery at the moment’ BmaxPlus power consumption current I of other loadsotherIn such cases, the vehicle control unit is required to work in conjunction with the power battery manager to control the recharging current IMNamely, the vehicle controller limits the reverse torque of the driving and lifting motor to limit the recharging current IM。
The power battery manager CAN send the normal state and the limping state in the discharging mode to the vehicle control unit through the CAN bus, and the vehicle control unit limits the reverse torque of the driving motor and the lifting motor to limit the recovery current IMThere are four cases: normal branch number N is 4, and when being normal state, the motor limit reverse moment of torsion 90% (mechanical braking moment of torsion 10%) that traveles, lift motor limit reverse moment of torsion 30%, auxiliary motor does not restrict, and the air conditioner restriction is opened, and power conversion module low-power consumption mode, thermal management machineThe group is normally opened; the normal branch number N is 3, when the vehicle is in a limp state 1, the reverse torque of a driving motor is limited by 75% (the mechanical braking torque is 25%), the reverse torque of a lifting motor is limited by 50%, an auxiliary motor is not limited, the air conditioner is limited to be started, a power supply conversion module is in a low power consumption mode, and a heat management unit is normally started; the normal branch number N is 2, when the driving motor is in a limp state 2, the reverse torque of the driving motor is limited by 50% (50% of mechanical braking torque), the reverse torque of the lifting motor is limited by 80%, the auxiliary motor is not limited, the air conditioner is limited to be started, the power supply conversion module is in a low power consumption mode, and the heat management unit TMS is normally started; and (4) setting the normal branch number N to be 1, entering a lower high-voltage process in a fault state, and closing the upper voltage request by the power battery manager.
In one embodiment, the bypass relay is capable of being closed from the standby mode balancing state to the charging mode limp state, but the relay is not capable of being closed from the standby mode limp state to the charging mode limp state, because the standby mode determines that the limp state is due to hardware problems of the bypass relay, the line, the battery PACK and the like. And the limp state in the charging mode can close the relay and needs to meet the conditions: firstly, stopping working when the equipment is charged and standing still for charging; when the relay is closed in the charging process, the branch relay is closed only after the charging current is reduced to 0A, and the relay or the branch circuit is prevented from being damaged.
Fig. 13 is a schematic flow chart of a power battery discharge mode according to an exemplary embodiment of the present application, and as shown in fig. 13, after the power battery manager is powered on and awakened, the power battery is in a standby mode. After the power battery manager self-checks the battery system, the battery system is divided into four states, namely a fault state, a normal state, a limp state and a balanced charging state. When the power battery manager detects a high-voltage discharging request sent by the vehicle control unit, the other three states except the fault state can enter a discharging mode. Firstly, entering a normal state in a discharge mode in a normal state in a standby mode, and discharging according to a normal discharge process; and secondly, the limp state in the standby mode and the balance charging state enter the limp state in the discharging mode. Then entering a limp state sub-process in a discharging mode, wherein a branch relay with pressure difference cannot be closed in the discharging process, and finally completing the discharging process, and a power battery manager presses down a high-voltage process to output and cut off high voltage; and thirdly, when the fault state enters the fault state in the standby mode and no available branch circuit exists, the power battery manager outputs a request for cutting off the high voltage and closing the upper voltage.
After the discharge mode and the discharge state are determined, the power battery manager can trigger faults in the discharge process, and when primary faults (such as monomer overvoltage and overlarge temperature difference) or secondary faults (such as overhigh battery core temperature) are triggered, the power battery manager resists the faults by limiting the performance of a power battery, so that the normal operation of electric equipment is ensured; when a three-level fault is triggered (such as the positive relay cannot be closed and the negative relay cannot be closed), the power battery manager automatically cuts off the battery branch with the fault, and a discharging method in a limping state is carried out; when a four-stage fault is triggered (if the positive relay cannot be disconnected), the four-stage fault is in the highest fault level, the power battery enters a fault state, the power battery manager outputs a high-voltage cut-off instruction, and the high-voltage request is closed.
Fig. 14 is a schematic flow chart of a power battery charging mode provided in an exemplary embodiment of the present application, and as shown in fig. 14, after the power battery manager is powered up and awakened, the power battery is in a standby mode. And when the power battery manager detects the charging connection signal and the charging request sent by the vehicle control unit, the battery system enters a charging mode. The charging mode is divided into 3 cases from the standby mode: firstly, the fault state in the standby mode enters the fault state in the charging mode, the power battery manager outputs a command of cutting off the high voltage, and the request of closing the high voltage is sent. And secondly, entering a normal state in a charging mode in the normal state in the standby mode, and charging according to a normal charging flow. And thirdly, the limp state in the standby mode enters a charging mode limp state, and the charging is carried out according to a normal charging flow. And fourthly, the balance charging state in the standby mode enters a limp state of the charging mode. The fourth case is in particular: the power battery manager will close the branch main relay within a preset voltage difference value range (e.g., 15V) compared to the lowest voltage branch. When the number of available branches will be less than the designed total number of branches, the power battery will enter a limp state. Charging according to a charging process in a balanced charging state (the voltage difference of the branch circuits is more than 15V), namely a balanced charging process, and then charging according to a limping state to finish the charging process in the whole balanced charging state.
After the power battery manager detects the charging connection signals, the vehicle control unit sends charging mode requests to the power battery manager, the power battery manager receives the requests and then carries out single-gun and double-gun charging identification, and three connection signals are generated: firstly, an A gun charging connection signal is detected. And secondly, detecting a B gun charging connection signal. And thirdly, detecting A, B gun charging connection signals at the same time.
After the charging connection signal and the running state of the power battery are judged, the battery charging process is started, the power battery manager closes the insulation detection function after entering the charging mode, branch fault detection can be always carried out in the charging process, and when a primary fault (such as monomer overvoltage and overlarge temperature difference) or a secondary fault (such as overhigh battery core temperature) is triggered, the power battery manager resists the fault by limiting the performance of the power battery, so that the normal running of the electric equipment is ensured; when a four-stage fault (such as the negative relay cannot be disconnected and the high-voltage interlocking) is triggered, the four-stage fault is in the highest fault level, the four-stage fault enters a fault state, the charging is forbidden to continue, the high voltage is cut off within five seconds, the power battery manager outputs a high-voltage cut-off instruction, the high-voltage request is closed, the four-stage fault is converted into a standby mode, and the state is the fault state.
Exemplary devices
Fig. 15 is a schematic structural diagram of a power battery control device according to an exemplary embodiment of the present application, and as shown in fig. 15, the power battery control device 6 includes: an acquisition mode module 61, configured to acquire an operating mode of the power battery; the working modes of the power battery comprise a standby mode, a discharging mode and a charging mode; a detection module 62, configured to detect operation information of a plurality of branches; wherein the operation information represents current states and voltage states of the plurality of branches; the state obtaining module 63 is configured to obtain the operating state of the power battery according to the operating information of the plurality of branches; the running state of the power battery comprises a normal state, a limp state, a balance charging state and a fault state; and an execution module 64, configured to control the power battery to operate according to the operating mode of the power battery and the operating state of the power battery.
The application provides a power battery control device, which obtains the working mode of a power battery through an obtaining mode module 61, detects the running information of a plurality of branches in the power battery through a detection module 62, obtains the running state of the power battery through an obtaining state module 63, controls the power battery to work through an execution module 64, forms a power battery control strategy, the working mode of the power battery comprises a standby mode, a discharging mode and a charging mode, the running state of the power battery comprises a normal state, a limp state, a balanced charging state and a fault state, when the power battery is converted from one mode to another mode, the specific working mode of the power battery is adjusted according to the current running state of the power battery, so that the power battery can cope with various conditions, even if the branches in the power battery fail, the power battery can execute discharging, and ensure that electric equipment runs temporarily or runs to a maintenance place, when the power battery is charged, a safe mode can be selected according to the branch condition to complete charging, so that the battery core and components are not damaged, different power battery control strategies are executed according to the condition, the utilization efficiency of the power battery can be improved, and the service life of the power battery is prolonged.
Fig. 16 is a schematic structural diagram of a power battery control apparatus according to another exemplary embodiment of the present application, and as shown in fig. 16, the obtaining state module 61 may include a first state unit 611, where the first state unit 611 is configured to enable the power battery to operate in a limp state when the number of available branches of the plurality of branches is less than or equal to a first preset number.
In an embodiment, as shown in fig. 16, the obtaining status module 61 may include a second status unit 612, where the second status unit 612 is configured to, when the number of available branches of the plurality of branches is less than or equal to a second preset number, determine that the operation status of the power battery is a fault status; wherein the second predetermined number is less than or equal to the first predetermined number.
In an embodiment, as shown in fig. 16, the obtaining status module 61 may include a third status unit 613, where the third status unit 613 is configured to determine that the operation status of the power battery is the balance charging status when a difference between a lowest voltage and a highest voltage in the plurality of branches is greater than a preset voltage difference value.
In an embodiment, as shown in fig. 16, the execution module 64 may include a disabling unit 641, where the disabling unit 641 is configured to disable the closing of the unavailable branch and the branch having a difference value larger than a preset pressure difference value from the highest voltage of the plurality of branches when the operation mode of the power battery is the discharging mode and the operation state of the power battery is the limp state.
In an embodiment, as shown in fig. 16, the executing module 64 may include a first converting unit 642, and the first converting unit 642 is configured to convert the balance charge state into a limp home state when the operating mode of the power battery is the discharging mode and the operating state of the power battery is the balance charge state.
In an embodiment, as shown in fig. 16, the executing module 64 may include a closing unit 643, where the closing unit 643 is configured to, when the operation mode of the power battery is the charging mode and the operation state of the power battery is the equilibrium charging state, sequentially close the available branches of the plurality of branches from low to high in voltage, and during sequential closing, reduce the charging current to zero before switching from the branch currently being charged to the next available branch, and then close the next available branch.
A second switching unit 644, the second switching unit 644 being configured to switch the power battery from the equilibrium charging state to the limp home state when the number of available branches of the plurality of branches is less than or equal to a first preset number.
In an embodiment, as shown in fig. 16, the power battery control device 6 may further include: the limiting module 65 is used for transmitting a prompting signal to the vehicle control unit when the working mode of the power battery is a discharging mode and the running state of the power battery is a limp state, so that the vehicle control unit can reduce the load corresponding to the electric equipment according to the prompting signal; the vehicle control unit is used for controlling the electric equipment.
In an embodiment, as shown in fig. 16, the power battery control device may further include: and the recovery module 66 is used for recovering the reverse feedback current generated by the electric equipment in the operation process when the operation mode of the power battery is the discharge mode and the operation state of the power battery is a normal state or a limp state.
The reducing module 67 is used for transmitting a limiting signal to the vehicle control unit when the value of the reverse feedback current is greater than a preset recharging current value, so that the vehicle control unit reduces the reverse feedback current by reducing the load of the electric equipment; the preset recharging current value is the sum of the maximum recharging current allowed by the power battery and the power consumption current of other loads.
Exemplary electronic device
Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 17. The electronic device may be either or both of the first device and the second device, or a stand-alone device separate from them, which stand-alone device may communicate with the first device and the second device to receive the acquired input signals therefrom.
FIG. 17 illustrates a block diagram of an electronic device in accordance with an embodiment of the present application.
As shown in fig. 17, the electronic device 10 includes one or more processors 11 and a memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium and executed by the processor 11 to implement the power cell control methods of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
When the electronic device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
The input device 13 may also include, for example, a keyboard, a mouse, and the like.
Of course, for the sake of simplicity, only some of the components of the electronic device 10 relevant to the present application are shown in fig. 17, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. A power battery control method is characterized in that the power battery comprises a plurality of branches connected in parallel, and the method comprises the following steps:
acquiring the working mode of the power battery; the working modes of the power battery comprise a standby mode, a discharging mode and a charging mode;
detecting operation information of the plurality of branches; wherein the operation information represents current states and voltage states of the plurality of branches;
acquiring the running state of the power battery according to the running information of the plurality of branches; wherein the running state of the power battery comprises a normal state, a limp state, a balance charging state and a fault state; and
and controlling the power battery to work according to the working mode of the power battery and the running state of the power battery.
2. The power battery control method according to claim 1, wherein the obtaining the operating state of the power battery according to the operating information of the plurality of branches includes:
when the number of available branches of the plurality of branches is less than or equal to a first preset number, the running state of the power battery is the limp state; the first preset number is smaller than the total number of the branches, and the first preset number is greater than one; wherein the available branch represents a branch that can be normally charged and discharged.
3. The power battery control method according to claim 1, wherein the obtaining the operating state of the power battery according to the operating information of the plurality of branches includes:
when the number of available branches of the plurality of branches is less than or equal to a second preset number, the running state of the power battery is the fault state; wherein the second predetermined number is less than or equal to the first predetermined number.
4. The power battery control method according to claim 1, wherein obtaining the operating state of the power battery according to the operation information of the plurality of branches includes:
and when the difference value between the lowest voltage and the highest voltage in the plurality of branches is greater than a preset voltage difference value, determining that the running state of the power battery is a balanced charging state.
5. The power battery control method according to claim 4, wherein the controlling of the power battery operation according to the operation mode of the power battery and the operation state of the power battery includes:
and when the working mode of the power battery is the discharging mode and the running state of the power battery is the limp state, forbidding closing the unavailable branch and the branch with the difference value with the highest voltage in the plurality of branches larger than the preset pressure difference value.
6. The power battery control method according to claim 2, wherein the controlling of the power battery operation according to the operation mode of the power battery and the operation state of the power battery includes:
when the working mode of the power battery is the charging mode and the running state of the power battery is the balanced charging state, starting from the branch with the lowest voltage in the branches, closing the available branches in the branches in sequence from low to high according to the voltage, and in the closing process, reducing the charging current to zero before switching from the currently charging branch to the next available branch, and then closing the next available branch; and
when the number of available branches in the plurality of branches is smaller than or equal to the first preset number, the power battery is converted into a limp state from a balance charging state.
7. The power cell control method according to claim 1, further comprising:
when the working mode of the power battery is the discharging mode and the running state of the power battery is the limp state, transmitting a prompt signal to the vehicle control unit so as to reduce the load corresponding to the equipment by the vehicle control unit according to the prompt signal; the vehicle control unit is used for controlling electric equipment.
8. The power cell control method according to claim 1, further comprising:
when the working mode of the power battery is a discharging mode and the running state of the power battery is the normal state or the limp state, recovering the reverse feedback current generated by the electric equipment in the running process;
when the value of the reverse feedback current is larger than a preset feedback current value, transmitting a limiting signal to the vehicle control unit so as to reduce the reverse feedback current by reducing the load of the electric equipment by the vehicle control unit; the preset recharging current value is the sum of the maximum recharging current allowed by the power battery and the power consumption current of other loads.
9. A power battery control apparatus, comprising:
the acquisition mode module is used for acquiring the working mode of the power battery; the working modes of the power battery comprise a standby mode, a discharging mode and a charging mode;
the detection module is used for detecting the operation information of the plurality of branches; wherein the operation information represents current states and voltage states of the plurality of branches;
the state acquisition module is used for acquiring the running state of the power battery according to the running information of the plurality of branches; wherein the running state of the power battery comprises a normal state, a limp state, a balance charging state and a fault state; and
and the execution module is used for controlling the power battery to work according to the working mode of the power battery and the running state of the power battery.
10. An electric fork lift, comprising:
a travel motor; the electric stacker is used for driving the electric stacker to run;
lifting a motor; the lifting mechanism is used for driving the electric stacker;
an auxiliary motor; the electric stacker is used for driving the electric stacker to turn;
the power battery comprises a plurality of branches connected in parallel, the power battery is connected with the running motor, the lifting motor and the auxiliary motor, and the power battery is used for providing electric energy for the electric fork lift truck;
a power battery manager connected with the power battery, the power battery manager being configured to perform the power battery control method of any of claims 1-8.
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