CN114013336B - 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
CN114013336B
CN114013336B CN202111278845.3A CN202111278845A CN114013336B CN 114013336 B CN114013336 B CN 114013336B CN 202111278845 A CN202111278845 A CN 202111278845A CN 114013336 B CN114013336 B CN 114013336B
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target
battery
output power
target data
motor
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CN114013336A (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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Secondary Cells (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

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 acquired; acquiring first output power of the battery to the target thermal management system based on the target calculation model according to the first target data, each second target data and the third target data; and acquiring second output power of the battery to each target motor based on the first target data, the 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 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 to a plurality of motors at the same time, ensure the normal operation of the battery, simultaneously supply power to 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 present invention relates to the field of engineering machinery technologies, and in particular, to an energy management method and apparatus, and an operating machine.
Background
With the increasingly serious energy crisis and environmental problems, the battery is taken as a power source to be an important development direction of the working machinery.
The 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 motor and can be powered by the battery. Through the management of 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 battery energy consumption can be reduced, and the operation economy of the operation machinery is improved.
In the prior art, in the case where only one motor is included in the work machine, the output power of the battery to the motor may be managed in various ways. However, in the case where a plurality of motors are included in the work machine and the plurality of motors are operated simultaneously, the battery supplies power to the plurality of motors simultaneously, whereas in the related art, in the case where the battery supplies power to the plurality of motors simultaneously, it is difficult to manage the output power of each motor by the battery.
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 simultaneously in the prior art, and realizing the management of the output power of the battery to each motor under the condition that the battery supplies power to the plurality of motors simultaneously.
The invention provides an energy management method, comprising 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;
acquiring 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 second target data and the third target data;
acquiring second output power of the battery to each target motor based on the first target data, the 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 performing heat management on the battery and each target motor.
According to the energy management method provided by the invention, the first target data comprises the following steps: the temperature and the residual capacity of the battery; the second target data includes: the temperature of the target motor and the required first input power; the third target data includes a second input power required by the target thermal management system;
Correspondingly, the obtaining, based on a target calculation model, the first output power of the battery to the target thermal management system 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, and obtaining 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 the energy management method provided by the invention, the second output power of the battery to each target motor is obtained based on the first target data, each second target data and the first output power, and the method specifically comprises the following steps:
obtaining the maximum output power of the battery based on the residual electric quantity of the battery;
when the maximum output power of the battery is greater than or equal to the sum of the first output power and the first input power, for each target motor, the first input power required by each target motor is used as the second output power of the battery for each target motor; and when the maximum output power of the battery is smaller than the sum of the first output power and the first input power, acquiring second output power of the battery to each target motor based on the first input power, the first output power and the maximum output power of the battery.
According to the energy management method provided by the invention, after obtaining the 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 comprises:
and 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.
The present invention also provides an energy management device including:
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 thermal management system;
the model calculation module is used for acquiring the 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 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, the 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 performing heat management on the battery and each target motor.
The present invention also provides a work machine comprising: the energy management device as described above.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the energy management method as described in any of the above when the program is executed.
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 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, implements the steps of the energy management method as described in any of the above.
According to the energy management method, the energy management device and the working machine, the first output power of the battery to the target thermal management system is obtained 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 thermal management system, and then 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 after the first output power of the battery to the target thermal management system is obtained based on a pre-built target calculation model, and the battery is controlled to supply power to each target motor based on each second output power.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is one of the flow diagrams of the energy management method provided by the present invention;
FIG. 2 is a flow chart of the fuzzy control model in the energy management method provided by the invention;
FIG. 3 is a schematic diagram of membership functions in an energy management method provided by the present invention;
FIG. 4 is a second diagram of membership functions in the energy management method provided by the present invention;
FIG. 5 is a third diagram illustrating membership functions in an 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 flow chart of the energy management method according to the present invention;
FIG. 8 is a schematic diagram of the interaction of the energy management device provided by the present invention with a target thermal management system, a battery, and target motors;
Fig. 9 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the 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, acquiring first target data of a battery, second target data of each target motor and third target data of a target thermal management system.
The working machine according to the embodiment of the present invention includes a plurality of motors, and at least two motors are operated simultaneously, and the motors operated simultaneously may be used as target motors. The battery in the work machine may simultaneously power 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 supplies power to each target motor at the same time.
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 of the battery, a remaining charge, a maximum output power, and the like. 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 a variety of ways, for example: the temperature of the battery can be obtained by using a temperature sensor; alternatively, the remaining power of the battery or the like may be acquired using a battery management system.
It should be noted that, the battery management system (battery management system, BMS) may estimate and monitor the internal state (such as capacity and remaining capacity) of the battery by using a proper algorithm for the external characteristic parameters (such as voltage, current and temperature) of the battery of the working machine, and perform thermal management, battery equalization management, charge and discharge management, fault alarm, etc. after correctly acquiring the state of the battery, so as to ensure safe use of the battery and prolong the service life of the battery while ensuring safe use of the battery.
The second target data of the target motor may be used to describe an operating state of the target motor, for example: the second target data for the target motor may include, but is not limited to, a temperature of the target motor, a power required for the target motor to operate, and the like. The second target data of the target motor in the embodiment of the present invention is not particularly limited.
For each target motor, the second target data for that target motor may be acquired in a variety of ways, such as: the temperature of the target motor can be obtained by using a temperature sensor; alternatively, the power required by the target motor to operate under the working conditions can be obtained based on priori knowledge according to the working conditions of the target motor.
The thermal management is a process of adjusting and controlling the temperature or the temperature difference of the management object by 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 operation of the battery under the condition of too high or too low temperature based on the optimal charge-discharge temperature interval of the battery according to the influence of the temperature on the battery performance and combining the electrochemical characteristics and the heat generation mechanism of the battery, thereby improving the overall performance of the battery.
The target thermal management system in the embodiment of the invention can be used for carrying out thermal management on the battery and each target motor in the working machine.
Optionally, the target thermal management system may further comprise 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 motor.
The third target data of the target thermal management system may be used for an 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, the input power required by the target thermal management system, the 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 variety 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 first target data, second target data and third target data; the target heat management system is used for performing 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 thermal management system, the first output power of the battery to the target thermal management system can be obtained according to a pre-constructed target calculation model.
Alternatively, the target calculation model may be a calculation model built in advance based on a predetermined fuzzy control strategy, a priori knowledge acquired in advance, or deep learning, or the like. The target calculation model in the embodiment of the invention is not particularly limited.
Step 103, based on the first target data, the second target data and the first output power, obtaining the second output power of the battery to each target motor, 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 can 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 can be controlled to supply power to each target motor based on each second output power.
According to the embodiment of the invention, the first output power of the battery to the target thermal management system is obtained 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 thermal management system, and then 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 after the first output power of the battery to the target thermal management system is obtained based on the pre-built target calculation model.
Based on the content of the above embodiments, the first target data includes: the temperature and the residual 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 the temperature T of the battery B And the remaining capacity SOC H 。
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 equal to or greater than 2. The second target data of the ith target motor may include the temperature of the target motorAnd the required first input power +.>
The third target data of the target thermal management system may include the second input power P required by the target thermal management system H_MAX 。
Optionally, the third target data of the target thermal management system may further include the input power P required by the first target thermal management subsystem TM_MAX And a second target thermal management subsystemRequired input power P L_MAX . Wherein P is TM_MAX And P L_MAX The sum is equal to the second input power P required by the target thermal management system H_MAX 。
Alternatively, the temperature T of the battery may be based on B Acquiring input power P required by a first target thermal management subsystem TM_MAX 。
Specifically, based on the temperature T of the battery B The input power P required by the first target thermal management subsystem can be obtained based on the first calculation model TM_MAX 。
A certain battery in a normal operation 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 tag. Based on the sample data and the corresponding tags, a fitting function may be obtained that represents a correspondence between the sample battery temperature and the input power required by the first sample thermal management system. Based on the fitting function described above, a first computational model may be constructed.
Obtaining the temperature T of the battery B Thereafter, T may be set B Inputting a first calculation model to obtain the input power P required by a first target thermal management subsystem output by the first calculation model TM_MAX 。
Alternatively, it is also possible to base the temperature of each target motorAcquiring the input power P required by the second target thermal management subsystem L_MAX 。
Specifically, the temperature of each target motor is obtainedThereafter, the highest temperature T among the temperatures of the respective target motors can be determined M And can be based on the above-mentioned highest temperature T M Acquiring a second target heat based on a second calculation modelThe input power P required by the management subsystem L_MAx 。
A motor in a normal operation 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 acquiring different temperatures of the sample motor as sample data, and acquiring input power required by the second sample thermal management system when the sample motor is at each temperature as a corresponding tag. Based on the sample data and the corresponding tags, a fitting function may be obtained that represents a correspondence between the sample motor temperature and the input power required by the second sample thermal management system. Based on the fitting function described above, a second computational model may be constructed.
The maximum temperature T is set M And inputting the second calculation model, and obtaining the input power required by the second target heat management subsystem output by the second calculation model for carrying out heat management on each target motor. Based on the number i of target motors, the input power P required by the second target thermal management subsystem can be obtained L_MAX 。
According to the temperature T of the battery B And the remaining capacity SOC H And the temperature of each target motorAnd the required first input power +.>The output power P of the battery to the target thermal management system can be obtained based on the target calculation model H 。
Correspondingly, according to the first target data, each second target data and the third target data, acquiring the first output power of the battery to the target thermal management system based on the target calculation model specifically comprises the following steps: based on the temperature of the battery, a first temperature difference corresponding to the battery is obtained, and based on the temperature of each target motor, a second temperature difference corresponding to each target motor is obtained.
Temperature T based on battery B According to a predetermined working temperature interval of the batteryCan obtain the corresponding first temperature difference delta T of the battery B The specific calculation formula is as follows:
it should be noted that, if the temperature of the battery is lower than the above-mentioned working temperature interval, the battery may have insufficient endurance; if the temperature of the battery is higher than the above-mentioned operation temperature range, the battery may be damaged due to overheating. The temperature of the battery is within the operating temperature range of the battery, and the normal operation 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, obtaining the corresponding first temperature difference Δt of the battery B Then, it can be determined that the temperature difference corresponding to the battery system including the battery in the work machine is Δt B 。
Based on the highest temperature T M According to the predetermined working temperature interval of each target motorThe second temperature difference delta T corresponding to each target motor can be obtained M The specific calculation formula is as follows:
it should be noted that, for each target motor, if the temperature of the target motor is lower than the operating temperature interval, 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. The normal operation of the target motor can be ensured under the condition that the temperature of the target motor is within the operation temperature interval of each target motor. The operating temperature interval of each target motor can be determined according to priori knowledge.
It should be noted thatThe corresponding second temperature difference delta T of each target motor is obtained M Then, the temperature difference corresponding to the electric drive system including each target motor in the working machine can be determined to be delta T B 。
And inputting the first temperature difference, the second temperature difference, the residual electric quantity of the battery and the sum of the first input powers into a target calculation model, and obtaining an input power coefficient output by the target calculation model.
Specifically, a first temperature difference delta T corresponding to the battery is obtained B Second temperature difference delta T corresponding to each target motor M And the sum P of the first input powers required by the respective target motors M After that, deltaT can be set B 、ΔT M 、P M And the remaining capacity SOC of the battery H Inputting the target calculation model, and obtaining the input power coefficient K corresponding to the target thermal management system output by the target calculation model H 。
The first output power is obtained 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 based on H And a second input power P required by the target thermal management system H_MAX The first output power P of the battery to the target thermal management system can be obtained through numerical calculation, mathematical statistics and other modes H 。
According to the embodiment of the invention, 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 electric quantity of the battery are input into the target calculation model to obtain the input power coefficient corresponding to the target thermal management system, 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, so that the output power of the battery to each motor can be managed more accurately under the condition that the battery supplies power to a plurality of motors at the same time, and the process of managing the output power of the battery to each motor is simpler and the robustness is better.
Based on the foregoing embodiments, based on the first target data, the second target data, and the output power of the battery to the target thermal management system, obtaining the second output power of the battery to each target motor specifically includes: the maximum output power of the battery is obtained based on the remaining power of the battery.
Specifically, the SOC based on the remaining capacity of the battery H The maximum output power P of the battery can be obtained in various ways T 。
For example: residual electric quantity SOC based on battery H The maximum output power P of the battery can be obtained by means of numerical calculation, mathematical statistics and the like T 。
Also, for example, the SOC is based on the remaining capacity of the battery H The maximum output power P of the battery can be obtained according to a third calculation model obtained in advance T . Specifically, a certain battery in a normal working state can be used as a sample battery, different residual electric quantities of the sample battery are obtained as sample data, and the maximum output power of the sample battery under each residual electric quantity is obtained as a corresponding tag. Based on the sample data of the sample battery and the corresponding tag, a fitting function representing the correspondence between the remaining capacity of the sample battery and the maximum output power of the sample battery can be obtained. Based on the fitting function described above, a third computational model may be constructed. After the remaining power of the battery is obtained, the remaining power may be input into the third calculation model, and the maximum output power of the battery output by the third calculation model may be obtained.
When the maximum output power of the battery is greater than or equal to the sum of the first output power and the first input power, for each target motor, the first input power required by each target motor is used 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 each first input power, acquiring the 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.
Specifically, the maximum output power P of the battery is obtained T Thereafter, P can be compared T And P H 、P M The sum of the two values.
If judge and learn P T ≥P H +P M It may be stated that the remaining battery power 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 calculatedSecond output power P as battery to the target motor i 。
If judge and learn P T ＜P H +P M It may be stated that the remaining capacity of the battery is insufficient to power the target thermal management system and each target motor, and it is necessary to reduce the output power of the battery to each target motor. Based on the first input power required by each target motor Maximum output power P of battery T And a first output power P H The second output power of the battery for each target motor may be obtained.
Specifically, the maximum output power P based on the battery T And a first output power P H The output power P 'which can be actually provided by the battery to each target motor can be obtained' M The specific calculation formula is as follows:
P′ M ＝P T -P H 。
according to the first input power required by each target motorFor the ith target motor, the first input power required for the target motor can be obtained +.>Sum P of the first input powers M Percentage eta of (2) i 。
Based on the first input power required by the target motorSum P of the first input powers M Percentage eta of (2) i And the output power P 'which the battery can actually supply to each target motor' M Can obtain the second output power P of the battery to the ith target motor i The specific calculation formula is as follows:
P i ＝η i ×P′ M 。
in the remaining capacity SOC of the battery H In the case of sufficient power to power the target thermal management system and each target motor, the battery may actually provide the output power P 'to each target motor' M Equal to P M 。
According to the embodiment of the invention, the first input power required by each target motor is used as the second output power of the battery for 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 the first input power, and the second output power of the battery for each target motor is acquired based on the 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 the first input power, so that the output power of the battery for each motor can be managed more accurately and simply under the condition that the battery supplies power for a plurality of motors at the same time.
Based on the content of the above embodiments, after obtaining the 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 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 at the current moment to each target motor.
Specifically, with the battery management system, the energy E of the current time of the battery can be obtained t Energy E of battery under full power condition B And the output power P of the battery to other electric equipment in the operation machine at the current moment O 。
Energy E based on current time of battery t Output power P 'actually provided to each target motor at the current time of the battery' M Output power P of battery to target thermal management system H And the output power P of the battery to other electric equipment in the working machine at the current moment O The energy E of the next moment of the battery can be obtained through numerical calculation t+1 The specific calculation formula is as follows:
it should be noted that, the sum of the second output powers of the battery at the current time and each target battery is the output power P 'that the battery at the current time can actually provide to each target motor' M 。
Based on energy E of next moment of battery t+1 Energy E of battery under full power condition B Residual electric quantity SOC of battery at current moment H The residual electric quantity SOC 'of the battery at the next moment can be obtained through numerical calculation' H The specific calculation formula is as follows:
optionally, the remaining power SOC 'of the battery at the next moment is obtained' H Thereafter, the SOC 'can be set' H As a data base for energy management at the next time.
According to the embodiment of the invention, the second output power of each target motor at the current moment of the battery and the residual electric quantity at the current moment of the battery can be used for more accurately acquiring the residual electric quantity at the next moment of the battery, and a data basis can be provided for managing the output power of the battery at the next moment and for each target motor.
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 based on a predetermined priori knowledge, an accurate mathematical model of a controlled object is not required to be established in the design, so that the control mechanism and 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 fuzzy control method is particularly suitable for controlling nonlinear, time-varying and pure hysteresis systems.
Fig. 2 is a flowchart of the operation of the fuzzy control model in the energy management method according to the present invention. As shown in fig. 2, deltat is set B 、ΔT M 、P M And SOC (System on chip) H After 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 carry out fuzzification processing on each normalized parameter.
It should be noted that the membership function (membership function), also called a membership function or a fuzzy primitive function, is a mathematical tool for characterizing fuzzy sets, and may represent the "true degree" that an element belongs to a fuzzy set. The membership function may include: double-S type membership functions, joint Gaussian membership functions, generalized bell-shaped membership functions and the like. The target membership function in the embodiment of the invention is not particularly limited. Preferably, the target membership function may be a gaussian membership function.
After the normalized parameters are subjected to fuzzification, the fuzzy control model can be subjected to fuzzification according to a predetermined fuzzy strategy, and then an operation result is output, wherein the operation result is the input power coefficient corresponding to the target thermal 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 subsystem TM A second input power coefficient K corresponding to a second target thermal management subsystem L 。
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 models
Where LE represents small, ME represents large, GE represents large, NG represents large negative, NM represents small negative, NL represents small negative, ML represents medium and small, and MB represents medium and large. FIG. 3 is a schematic diagram of membership functions in an energy management method according to the present invention. FIG. 4 is a second diagram of membership functions in an energy management method according to the present invention. FIG. 5 is a third diagram illustrating membership functions in an energy management method according to the present invention. In the case where the membership function is a Gaussian function, the SOC H Corresponding fuzzy subsets and SOCs H The corresponding relation with the membership is shown in figure 3; p (P) M Corresponding fuzzy subsets and P M The corresponding relation with the membership is shown in figure 4; k (K) TM Corresponding fuzzy subset and K TM The correspondence with membership is shown in FIG. 5.
Based on the input power P required by the first target thermal management subsystem TM_MAX A first input power coefficient K corresponding to the first target thermal management subsystem TM The output power P of the battery to the first target thermal management subsystem can be obtained TM The specific calculation formula is as follows:
P TM ＝PT M_MAX ×K TM 。
based on the input power P required by the second target thermal management subsystem L_MAX A second input power coefficient K corresponding to a second target thermal management subsystem L The output power P of the battery to the second target thermal management subsystem can be obtained L The specific calculation formula is as follows:
P L ＝P L_MAX ×K L 。
output power P of battery to first target thermal management subsystem TM Output power P from battery to second target thermal management subsystem L The sum is the first output power P of the battery to the target thermal management system H The specific calculation formula is as follows:
P H ＝P L +P TM 。
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, so that the output power of the battery to each motor can be managed more accurately under the condition that the battery supplies power for a plurality of motors at the same time, a complex mathematical model is not required to be established, and the process of managing the output power of the battery to each motor is simpler and better in robustness.
Fig. 6 is a schematic structural view of an energy management device provided by the present invention. The energy management apparatus provided by the present invention will be described below with reference to fig. 6, and the energy management apparatus described below and the energy management method provided by the present invention described above may be referred to correspondingly to each other. 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 a battery, second target data of each target motor, and third target data of a target thermal management system.
The model calculation module 602 is configured to obtain, based on the target calculation model, a first output power of the battery to the target thermal management system according to the first target data, each of the second target data, and the third target data.
The energy management module 603 is configured to obtain a second output power of the battery to each target motor based on the first target data, the 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; the target heat management system is used for performing 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 a variety of ways, such as: the temperature of the battery can be obtained by using a temperature sensor; alternatively, the remaining power of the battery or the like may be acquired using a battery management system.
For each target motor, the data acquisition module 601 may also acquire the second target data for that target motor in a variety of ways, such as: the temperature of the target motor can be obtained by using a temperature sensor; alternatively, the power required by the target motor to operate under the working conditions can be obtained based on priori knowledge according to the working conditions of the target motor.
The data acquisition module 601 may also acquire 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.
The model calculation module 602 may obtain the third target data for 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 built in advance based on a predetermined fuzzy control strategy, a priori knowledge acquired in advance, or deep learning, or the like. The target calculation model in the embodiment of the invention is not particularly limited.
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 can be controlled to supply power to each target motor based on each second output power.
Alternatively, 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 electric quantity of the battery and the sum of the first input powers into a target calculation model to obtain an input power coefficient output by the target calculation model; the first output power is obtained based on the input power coefficient and the second input power.
Alternatively, the energy management module 603 may be specifically configured to obtain the maximum output power of the battery based on the remaining power of the battery; when the maximum output power of the battery is greater than or equal to the sum of the first output power and the first input power, for each target motor, the first input power required by each target motor is used 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 each first input power, acquiring the 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.
Optionally, the energy management device may further comprise a power estimation module.
The electric quantity estimation module can be used for obtaining 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 at the current moment to each target motor.
According to the embodiment of the invention, the first output power of the battery to the target thermal management system is obtained 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 thermal management system, and then 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 after the first output power of the battery to the target thermal management system is obtained based on the pre-built target calculation model.
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 way of an example in which the working machine includes two motors and the two motors are operated simultaneously, 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 flow chart of the energy management method according to the present invention. Fig. 8 is a schematic diagram showing interaction of the energy management device, the battery, the target thermal management system and each target motor provided by the invention. As shown in fig. 7 and 8, the temperature T of the battery is obtained B And the remaining capacity SOC H Temperature of target motor 1And the required first input power +.>Temperature +.>And the required first input power +.>Input power P required by first target thermal management subsystem TM_MAX And the input power P required by the second target thermal management subsystem L_MAX Then, the first temperature difference delta T corresponding to the battery can be obtained B Second temperature difference delta T corresponding to each target motor M 。
Will DeltaT B 、ΔT M 、SOC H P M (And->Sum) input a fuzzy control model established according to priori knowledge to obtain a first input power coefficient K corresponding to the first target thermal management subsystem TM A second input power coefficient K corresponding to a second target thermal management subsystem L Based on K TM 、K L 、P TM_MAX And P L_MAX Can obtain the first output power P of the battery to the target thermal management system H 。
Temperature T based on battery B Can obtain the maximum output power P of the battery T . P-based T 、P H And P M The output power P 'which can be provided by the battery to each target motor can be obtained' M 。
According to P' M Whether or not it is greater than P H And P M The second output power P of the battery to the target motor 1 can be obtained by different ways 1 And a second output power P of the battery to the target motor 2 2 。
Second output power P of target motor 1 based on battery 1 Second output power P of target motor 2 2 Residual charge SOC of battery H The residual electric quantity SOC 'of the battery at the next moment can be obtained' H 。
Based on the foregoing of the embodiments, a work machine includes the energy management device described above.
The embodiment of the invention provides a working machine, which comprises the energy management device and can more accurately and simply manage the output power of a battery to each motor under the condition that the battery supplies power to a plurality of motors at the same time.
The structure and specific workflow of the energy management device may be referred to the content of the above embodiments, and will not be described herein.
According to the embodiment of the invention, the first output power of the battery to the target thermal management system is obtained 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 thermal management system, and then 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 after the first output power of the battery to the target thermal management system is obtained based on the pre-built target calculation model.
Fig. 9 illustrates a physical schematic diagram of an electronic device, as shown in fig. 9, which may include: processor 910, communication interface (Communications Interface), memory 930, and communication bus 940, wherein processor 910, communication interface 920, and memory 930 communicate with each other via communication bus 940. The processor 910 may invoke logic instructions in the 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; acquiring first output power of the battery to the target thermal management system based on the target calculation model according to the first target data, each second target data and the third target data; acquiring second output power of the battery to each target motor based on the first target data, the 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 performing heat management on the battery and each target motor.
Further, the logic instructions in the memory 930 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, is capable of performing the energy management method provided by the methods described above, 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; acquiring first output power of the battery to the target thermal management system based on the target calculation model according to the first target data, each second target data and the third target data; acquiring second output power of the battery to each target motor based on the first target data, the 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 performing 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, is implemented to perform the energy management method provided by the methods above, 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; acquiring first output power of the battery to the target thermal management system based on the target calculation model according to the first target data, each second target data and the third target data; acquiring second output power of the battery to each target motor based on the first target data, the 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 performing heat management on the battery and each target motor.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. 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;
acquiring 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 second target data and the third target data;
acquiring second output power of the battery to each target motor based on the first target data, the 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 performing 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 the residual capacity of the battery; the second target data includes: the temperature of the target motor and the required first input power; the third target data includes a second input power required by the target thermal management system.
3. The energy management method of claim 2, wherein obtaining the first output power of the battery to the target thermal management system based on a target calculation model based on 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, and obtaining 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 of claim 3, wherein obtaining the second output power of the battery for each of the target motors based on the first target data, each of the second target data, and the first output power, specifically comprises:
obtaining the maximum output power of the battery based on the residual electric quantity of the battery;
when the maximum output power of the battery is greater than or equal to the sum of the first output power and the first input power, for each target motor, the first input power required by each target motor is used as the second output power of the battery for each target motor; and when the maximum output power of the battery is smaller than the sum of the first output power and the first input power, acquiring second output power of the battery to each target motor based on the first input power, the first output power and the maximum output power of the battery.
5. The energy management method of claim 3, wherein after obtaining the second output power of the battery to each of the target motors based on the first target data, each of the second target data, and the first output power, the method further comprises:
And 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.
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 thermal management system;
the model calculation module is used for acquiring the 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 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, the 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 performing 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 processor implements the steps of the energy management method according to any one of claims 1 to 5 when the program is executed.
9. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the energy management method according to any one of claims 1 to 5.
10. A computer program product comprising a computer program which, when executed by a processor, implements the steps of the energy management method according to any one of claims 1 to 5.
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