CN114013336A - Energy management method and device and working machine - Google Patents

Energy management method and device and working machine Download PDF

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Publication number
CN114013336A
CN114013336A CN202111278845.3A CN202111278845A CN114013336A CN 114013336 A CN114013336 A CN 114013336A CN 202111278845 A CN202111278845 A CN 202111278845A CN 114013336 A CN114013336 A CN 114013336A
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target
battery
output power
target data
motor
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CN114013336B (en
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谢辉齐
张金虎
石晋
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Sany Automobile Hoisting Machinery Co Ltd
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Sany Automobile Hoisting Machinery Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/24—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/425—Temperature
    • 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
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention provides an energy management method, an energy management device and a working machine, wherein first target data of a battery, second target data of each target motor and third target data of a target thermal management system are obtained; according to the first target data, the second target data and the third target data, acquiring first output power of the battery to the target heat management system based on the target calculation model; and acquiring second output power of the battery to each target motor based on the first target data, each second target data and the first output power, and controlling the battery to supply power to each target motor based on each second output power. The energy management method, the energy management device and the operation machine provided by the invention can realize the management of the output power of each motor by the battery under the condition that the battery supplies power for a plurality of motors at the same time, ensure the normal work of the battery and supply power for each motor more efficiently and safely, reduce the energy consumption of the battery and improve the operation economy of the operation machine.

Description

Energy management method and device and working machine
Technical Field
The invention relates to the technical field of engineering machinery, in particular to an energy management method and device and an operating machine.
Background
With the increasing energy crisis and environmental problems, batteries are an important development direction for working machines.
The electric motor is a device capable of realizing electric energy conversion or transmission, and the working machine taking the battery as a power source can comprise at least one electric motor, and the electric motor can be powered by the battery. By managing the output power of the battery to each motor, the battery can efficiently and safely provide electric energy for each motor in a normal working state, the energy consumption of the battery can be reduced, and the operation economy of the operation machine can be improved.
In the prior art, in the case where only one motor is included in a work machine, the output power of the battery to the motor can be managed in various ways. However, in the case where a plurality of motors are included in a working machine and the plurality of motors operate simultaneously, the battery supplies power to the plurality of motors at the same time, whereas in the case where the battery supplies power to the plurality of motors at the same time, it is difficult to manage the output power of each motor by the battery in the related art.
Disclosure of Invention
The invention provides an energy management method, an energy management device and an operation machine, which are used for solving the defect that the output power of each motor is difficult to manage by a battery under the condition that the battery supplies power to a plurality of motors at the same time in the prior art, and realizing the management of the output power of each motor by the battery under the condition that the battery supplies power to the plurality of motors at the same time.
The invention provides an energy management method, which comprises the following steps:
acquiring first target data of a battery, second target data of each target motor and third target data of a target thermal management system;
according to the first target data, the second target data and the third target data, acquiring first output power of the battery to the target thermal management system based on a target calculation model;
acquiring second output power of the battery to each target motor based on the first target data, each second target data and the first output power, and controlling the battery to supply power to each target motor based on each second output power;
the target heat management system is used for carrying out heat management on the battery and each target motor.
According to an energy management method provided by the present invention, the first target data includes: the temperature and remaining charge of the battery; the second target data includes: the temperature and the required first input power of the target motor; the third target data comprises a second input power required by the target thermal management system;
correspondingly, the obtaining a first output power of the battery to the target thermal management system based on a target calculation model according to the first target data, each of the second target data and the third target data specifically includes:
acquiring a first temperature difference corresponding to the battery based on the temperature of the battery, and acquiring a second temperature difference corresponding to each target motor based on the temperature of each target motor;
inputting the first temperature difference, the second temperature difference, the residual capacity of the battery and the sum of the first input powers into the target calculation model to obtain an input power coefficient output by the target calculation model;
and acquiring the first output power based on the input power coefficient and the second input power.
According to an energy management method provided by the present invention, the obtaining a second output power of the battery for each target motor based on the first target data, each second target data, and the first output power specifically includes:
acquiring the maximum output power of the battery based on the residual capacity of the battery;
in the case that the maximum output power of the battery is greater than or equal to the sum of the first output power and the first input powers, regarding the first input power required by each target motor as the second output power of the battery to each target motor for each target motor; and acquiring second output power of the battery for each target motor based on each first input power, the first output power and the maximum output power of the battery when the maximum output power of the battery is less than the sum of the first output power and each first input power.
According to an energy management method provided by the present invention, after obtaining a second output power of the battery to each target motor based on the first target data, each second target data, and the first output power, the method further includes:
and acquiring the remaining capacity of the battery at the next moment based on the remaining capacity of the battery at the current moment and the second output power of the battery to each target motor at the current moment.
The present invention also provides an energy management device comprising:
the data acquisition module is used for acquiring first target data of the battery, second target data of each target motor and third target data of the target heat management system;
the model calculation module is used for acquiring first output power of the battery to the target heat management system based on a target calculation model according to the first target data, the second target data and the third target data;
the energy management module is used for acquiring second output power of the battery to each target motor based on the first target data, each second target data and the first output power, and controlling the battery to supply power to each target motor based on each second output power;
the target heat management system is used for carrying out heat management on the battery and each target motor.
The present invention also provides a work machine comprising: an energy management device as described above.
The present invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the steps of the energy management method as described in any of the above.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the energy management method as described in any of the above.
The invention also provides a computer program product comprising a computer program which, when executed by a processor, performs the steps of the energy management method as described in any one of the above.
According to the energy management method, the energy management device and the working machine, after the first output power of the battery to the target heat management system is obtained based on the pre-constructed target calculation model according to the first target data of the battery, the second target data of each target motor and the third target data of the target heat management system, acquiring second output power of the battery for each target motor based on the first output power, the first target data and the second target data, and based on each second output power, the battery is controlled to supply power to each target motor, so that under the condition that the battery simultaneously supplies power to a plurality of motors, the management of the output power of each motor by the battery is realized, and under the condition of ensuring the normal work of the battery, the electric energy is more efficiently and safely provided for each motor, the energy consumption of the battery can be reduced, and the operation economy of the operation machine can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is one of the flow diagrams of the energy management method provided by the present invention;
FIG. 2 is a flowchart illustrating the operation of a fuzzy control model in the energy management method according to the present invention;
FIG. 3 is a schematic diagram of membership functions in the energy management method of the present invention;
FIG. 4 is a second schematic diagram of a membership function in the energy management method according to the present invention;
FIG. 5 is a third diagram of a membership function in the energy management method according to the present invention;
FIG. 6 is a schematic diagram of an energy management device provided by the present invention;
FIG. 7 is a second flowchart of the energy management method provided by the present invention;
FIG. 8 is an interactive schematic diagram of an energy management device provided by the present invention with a target thermal management system, a battery, and target electrical machines;
fig. 9 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of an energy management method provided by the present invention. The energy management method of the present invention is described below in conjunction with fig. 1. As shown in fig. 1, the method includes: step 101, first target data of a battery, second target data of each target motor and third target data of a target thermal management system are obtained.
It should be noted that the working machine according to the embodiment of the present invention includes a plurality of motors, at least two of the motors operate simultaneously, and the motors that operate simultaneously may be the target motors. A battery in the work machine may simultaneously power each of the target motors.
The energy management method provided by the invention can manage the output power of the battery to each target motor under the condition that the battery simultaneously supplies power to each target motor.
The first target data of the battery may be used to describe the state of the battery, for example: the first target data of the battery may include, but is not limited to, a temperature, a remaining capacity, a maximum output power, and the like of the battery. In the embodiment of the present invention, the first target data of the battery is not particularly limited.
The first target data of the battery may be acquired in various ways, such as: the temperature of the battery can be acquired by using a temperature sensor; alternatively, the remaining capacity of the battery or the like may be acquired by the battery management system.
It should be noted that, a Battery Management System (BMS) may adopt a proper algorithm to estimate and monitor an internal state (such as a capacity and a remaining capacity) of a battery of a work machine for external characteristic parameters (such as a voltage, a current, a temperature, and the like) of the battery, and perform thermal management, battery equalization management, charge and discharge management, fault alarm, and the like after correctly acquiring the state of the battery, thereby ensuring safe use of the battery and prolonging the service life of the battery while ensuring safe use of the battery.
The second target data of the target motor can be used to describe the operating state of the target motor, for example: the second target data of the target motor may include, but is not limited to, a temperature of the target motor, power required for the target motor to operate, and the like. The second target data of the target motor is not particularly limited in the embodiment of the present invention.
For each target motor, the second target data of the target motor can be acquired in various ways, such as: the temperature of the target motor can be acquired by using a temperature sensor; or, the power required by the target motor to operate under the working condition can be acquired based on the priori knowledge according to the working condition of the target motor.
It should be noted that the thermal management is a process of adjusting and controlling the temperature or the temperature difference of the management object by using a heating or cooling means according to the requirement of the management object. For example: the battery thermal management can solve the problem of heat dissipation or thermal runaway caused by the fact that the battery works under the condition of overhigh or overlow temperature based on the optimal charging and discharging temperature interval of the battery by combining the electrochemical characteristics and the heat generation mechanism of the battery according to the influence of the temperature on the performance of the battery, thereby improving the overall performance of the battery.
The target heat management system in the embodiment of the invention can be used for carrying out heat management on the battery and each target motor in the working machine.
Optionally, the target thermal management system may further include a first target thermal management subsystem and a second target thermal management subsystem. The first target thermal management subsystem may thermally manage a battery system including a battery; the second target thermal management subsystem may thermally manage an electric drive system including each target electric machine.
The third target data for the target thermal management system may be used for the operational state of the target thermal management system, such as: the third target data for the target thermal management system may include, but is not limited to, input power required by the target thermal management system, output power of the battery to the target thermal management system, and the like. The third target data of the target thermal management system in the embodiment of the present invention is not particularly limited.
The third target data for the target thermal management system may be obtained in a number of ways, such as: the input power required by the target thermal management system may be obtained based on a priori knowledge.
102, acquiring first output power of a battery to a target thermal management system based on a target calculation model according to the first target data, the second target data and the third target data; and the target heat management system is used for carrying out heat management on the battery and each target motor.
Based on the first target data of the battery, the second target data of each target motor and the third target data of the target heat management system, according to a pre-constructed target calculation model, the first output power of the battery to the target heat management system can be obtained.
Alternatively, the target calculation model may be a calculation model that is constructed in advance based on a predetermined fuzzy control strategy, pre-acquired prior knowledge, deep learning, or the like. The target calculation model is not particularly limited in the embodiment of the present invention.
And 103, acquiring second output power of the battery to each target motor based on the first target data, each second target data and the first output power, and controlling the battery to supply power to each target motor based on each second output power.
Specifically, based on the first target data of the battery, the second target data of each target motor, and the first output power, the second output power of the battery for each target motor may be obtained through methods such as numerical calculation, mathematical statistics, and the like.
After the second output power of the battery to each target motor is obtained, the battery may be controlled to supply power to each target motor based on each second output power.
According to the embodiment of the invention, after the first output power of the battery to the target heat management system is obtained based on the pre-constructed target calculation model according to the first target data of the battery, the second target data of each target motor and the third target data of the target heat management system, the second output power of the battery to each target motor is obtained based on the first output power, the first target data and the second target data, and the power supply of the battery to each target motor is controlled based on each second output power.
Based on the content of the foregoing embodiments, the first target data includes: temperature and remaining capacity of the battery; second target data comprising: the temperature of the target motor and the required first input power; third target data including a second input power required by the target thermal management system.
The first target data of the battery may include a temperature T of the batteryBAnd remaining capacity SOCH。
The number of target motors may be represented by i, i being a positive integer greater than zero and the maximum value of i being greater than or equal to 2. The second target data of the ith target motor may include a temperature of the target motor
Figure BDA0003330555100000081
And a required first input power
Figure BDA0003330555100000082
The third target data of the target thermal management system may comprise a second input power P required by the target thermal management systemH_MAX。
Optionally, the third target data for the target thermal management system may further include an input power P required by the first target thermal management subsystemTM_MAXAnd input power P required by the second target thermal management subsystemL_MAX. Wherein, PTM_MAXAnd PL_MAXThe sum equals the second input power P required by the target thermal management systemH_MAX。
Alternatively, it may be based on the temperature T of the batteryBObtaining an input power P required by the first target thermal management subsystemTM_MAX。
In particular, the temperature T based on the batteryBThe input power P required by the first target thermal management subsystem may be obtained based on the first computational modelTM_MAX。
A certain battery in a normal operating state may be used as a sample battery, and a thermal management system for thermally managing the sample battery may be used as a first sample thermal management system. Different temperatures of the sample battery are obtained as sample data, and input power required by the first sample thermal management system when the sample battery is at each temperature is obtained as a corresponding label. Based on the sample data and the corresponding label, a fitting function representing a correspondence between the sample battery temperature and the input power required by the first sample thermal management system may be obtained. Based on the fitting function described above, a first computational model may be constructed.
Obtaining the temperature of a batteryTBThereafter, T may be adjustedBInputting the first calculation model, and obtaining the input power P required by the first target heat management subsystem and output by the first calculation modelTM_MAX。
Alternatively, the temperature of each target motor may be used as a basis
Figure BDA0003330555100000091
Obtaining an input power P required by a second target thermal management subsystemL_MAX。
Specifically, the temperature of each target motor is acquired
Figure BDA0003330555100000092
Thereafter, the highest temperature T among the temperatures of the respective target motors may be determinedMAnd can be based on the above maximum temperature TMObtaining the input power P required by the second target heat management subsystem based on the second calculation modelL_MAX。
A certain motor in a normal operating state may be used as a sample motor, and a thermal management system for thermally managing the sample motor may be used as a second sample thermal management system. And obtaining different temperatures of the sample motor as sample data, and obtaining input power required by the second sample thermal management system when the sample motor is at each temperature as a corresponding label. Based on the sample data and the corresponding label, a fitting function representing a correspondence between the sample motor temperature and the input power required by the second sample thermal management system may be obtained. Based on the fitting function described above, a second computational model may be constructed.
The maximum temperature T is measuredMAnd inputting the second calculation model, and obtaining input power required by the second target heat management subsystem for carrying out heat management on each target motor, wherein the input power is output by the second calculation model. Based on the number i of target motors, the input power P required by the second target thermal management subsystem may be obtainedL_MAX。
According to the temperature T of the batteryBAnd remaining capacity SOCHAnd the temperature of each target motor
Figure BDA0003330555100000101
And a required first input power
Figure BDA0003330555100000102
The output power P of the battery to the target thermal management system can be obtained based on the target calculation modelH。
Correspondingly, obtaining a first output power of the battery to the target thermal management system based on the target calculation model according to the first target data, the second target data and the third target data specifically includes: and acquiring a first temperature difference corresponding to the battery based on the temperature of the battery, and acquiring a second temperature difference corresponding to each target motor based on the temperature of each target motor.
Temperature T based on batteryBAccording to a predetermined operating temperature range of the battery
Figure BDA0003330555100000103
The corresponding first temperature difference delta T of the battery can be obtainedBThe specific calculation formula is as follows:
Figure BDA0003330555100000104
if the temperature of the battery is lower than the operating temperature range, the battery may have insufficient endurance; if the temperature of the battery is higher than the above-described operating temperature range, the battery may be damaged due to overheating. Under the condition that the temperature of the battery is within the working temperature range of the battery, the normal work of the battery can be ensured. The operating temperature interval of the battery may be determined based on a priori knowledge.
It should be noted that the first temperature difference Δ T corresponding to the battery is obtainedBThereafter, it may be determined that the temperature differential corresponding to the battery system including the battery in the work machine is Δ TB。
Based on the above maximum temperature TMAccording to the predetermined working temperature interval of each target motor
Figure BDA0003330555100000105
The second temperature difference delta T corresponding to each target motor can be obtainedMThe specific calculation formula is as follows:
Figure BDA0003330555100000106
it should be noted that, for each target motor, if the temperature of the target motor is lower than the operating temperature range, the operating performance of the target motor may be affected; if the temperature of the target motor is higher than the operating temperature range, the target motor may be damaged due to overheating. Under the condition that the temperature of the target motor is within the working temperature interval of each target motor, the normal work of the target motor can be ensured. The operating temperature interval of each target motor can be determined according to prior knowledge.
It should be noted that the corresponding second temperature difference Δ T of each target motor is obtainedMThereafter, it may be determined that the temperature difference corresponding to the electric drive system of the work machine including each of the target motors is Δ TB。
And inputting the first temperature difference, the second temperature difference, the residual capacity of the battery and the sum of the first input powers into the target calculation model to obtain an input power coefficient output by the target calculation model.
Specifically, a first temperature difference Δ T corresponding to the battery is obtainedBA second temperature difference delta T corresponding to each target motorMAnd the sum P of the first input powers required by the target motorsMAfter that, Δ T may be adjustedB、ΔTM、PMAnd the remaining capacity SOC of the batteryHInputting the target calculation model, and obtaining the input power coefficient K corresponding to the target thermal management system output by the target calculation modelH。
And acquiring first output power based on the input power coefficient and the second input power.
After obtaining the input power coefficient corresponding to the target thermal management system, the input power coefficient K may be obtained based on the input power coefficientHAnd a second input power P required by the target thermal management systemH_MAXBy numerical calculation, numberThe first output power P of the battery to the target heat management system can be obtained in a mode of physical statistics and the likeH。
According to the embodiment of the invention, the input power coefficient corresponding to the target thermal management system is obtained by inputting the first temperature difference corresponding to the battery obtained based on the temperature of the battery, the second temperature difference corresponding to each target motor obtained based on the temperature of each target motor, the sum of the first input power required by each target motor and the residual capacity of the battery into the target calculation model, and the first output power of the battery to the target thermal management system is obtained based on the input power coefficient and the second input power required by the target thermal management system.
Based on the content of each embodiment, obtaining the second output power of the battery for each target motor based on the first target data, each second target data, and the output power of the battery for the target thermal management system specifically includes: and acquiring the maximum output power of the battery based on the residual capacity of the battery.
Specifically, based on the remaining capacity SOC of the batteryHThe maximum output power P of the battery can be obtained in various waysT。
For example: remaining capacity SOC based on batteryHThe maximum output power P of the battery can be obtained through numerical calculation, mathematical statistics and other modesT。
As another example, based on the remaining capacity SOC of the batteryHThe maximum output power P of the battery can be obtained according to a third calculation model obtained in advanceT. Specifically, a certain battery in a normal operating state may be used as a sample battery, different remaining power amounts of the sample battery are obtained as sample data, and the maximum output power of the sample battery at each remaining power amount is obtained as a corresponding tag. Based on the sample data of the sample battery and the corresponding label, a fitting function representing the corresponding relation between the residual capacity of the sample battery and the maximum output power of the sample battery can be obtained. Based onThe fitting function may construct a third computational model. After the remaining power of the battery is obtained, the remaining power may be input into a third calculation model, and the maximum output power of the battery output by the third calculation model is obtained.
Under the condition that the maximum output power of the battery is greater than or equal to the sum of the first output power and the first input powers, regarding the first input power required by each target motor as the second output power of the battery for each target motor; and under the condition that the maximum output power of the battery is smaller than the sum of the first output power and the first input powers, acquiring second output power of the battery for each target motor based on the first input powers, the first output power and the maximum output power of the battery.
Specifically, the maximum output power P of the battery is obtainedTThereafter, P can be comparedTAnd PH、PMThe magnitude of the sum.
If judged to acquire PT≥PH+PMIt may be said that the remaining amount of battery is sufficient to power the target thermal management system and each target motor. For the ith target motor, the first input power required by the target motor can be adjusted
Figure BDA0003330555100000121
As a second output power P of the battery to the target motori。
If judged to acquire PT＜PH+PMThen, it can be said that the remaining capacity of the battery is insufficient to supply power to the target thermal management system and each target motor, and the output power of the battery to each target motor needs to be reduced. Based on the first input power required by each target motor
Figure BDA0003330555100000122
Maximum output power P of batteryTAnd a first output power PHThe second output power of the battery to each target motor may be acquired.
In particular, the maximum output power P based on the batteryTAnd a first output powerPHThe output power P 'that the battery can actually supply to each target motor can be obtained'MThe specific calculation formula is as follows:
P′M＝PT-PH。
according to the first input power required by each target motor
Figure BDA0003330555100000131
For the ith target motor, the first input power required by the target motor can be acquired
Figure BDA0003330555100000132
Takes the sum P of the first input powersMIs ofi。
Based on the first input power required by the target motor
Figure BDA0003330555100000133
Takes the sum P of the first input powersMIs ofiAnd output power P 'that the battery can actually supply to each target motor'MThe second output power P of the battery to the ith target motor can be obtainediThe specific calculation formula is as follows:
Pi＝ηi×P′M。
note that, the remaining capacity SOC of the batteryHSufficient to power the target thermal management system and each target electric machine, the battery may actually provide an output power P 'to each target electric machine'MIs equal to PM。
The embodiment of the invention can more accurately and simply manage the output power of the battery to each motor under the condition that the battery simultaneously supplies power to a plurality of motors by taking the first input power required by each target motor as the second output power of the battery to each target motor under the condition that the maximum output power of the battery is larger than or equal to the sum of the first output power and each first input power, and acquiring the second output power of the battery to each target motor based on each first input power, the maximum output power of the battery and the first output power under the condition that the maximum output power of the battery is smaller than the sum of the first output power and each first input power.
Based on the content of the foregoing embodiments, after obtaining the second output power of the battery for each target motor based on the first target data, the second target data, and the first output power, the method further includes: and acquiring the residual capacity of the battery at the next moment based on the residual capacity of the battery at the current moment and the second output power of the battery to each target motor at the current moment.
Specifically, with the battery management system, the energy E of the battery at the present time can be acquiredtEnergy E of the battery in the case of full chargeBAnd the output power P of the battery to other electric equipment in the working machine at the current momentO。
Energy E based on the current time of the batterytAnd the output power P 'which can be actually provided to each target motor at the current moment of the battery'MOutput power P of battery to target thermal management systemHAnd the output power P of the battery to other electric equipment in the working machine at the current momentOThe energy E of the battery at the next moment can be obtained through numerical calculationt+1The specific calculation formula is as follows:
Figure BDA0003330555100000141
the sum of the second output power of each target battery at the current time of the battery is the output power P 'that can be actually provided to each target motor at the current time of the battery'M。
Energy E based on the next moment of the batteryt+1Energy E of the battery in the case of full chargeBAnd the remaining capacity SOC of the battery at the current momentHThe remaining power SOC 'of the next moment of the battery can be obtained through numerical calculation'HThe specific calculation formula is as follows:
Figure BDA0003330555100000142
optionally, the remaining power SOC 'of the next moment of the battery is obtained'HThereafter, SOC 'may be'HAs a data basis for energy management at the next moment.
According to the embodiment of the invention, the residual capacity of the battery at the next moment can be more accurately obtained by the second output power of each target motor and the residual capacity of the battery at the current moment based on the current moment of the battery, and a data basis can be provided for managing the output power of the battery to each target motor at the next moment.
Based on the content of the above embodiments, the target calculation model is a fuzzy control model.
Fuzzy control is an intelligent control method based on fuzzy set theory, fuzzy linguistic variables and fuzzy logic reasoning. The fuzzy control adopts a language type control rule, and an accurate mathematical model of a controlled object is not required to be established in the design based on predetermined prior knowledge, so that the control mechanism and the strategy are easy to accept and understand, the design is simple, the application is convenient, the robustness is strong, the influence of interference and parameter change on the control effect is greatly weakened, and the method is particularly suitable for the control of a nonlinear, time-varying and pure hysteresis system.
FIG. 2 is a flowchart illustrating the operation of the fuzzy control model in the energy management method according to the present invention. As shown in FIG. 2, let Δ TB、ΔTM、PMAnd SOCHAfter the fuzzy control model is input, the fuzzy control model can normalize the parameters, and the variation range is controlled to be [0,1]And setting a target membership function to perform fuzzification processing on each normalized parameter.
It should be noted that a membership function (also called membership function or fuzzy metafunction) is a mathematical tool for characterizing a fuzzy set, and may represent the "true degree" of an element belonging to a fuzzy set. The membership function may include: dual S-type membership functions, joint gaussian membership functions, generalized bell-shaped membership functions, etc. The objective membership function in the embodiment of the present invention is not particularly limited. Preferably, the target membership function may be a gaussian-type membership function.
After the normalized parameters are fuzzified, the fuzzy control model can output an operation result after the fuzzy control model is deblurred according to a predetermined fuzzy strategy, wherein the operation result is an input power coefficient corresponding to the target heat management system.
It should be noted that the input power coefficient corresponding to the target thermal management system output by the fuzzy control model may include a first input power coefficient K corresponding to the first target thermal management subsystemTMA second input power coefficient K corresponding to a second target thermal management subsystemL。
The inputs and outputs of the fuzzy control model and the corresponding fuzzy subsets are shown in the table below.
TABLE 1 input and output lists for fuzzy control model
Figure BDA0003330555100000151
Wherein LE represents small, ME represents large, NG represents large, NM represents medium, NL represents small, ML represents medium, and MB represents medium. FIG. 3 is a schematic diagram of membership functions in the energy management method according to the present invention. FIG. 4 is a second schematic diagram of the membership function in the energy management method according to the present invention. FIG. 5 is a third schematic diagram of a membership function in the energy management method according to the present invention. SOC in the case of a Gaussian membership functionHCorresponding fuzzy subset and SOCHThe corresponding relationship with the degree of membership is shown in FIG. 3; pMCorresponding fuzzy subset and PMThe correspondence with the degree of membership is shown in FIG. 4; kTMCorresponding fuzzy subset and KTMThe correspondence with the degree of membership is shown in fig. 5.
Input power P required by thermal management subsystem based on first targetTM_MAXA first input power coefficient K corresponding to a first target thermal management subsystemTMThe battery to first target thermal management subsystem may be obtainedOutput power P ofTMThe specific calculation formula is as follows:
PTM＝PTM_MAX×KTM。
input power P required by thermal management subsystem based on second targetL_MAXA second input power coefficient K corresponding to a second target thermal management subsystemLThe output power P of the battery to the second target thermal management subsystem can be obtainedLThe specific calculation formula is as follows:
PL＝PL_MAX×KL。
output power P of battery to first target thermal management subsystemTMOutput power P of the second target thermal management subsystem with the batteryLThe sum is the first output power P of the battery to the target heat management systemHThe specific calculation formula is as follows:
PH＝PL+PTM。
according to the embodiment of the invention, the input power coefficient corresponding to the target thermal management system is obtained by inputting the first temperature difference corresponding to the battery, the second temperature difference corresponding to each target motor, the sum of the first input power required by each target motor and the residual electric quantity of the battery into the fuzzy control model, and the first output power of the battery to the target thermal management system is obtained based on the second input power required by the target thermal management system and the input power coefficient corresponding to the target thermal management system.
Fig. 6 is a schematic structural diagram of an energy management device provided by the present invention. The energy management device provided by the present invention is described below with reference to fig. 6, and the energy management device described below and the energy management method provided by the present invention described above may be referred to correspondingly. As shown in fig. 6, the apparatus includes: a data acquisition module 601, a model calculation module 602, and an energy management module 603.
The data acquisition module 601 is configured to acquire first target data of the battery, second target data of each target motor, and third target data of the target thermal management system.
And the model calculation module 602 is configured to obtain, according to the first target data, each of the second target data and the third target data, a first output power of the battery to the target thermal management system based on the target calculation model.
The energy management module 603 is configured to obtain second output power of the battery for each target motor based on the first target data, each second target data, and the first output power, and control the battery to supply power to each target motor based on each second output power; and the target heat management system is used for carrying out heat management on the battery and each target motor.
Specifically, the data acquisition module 601, the model calculation module 602, and the energy management module 603 are electrically connected.
The data acquisition module 601 may acquire the first target data of the battery in various ways, such as: the temperature of the battery can be acquired by using a temperature sensor; alternatively, the remaining capacity of the battery or the like may be acquired by the battery management system.
For each target motor, the data obtaining module 601 may further obtain second target data of the target motor through various manners, such as: the temperature of the target motor can be acquired by using a temperature sensor; or, the power required by the target motor to operate under the working condition can be acquired based on the priori knowledge according to the working condition of the target motor.
The data obtaining module 601 may obtain the third target data of the target thermal management system in various ways, such as: the input power required by the target thermal management system may be obtained based on a priori knowledge.
The model calculation module 602 may obtain the third target data of the target thermal management system in a variety of ways, such as: the input power required by the target thermal management system may be obtained based on a priori knowledge.
Alternatively, the target calculation model may be a calculation model that is constructed in advance based on a predetermined fuzzy control strategy, pre-acquired prior knowledge, deep learning, or the like. The target calculation model is not particularly limited in the embodiment of the present invention.
The energy management module 603 may obtain the second output power of the battery for each target motor through methods such as numerical calculation and mathematical statistics based on the first target data of the battery, the second target data of each target motor, and the first output power. After the second output power of the battery to each target motor is obtained, the battery may be controlled to supply power to each target motor based on each second output power.
Optionally, the model calculation module 602 may be specifically configured to obtain a first temperature difference corresponding to the battery based on the temperature of the battery, and obtain a second temperature difference corresponding to each target motor based on the temperature of each target motor;
inputting the first temperature difference, the second temperature difference, the residual capacity of the battery and the sum of the first input powers into a target calculation model, and acquiring an input power coefficient output by the target calculation model; and acquiring first output power based on the input power coefficient and the second input power.
Optionally, the energy management module 603 may be specifically configured to obtain the maximum output power of the battery based on the remaining capacity of the battery; under the condition that the maximum output power of the battery is greater than or equal to the sum of the first output power and the first input powers, regarding the first input power required by each target motor as the second output power of the battery for each target motor; and under the condition that the maximum output power of the battery is smaller than the sum of the first output power and the first input powers, acquiring second output power of the battery for each target motor based on the first input powers, the first output power and the maximum output power of the battery.
Optionally, the energy management device may further include a charge estimation module.
And the electric quantity estimation module can be used for acquiring the residual electric quantity of the battery at the next moment based on the residual electric quantity of the battery at the current moment and the second output power of the battery to each target motor at the current moment.
According to the embodiment of the invention, after the first output power of the battery to the target heat management system is obtained based on the pre-constructed target calculation model according to the first target data of the battery, the second target data of each target motor and the third target data of the target heat management system, the second output power of the battery to each target motor is obtained based on the first output power, the first target data and the second target data, and the power supply of the battery to each target motor is controlled based on each second output power.
In order to facilitate understanding of the energy management method provided by the present invention, the energy management method provided by the present invention is described below by an example in which the working machine includes two motors and the two motors operate simultaneously, and the two motors are respectively the target motor 1 and the target motor 2, and the battery simultaneously supplies power to the target motor 1 and the target motor 2.
Fig. 7 is a second flowchart of the energy management method provided by the present invention. FIG. 8 is an interaction diagram of an energy management device provided by the present invention with a battery, a target thermal management system, and target motors. As shown in fig. 7 and 8, the temperature T of the battery is acquiredBAnd remaining capacity SOCHTemperature of target motor 1
Figure BDA0003330555100000196
And a required first input power
Figure BDA0003330555100000191
Temperature of target motor 2
Figure BDA0003330555100000192
And a required first input power
Figure BDA0003330555100000193
Input power P required by the first target thermal management subsystemTM_MAXAnd a second targetInput power P required by thermal management subsystemL_MAXThen, a first temperature difference Δ T corresponding to the battery can be obtainedBSecond temperature difference Δ T corresponding to each target motorM。
Will be Delta TB、ΔTM、SOCHAnd PM(
Figure BDA0003330555100000194
And
Figure BDA0003330555100000195
sum) is input into a fuzzy control model established according to prior knowledge, and a first input power coefficient K corresponding to a first target heat management subsystem can be obtainedTMA second input power coefficient K corresponding to a second target thermal management subsystemLBased on KTM、KL、PTM_MAXAnd PL_MAXA first output power P of the battery to the target thermal management system may be obtainedH。
Temperature T based on batteryBThe maximum output power P of the battery can be obtainedT. Based on PT、PHAnd PMThe output power P 'which can be actually provided to each target motor by the battery can be obtained'M。
According to P'MWhether or not greater than PHAnd PMIn sum, the second output power P of the battery to the target motor 1 can be obtained in different ways1And the output power P of the battery to the target motor 22。
Second output power P to the target motor 1 based on the battery1Second output power P of target motor 22And remaining capacity SOC of batteryHThe remaining battery capacity SOC 'at the next moment of the battery can be obtained'H。
Based on the content of the above embodiments, the working machine includes the energy management device.
An embodiment of the present invention provides a working machine including the energy management device, which can more accurately and simply manage the output power of each motor from a battery under the condition that the battery simultaneously supplies power to a plurality of motors.
The structure and specific work flow of the energy management device can be referred to the contents of the above embodiments, and are not described herein again.
According to the embodiment of the invention, after the first output power of the battery to the target heat management system is obtained based on the pre-constructed target calculation model according to the first target data of the battery, the second target data of each target motor and the third target data of the target heat management system, the second output power of the battery to each target motor is obtained based on the first output power, the first target data and the second target data, and the power supply of the battery to each target motor is controlled based on each second output power.
Fig. 9 illustrates a physical structure diagram of an electronic device, and as shown in fig. 9, the electronic device may include: a processor (processor)910, a communication Interface (Communications Interface)920, a memory (memory)930, and a communication bus 940, wherein the processor 910, the communication Interface 920, and the memory 930 communicate with each other via the communication bus 940. Processor 910 may invoke logic instructions in memory 930 to perform an energy management method comprising: acquiring first target data of a battery, second target data of each target motor and third target data of a target thermal management system; according to the first target data, the second target data and the third target data, acquiring first output power of the battery to the target heat management system based on the target calculation model; acquiring second output power of the battery to each target motor based on the first target data, each second target data and the first output power, and controlling the battery to supply power to each target motor based on each second output power; and the target heat management system is used for carrying out heat management on the battery and each target motor.
Furthermore, the logic instructions in the memory 930 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being storable on a non-transitory computer-readable storage medium, the computer program, when executed by a processor, being capable of executing the method of energy management provided by the above methods, the method comprising: acquiring first target data of a battery, second target data of each target motor and third target data of a target thermal management system; according to the first target data, the second target data and the third target data, acquiring first output power of the battery to the target heat management system based on the target calculation model; acquiring second output power of the battery to each target motor based on the first target data, each second target data and the first output power, and controlling the battery to supply power to each target motor based on each second output power; and the target heat management system is used for carrying out heat management on the battery and each target motor.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of energy management provided by the above methods, the method comprising: acquiring first target data of a battery, second target data of each target motor and third target data of a target thermal management system; according to the first target data, the second target data and the third target data, acquiring first output power of the battery to the target heat management system based on the target calculation model; acquiring second output power of the battery to each target motor based on the first target data, each second target data and the first output power, and controlling the battery to supply power to each target motor based on each second output power; and the target heat management system is used for carrying out heat management on the battery and each target motor.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A method of energy management, comprising:
acquiring first target data of a battery, second target data of each target motor and third target data of a target thermal management system;
according to the first target data, the second target data and the third target data, acquiring first output power of the battery to the target thermal management system based on a target calculation model;
acquiring second output power of the battery to each target motor based on the first target data, each second target data and the first output power, and controlling the battery to supply power to each target motor based on each second output power;
the target heat management system is used for carrying out heat management on the battery and each target motor.
2. The energy management method of claim 1, wherein the first target data comprises: the temperature and remaining charge of the battery; the second target data includes: the temperature and the required first input power of the target motor; the third target data includes a second input power required by the target thermal management system.
3. The energy management method according to claim 2, wherein obtaining a first output power of the battery to the target thermal management system based on a target calculation model according to the first target data, each of the second target data and the third target data specifically comprises:
acquiring a first temperature difference corresponding to the battery based on the temperature of the battery, and acquiring a second temperature difference corresponding to each target motor based on the temperature of each target motor;
inputting the first temperature difference, the second temperature difference, the residual capacity of the battery and the sum of the first input powers into the target calculation model to obtain an input power coefficient output by the target calculation model;
and acquiring the first output power based on the input power coefficient and the second input power.
4. The energy management method according to claim 3, wherein obtaining the second output power of the battery for each target motor based on the first target data, the second target data, and the first output power specifically comprises:
acquiring the maximum output power of the battery based on the residual capacity of the battery;
in the case that the maximum output power of the battery is greater than or equal to the sum of the first output power and the first input powers, regarding the first input power required by each target motor as the second output power of the battery to each target motor for each target motor; and acquiring second output power of the battery for each target motor based on each first input power, the first output power and the maximum output power of the battery when the maximum output power of the battery is less than the sum of the first output power and each first input power.
5. The energy management method according to claim 3, wherein after acquiring the second output power of the battery to each of the target motors based on the first target data, the second target data, and the first output power, the method further comprises:
and acquiring the remaining capacity of the battery at the next moment based on the remaining capacity of the battery at the current moment and the second output power of the battery to each target motor at the current moment.
6. An energy management device, comprising:
the data acquisition module is used for acquiring first target data of the battery, second target data of each target motor and third target data of the target heat management system;
the model calculation module is used for acquiring first output power of the battery to the target heat management system based on a target calculation model according to the first target data, the second target data and the third target data;
the energy management module is used for acquiring second output power of the battery to each target motor based on the first target data, each second target data and the first output power, and controlling the battery to supply power to each target motor based on each second output power;
the target heat management system is used for carrying out heat management on the battery and each target motor.
7. A work machine, comprising: the energy management device of claim 6.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the energy management method according to any of claims 1 to 5 are implemented when the processor executes the program.
9. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, performs the steps of the energy management method according to any of claims 1 to 5.
10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the energy management method according to any of claims 1 to 5 when executed by a processor.
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