WO2018176342A1 - 充电控制方法、系统、充电器、智能电池和可移动平台 - Google Patents

充电控制方法、系统、充电器、智能电池和可移动平台 Download PDF

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Publication number
WO2018176342A1
WO2018176342A1 PCT/CN2017/078872 CN2017078872W WO2018176342A1 WO 2018176342 A1 WO2018176342 A1 WO 2018176342A1 CN 2017078872 W CN2017078872 W CN 2017078872W WO 2018176342 A1 WO2018176342 A1 WO 2018176342A1
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WIPO (PCT)
Prior art keywords
cells
voltage
duty ratio
equalization
battery
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Ceased
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PCT/CN2017/078872
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English (en)
French (fr)
Inventor
郑大阳
王雷
龚如
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to CN201780005219.2A priority Critical patent/CN108513689A/zh
Priority to PCT/CN2017/078872 priority patent/WO2018176342A1/zh
Publication of WO2018176342A1 publication Critical patent/WO2018176342A1/zh
Anticipated expiration legal-status Critical
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/50—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries acting upon multiple batteries simultaneously or sequentially
    • H02J7/52—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries acting upon multiple batteries simultaneously or sequentially for charge balancing, e.g. equalisation of charge between batteries
    • H02J7/54—Passive balancing, e.g. using resistors or parallel MOSFETs
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
    • H01M10/44—Methods for charging or discharging
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/60—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries including safety or protection arrangements
    • H02J7/685—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries including safety or protection arrangements using connection detecting circuits
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

Definitions

  • Embodiments of the present invention relate to the field of battery technologies, and in particular, to a charging control method, system, a charger, a smart battery, and a movable platform.
  • the battery In order to meet the power demand of the power system, the battery is often composed of a series of cells. Each single cell has the highest safe voltage and the lowest safe voltage, which will damage the cell. Due to the imbalance between the cells, the available capacity of the entire battery pack is reduced. Therefore, it is important to balance between multiple strings of cells.
  • One way to do this is to use capacitors, inductors, and DC/DC to transfer electrical energy from the high-voltage cells to the low-voltage cells to achieve voltage balance between the cells.
  • capacitors, inductors, and DC/DC to transfer electrical energy from the high-voltage cells to the low-voltage cells to achieve voltage balance between the cells.
  • the electric energy passes through the high-voltage battery core, and then passes through the capacitor or the inductor or the DC/DC, and then to the low-voltage battery core, the electric energy is converted twice in the middle, thereby causing more energy conversion loss.
  • Embodiments of the present invention provide a charging control method, system, charger, smart battery, and a movable platform for avoiding energy loss caused by energy conversion in a voltage equalization process.
  • an embodiment of the present invention provides a charging control method, including:
  • the battery includes N cells, and detecting a voltage of each of the N cells, the N being an integer greater than 1;
  • the M cells are subjected to a discharge process.
  • an embodiment of the present invention provides a charging control system, including: a charging circuit, an equalization control circuit, and a battery; the battery is electrically connected to the charging circuit and the equalization control circuit, respectively;
  • the charging circuit is configured to charge the battery, the battery includes N cells; the N is an integer greater than 1;
  • the equalization control circuit is configured to detect, when the charging circuit charges the battery, a voltage of each of the N cells; and according to a voltage of the N cells, from the N M cells that require passive equalization are determined among the cells; the M is an integer greater than 0 and less than N; and the M cells are subjected to discharge processing.
  • an embodiment of the present invention provides a charger, including: a charging circuit and an equalization control circuit;
  • the charging circuit is configured to charge a battery, the battery includes N cells; the N is an integer greater than 1;
  • the equalization control circuit is configured to detect, when the charging circuit charges the battery, a voltage of each of the N cells; and according to a voltage of the N cells, from the N M cells that require passive equalization are determined among the cells; the M is an integer greater than 0 and less than N; and the M cells are subjected to discharge processing.
  • an embodiment of the present invention provides a smart battery, including: an equalization control circuit and an electrical energy storage unit; the equalization control circuit is electrically connected to the electrical energy storage unit; the electrical energy storage unit includes N batteries; Said N is an integer greater than one;
  • the equalization control circuit is configured to detect a voltage of each of the N cells during charging of the smart battery; and from the N cells according to voltages of the N cells Determining M cells that require passive equalization; the M being an integer greater than 0 and less than N; discharging the M cells.
  • an embodiment of the present invention provides a mobile platform, including: an equalization control circuit, where the equalization control circuit is disposed in a body of the movable platform;
  • the equalization control circuit is configured to, when electrically connected to the battery, the battery includes N cells during the charging process of the battery, detecting a voltage of each of the N cells; and The voltages of the cells determine the M cells that need to be passively equalized from the N cells; the M is an integer greater than 0 and less than N; and discharge the M cells.
  • the charging control method, system, charger, smart battery and mobile platform provided by the embodiments of the present invention determine the M cells that need to be passively balanced according to the detected voltages of the N cells during charging of the battery. Then, the M cells are subjected to discharge treatment, so that the N cells reach an equilibrium state during charging. Since the balance between the individual cells is achieved, the available capacity of the battery is increased. Moreover, in this embodiment, the voltages of the M cells are directly discharged. There is no need to perform power transfer in the prior art, thus avoiding the loss of energy conversion and improving the stability during the equalization process.
  • FIG. 1 is a flowchart of a charging control method according to Embodiment 1 of the present invention.
  • FIG. 2 is a schematic structural diagram of a charging control system according to Embodiment 1 of the present invention.
  • FIG. 3 is a schematic structural diagram of a charging control system according to Embodiment 2 of the present invention.
  • FIG. 4 is a schematic structural diagram of a charging control system according to Embodiment 3 of the present invention.
  • FIG. 5 is a schematic structural diagram of a charger according to Embodiment 1 of the present invention.
  • FIG. 6 is a schematic structural diagram of a charger according to Embodiment 2 of the present invention.
  • FIG. 7 is a schematic structural diagram of a smart battery according to Embodiment 1 of the present invention.
  • FIG. 8 is a schematic structural diagram of a smart battery according to Embodiment 2 of the present invention.
  • FIG. 9 is a schematic structural diagram of a smart battery according to Embodiment 3 of the present invention.
  • FIG. 10 is a schematic structural diagram of a mobile platform according to Embodiment 1 of the present invention.
  • FIG. 11 is a schematic structural diagram of a mobile platform according to Embodiment 2 of the present invention.
  • FIG. 12 is a schematic structural diagram of a mobile platform according to Embodiment 3 of the present invention.
  • FIG. 13 is a schematic structural diagram of a mobile platform according to Embodiment 4 of the present invention.
  • FIG. 14 is a schematic structural diagram of a mobile platform according to Embodiment 5 of the present invention.
  • FIG. 1 is a flowchart of a charging control method according to Embodiment 1 of the present invention, as shown in FIG.
  • the method of an embodiment may include:
  • the battery In charging a battery, the battery includes N cells, and detecting a voltage of each of the N cells, wherein N is an integer greater than 1.
  • S102 Determine, according to voltages of the N cells, M cells that need to be passively equalized from the N cells.
  • the battery in this embodiment includes N batteries, and N is an integer greater than 1.
  • the voltage of each of the N cells can be detected to obtain voltages of N cells.
  • the cells that require passive equalization are determined from the N cells, wherein the number of cells that need to be passively equalized is M, and M is an integer greater than or equal to 1.
  • the voltage of the cell requiring passive equalization is relatively high, and in order to make the voltage of the N cells reach an equilibrium state, it is necessary to lower the voltage of the M cells. Therefore, in this embodiment, during the charging process, the determined M cells are subjected to discharge processing, so that the voltages of the M cells are lowered, so that the voltages of the N cells are relatively close, thereby achieving an equilibrium state.
  • the M cells that need to be passively equalized are determined according to the detected voltages of the N cells, and then the M cells are subjected to discharge processing, thereby making N batteries.
  • the core reaches an equilibrium state during charging. Since the balance between the individual cells is achieved, the available capacity of the battery is increased.
  • the voltages of the M cells are directly discharged, and the power transfer in the prior art is not required. Therefore, the loss of energy conversion is avoided, and the stability in the equalization process is improved.
  • the average voltage of the N cells may be: a sum of voltages of the N cells and a value obtained by comparing N.
  • the average voltage of the N cells is: a value obtained by adding a product of a voltage of each of the N cells to a corresponding weighting coefficient; wherein each cell has a weighting coefficient corresponding to the same It can also be different.
  • whether the cell is a cell that requires passive equalization may be determined according to whether the voltage of each cell and the average voltage satisfy a preset relationship.
  • the M cells are sequentially subjected to discharge processing. That is, one of the M cells is first discharged, after the voltage of the cell is equalized, the other cell is discharged, and so on, until the voltages of the N cells are After the equalization is reached, the discharge of the battery is stopped.
  • the M cells may be sorted according to the order of the voltage from high to low, and the cell with the highest voltage is discharged first, and after the voltage of the cell is equalized, the second highest voltage is applied. The cells are discharged, and so on, until the voltages of the N cells are equalized.
  • the present embodiment sequentially discharges the battery cells, it is possible that after the discharge processing of the partial cells of the M cells has been completed, the voltages of all the cells have reached an equilibrium state, and there is no need to go to another portion at this time.
  • the battery cells are subjected to discharge treatment, which can reduce the number of cells processed by the discharge.
  • the M cells are simultaneously discharged. Since the M cells are discharged in parallel, the time required for the N cells to reach the equilibrium state can be saved, and the equalization efficiency is improved.
  • the S103 is further configured to: according to the foregoing several possible implementation manners, the S103 may be specifically: by controlling a path switch between each of the M cells and the load, to the M The batteries are discharged.
  • each battery core can be connected to the load, wherein a path switch is added between the battery core and the load, and the path switch can control the power supply or power-off of the battery core and the load, and when the path switch is turned on, the electricity is indicated.
  • the core is energized with the load, the load consumes the electric energy of the battery core, so that the voltage of the battery core is lowered, thereby achieving discharge processing of the battery core.
  • the path switch is disconnected, the battery and the load are de-energized, and the load does not consume the power of the battery, thereby stopping the discharge treatment of the battery.
  • the foregoing method for performing discharge processing on the M cells by controlling a path switch of each of the M cells and the load is: outputting a PWM signal to the path switch And controlling the discharge time of the M cells.
  • the opening or closing of the path switch is controlled by a PWM signal, for example, when the PWM signal is at a high level, the high level PWM signal causes the path switch to be turned on; when the PWM signal is at a low level, the low level
  • the PWM signal causes the path switch to be broken; it should be noted that the embodiment is not limited to this example.
  • the PWM signal is different, and the state in which the control path switch is turned on or off is also different, and the turn-on time of the path switch is also different, thereby affecting the discharge time of the cell controlled by the path switch, so by controlling each power
  • the PWM signal controlled by the corresponding switch of the core can control the core of each cell. Discharge time. If the M cells are discharged at the same time, by controlling the PWM signals corresponding to each cell, M cells can achieve the purpose of voltage equalization at the same time.
  • the equalization in the charging process can achieve the effect of equalizing the power of the charging tail by 2 times.
  • the path switch is a MOS tube or a solid state relay.
  • an important parameter of the PWM signal is the duty cycle.
  • the duty cycle represents the ratio of the time of the high level of the PWM signal in one cycle to the cycle time. For example, if the duty ratio is 1/5 and the cycle time is 1 second, it means that the PWM signal is at a high level for 0.2 seconds in 1 second, which means that the battery is in 1 second. The actual discharge time is 0.2 seconds. Therefore, by adjusting the duty ratio of the PWM signal, the discharge time of the cell can be accurately controlled. Among them, the higher the duty ratio of the PWM signal, the longer the discharge time of the cell, the more the voltage of the cell is lowered.
  • How much voltage is required to be reduced by the battery cell can be determined according to the voltage difference between the current voltage of the M cells and the average voltage of the N cells; therefore, the present embodiment can be based on the current voltage of the M cells and the N The voltage difference between the average voltages of the cells determines the duty cycle of the PWM signal.
  • the one possible implementation manner of determining a duty ratio of the PWM signal according to a voltage difference between a current voltage of the M cells and an average voltage is: according to the pressure difference and the pre- The ratio of the voltage differences is set to determine the duty cycle of the PWM signal. Specifically, determining a voltage difference between a current voltage of the M cells and an average voltage of the N cells, thereby determining M differential pressures, and then determining M according to a ratio of the M differential pressures to a preset voltage difference.
  • the duty ratio of the PWM signal corresponding to the cell for example, determining the PWM signal used to control the first cell according to the ratio of the voltage difference between the current voltage of the first cell and the average voltage to the preset voltage difference Duty cycle.
  • the ratio of the differential pressure to the preset voltage difference is Comparing the preset ratios, if the ratio of the differential pressure to the preset voltage difference is greater than the preset ratio, the battery can be considered to be damaged, and the battery is not discharged, if the ratio of the differential pressure to the preset voltage difference is less than
  • the preset ratio indicates that the battery is normal, and then determines the duty ratio of the PWM signal corresponding to the battery according to the ratio of the differential pressure to the preset voltage difference, for example, the ratio of the differential pressure to the preset voltage difference is used as the ratio The duty cycle of the PWM signal.
  • the pre-recorded voltage difference is, for example, a maximum voltage difference of the cell
  • the preset ratio is, for example, one.
  • the voltage difference between the current voltage and the average voltage of the M cells is determined
  • a possible implementation manner of determining the duty ratio of the PWM signal is: determining a duty corresponding to a voltage difference between the voltage of the cell and the average voltage according to a correspondence between the voltage difference and the duty ratio The ratio is determined as the duty ratio of the PWM signal corresponding to the cell.
  • the differential pressure 1 corresponds to the duty ratio 1
  • the differential pressure 2 corresponds to the duty ratio 2, and the like.
  • the duty ratio corresponding to the difference, and the duty ratio corresponding to each voltage difference is used as the duty ratio of the PWM signal corresponding to the battery, for example, the differential pressure 1 is the difference between the voltage of the battery 1 and the average voltage Then, the duty ratio corresponding to the differential pressure 1 is determined as the duty ratio of the PWM signal corresponding to the battery cell 1.
  • the duty ratio of the PWM signal is less than or equal to a preset duty ratio; the preset duty ratio is less than or equal to a ratio of a rated power of the load to a current actual power. Therefore, the duty ratio of the PWM signal can be prevented from being excessively large, thereby causing the power of the load to be excessively large to damage the load, and the safety of the equalization process is ensured.
  • the preset duty ratio may be determined as a final duty ratio of the PWM signal if the duty ratio of the PWM signal is determined to be greater than the preset duty ratio, the preset duty ratio may be determined as a final duty ratio of the PWM signal.
  • the detecting the voltage of each of the N cells further comprises: detecting a voltage of each of the N cells when a voltage equalization period arrives.
  • performing the discharging process on the M cells includes: discharging the M cells during the voltage equalization period; wherein each of the cells is in the voltage balancing period
  • the discharge voltage of the core is not less than the preset voltage. Taking the voltage equalization period of 5 minutes as an example, it arrives in every 5 minute period, detects the voltage of N cells, and then discharges the cells in this 5 minute period.
  • each of the cells is subjected to discharge treatment so that the discharge voltage of each of the cells is not less than a preset voltage to avoid damage to the cells caused by excessive discharge voltage of the cells.
  • the equalization process of the battery during the charging process is realized by the solution of the embodiment, and the total time of the entire charging and the balancing charging can be shortened compared with the prior art. Moreover, in some application scenarios where fast charging is often used (in the prior art, the equalization processing is often not performed in such an application scenario), a good battery charging effect can be achieved.
  • a computer storage medium is also provided in the embodiment of the present invention.
  • the computer storage medium stores program instructions, and the program may include some or all of the steps of the charging control method in FIG. 1 and its corresponding embodiments.
  • the charging control system 200 of the present embodiment includes: a charging circuit 210, an equalization control circuit 220, and a battery 230; Electrically connecting with the charging circuit 210 and the equalization control circuit 220;
  • the charging circuit 210 is configured to charge the battery 230, the battery 230 includes N batteries 231; the N is an integer greater than 1;
  • the equalization control circuit 220 is configured to detect a voltage of each of the N cells 231 in the process of charging the battery 230 by the charging circuit 210; and according to the N cells 231 a voltage from which the M cells 231 that require passive equalization are determined; the M is an integer greater than 0 and less than N; and the M cells 231 are subjected to a discharge process.
  • the equalization control circuit 220 is specifically configured to: determine the M cells 231 from the N cells 231 according to the average voltage of the N cells 231.
  • the equalization control circuit 220 is specifically configured to: perform discharge processing on the M cells 231 in sequence, or perform discharge processing on the M cells 231 at the same time.
  • the charging control system of the present embodiment can be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • FIG. 3 is a schematic structural diagram of a charging control system according to Embodiment 2 of the present invention.
  • the charging control system of this embodiment is based on the embodiment shown in FIG. 2, and the equalization control circuit 220 includes: 221, N loads 222 and N path switches 223, the N loads 222 are respectively connected to N cells 231, and the N path switches 223 are respectively connected to the N cells 231 and the N Between loads 222;
  • the controller 221 is configured to perform discharge processing on the M cells by controlling a path switch 223 between each of the M cells 231 and the load 222.
  • the path switch 223 is a MOS tube or a solid state relay.
  • N is equal to 3
  • the path switch 223 is a MOS tube
  • the load 222 is a resistor.
  • the controller 221 is specifically configured to: control a discharge time of the M cells 231 by outputting a PWM signal to the path switch 223.
  • the controller 221 is further configured to: determine a duty of the PWM signal according to a voltage difference between a current voltage of the M cells 231 and an average voltage of the N cells 231 ratio.
  • the controller 221 is configured to: determine a duty ratio of the PWM signal according to a ratio of the voltage difference to a preset voltage difference.
  • the controller 221 is specifically configured to: determine a duty ratio corresponding to a voltage difference between the voltage of the battery cell 231 and the average voltage according to a correspondence between a pressure difference and a duty ratio And determining the determined duty ratio as a duty ratio of the PWM signal corresponding to the battery cell 231.
  • the duty ratio of the PWM signal is less than or equal to a preset duty ratio; the preset duty ratio is less than or equal to a ratio of a rated power of the load 222 to a current actual power.
  • the equalization control circuit 220 is configured to: when the voltage equalization period arrives, detect a voltage of each of the N cells 231; and according to the voltages of the N cells 231, Determining M cells 231 that require passive equalization in the N cells 231; and discharging the M cells 231 during the voltage equalization period; wherein, during the voltage equalization period The discharge voltage of each of the cells 231 is not less than a preset voltage.
  • the charging control system of the present embodiment can be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the charger 300 of this embodiment includes: a charging circuit 310 and an equalization control circuit 320;
  • the charging circuit 310 is configured to charge a battery, the battery includes N cells; the N is an integer greater than 1;
  • the equalization control circuit 320 is configured to detect, when the charging circuit 310 charges the battery, a voltage of each of the N cells; and according to a voltage of the N cells, M cells that require passive equalization are determined among the N cells; the M is an integer greater than 0 and less than N; and the M cells are subjected to discharge processing.
  • the equalization control circuit 320 is configured to: determine the M cells from the N cells according to an average voltage of the N cells.
  • the equalization control circuit 320 is specifically configured to: perform discharge processing on the M cells in sequence, or perform discharge processing on the M cells at the same time.
  • the charger of this embodiment can be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • FIG. 6 is a schematic structural diagram of a charger according to Embodiment 2 of the present invention.
  • the charger of this embodiment is based on the embodiment shown in FIG. 5
  • the equalization control circuit 320 includes: The controller 321, the N loads 322 and the N path switches 323, wherein the N loads 322 are respectively connected to the N cells, and the N path switches 323 are respectively connected to the N cells and the N cells. Between loads 322;
  • the controller 321 is configured to perform discharge processing on the M cells by controlling a path switch 323 between each of the M cells and the load 322.
  • the path switch 323 is a MOS tube or a solid state relay.
  • the controller 321 is specifically configured to: control a discharge time of the M cells by outputting a PWM signal to the path switch 323.
  • the controller 321 is further configured to: determine a duty ratio of the PWM signal according to a voltage difference between a current voltage of the M cells and an average voltage of the N cells.
  • the controller 321 is configured to: determine a duty ratio of the PWM signal according to a ratio of the voltage difference to a preset voltage difference.
  • the controller 321 is configured to: determine a duty ratio corresponding to a voltage difference between the voltage of the cell and the average voltage according to a correspondence between a voltage difference and a duty ratio; And determining the determined duty ratio as a duty ratio of the PWM signal corresponding to the battery cell.
  • the duty ratio of the PWM signal is less than or equal to a preset duty ratio; the preset duty ratio is less than or equal to a ratio of a rated power of the load to a current actual power.
  • the equalization control circuit 320 is configured to: when a voltage equalization period arrives, detect a voltage of each of the N cells; and according to a voltage of the N cells, from the N Determining M cells requiring passive equalization; and discharging the M cells during the voltage equalization period; wherein, each of the cells is discharged during the voltage equalization period The voltage is not less than the preset voltage.
  • the charger of this embodiment can be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • FIG. 7 is a schematic structural diagram of a smart battery according to Embodiment 1 of the present invention.
  • the smart battery 400 of the present embodiment includes: an equalization control circuit 410 and an electrical energy storage unit 420; the equalization control circuit 410 and the The electrical energy storage unit 420 is electrically connected; the electrical energy storage unit 420 includes N cells 421; the N is an integer greater than one;
  • the equalization control circuit 410 is configured to detect a voltage of each of the N cells 421 during charging of the smart battery; and according to a voltage of the N cells 421, M cells 421 that require passive equalization are determined among the N cells 421; the M is an integer greater than 0 and less than N; and the M cells 421 are subjected to discharge processing.
  • the equalization control circuit 410 is specifically configured to: determine the M cores 421 from the N cells 421 according to the average voltage of the N cells 421.
  • the equalization control circuit 410 is specifically configured to: perform discharge processing on the M cells 421 in sequence, or perform discharge processing on the M cells 421 at the same time.
  • the smart battery of this embodiment can be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • FIG. 8 is a schematic structural diagram of a smart battery according to Embodiment 2 of the present invention.
  • the smart battery of this embodiment is based on the embodiment shown in FIG. 7 , and the equalization control circuit 410 includes: a controller 411.
  • N load 412 and N path switches 413, the N loads 412 are respectively connected to N cells 421, and the N path switches 413 are respectively connected to the N cells 421 and the N loads Between 412;
  • the controller 411 is configured to perform discharge processing on the M cells by controlling a path switch of each of the M cells 421 and the load.
  • the path switch 413 is a MOS tube or a solid state relay.
  • the controller 411 is specifically configured to: control a discharge time of the M cells 421 by outputting a PWM signal to the path switch 413.
  • the controller 411 is further configured to: determine a duty of the PWM signal according to a voltage difference between a current voltage of the M cells 421 and an average voltage of the N cells 421 ratio.
  • the controller 411 is specifically configured to: determine a duty ratio of the PWM signal according to a ratio of the voltage difference to a preset voltage difference.
  • the controller 411 is specifically configured to: determine a duty ratio corresponding to a voltage difference between the voltage of the battery core 421 and the average voltage according to a correspondence between a pressure difference and a duty ratio And determining the determined duty ratio as a duty ratio of the PWM signal corresponding to the battery cell 421.
  • the duty ratio of the PWM signal is less than or equal to a preset duty ratio; the preset duty ratio is less than or equal to a ratio of a rated power of the load to a current actual power.
  • the equalization control circuit 410 is specifically configured to: when the voltage equalization period arrives, detect a voltage of each of the N cells 421; and according to the voltages of the N cells 421, Determining M cells requiring passive equalization in the N cells 421; and balancing the voltage During the period, the M cells 421 are subjected to a discharge process; wherein, in the voltage equalization period, the discharge voltage of each of the cells 421 is not less than a preset voltage.
  • the smart battery of this embodiment can be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • FIG. 9 is a schematic structural diagram of a smart battery according to Embodiment 3 of the present invention. As shown in FIG. 9, the smart battery of this embodiment is based on the embodiment shown in FIG. 7 or FIG. A charging circuit 430 is included. The charging circuit 430 is configured to charge the electrical energy storage unit 420.
  • the smart battery of this embodiment can be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • FIG. 10 is a schematic structural diagram of a mobile platform according to Embodiment 1 of the present invention.
  • the mobile platform 500 of this embodiment includes: an equalization control circuit 510, and the equalization control circuit 510 is disposed on the movable Inside the fuselage of the platform 500;
  • the equalization control circuit 510 is configured to be electrically connected to the battery 520.
  • the battery 520 includes N cells 521, and each of the N cells 521 is detected. a voltage of 521; and determining, based on the voltages of the N cells 521, M cells 521 requiring passive equalization from the N cells 521; the M being an integer greater than 0 and less than N;
  • the cells 521 are subjected to discharge processing.
  • the equalization control circuit 510 is specifically configured to: determine the M cells from the N cells according to an average voltage of the N cells 521.
  • the equalization control circuit 510 is specifically configured to: perform discharge processing on the M cells 521 in sequence, or perform discharge processing on the M cells 521 at the same time.
  • the mobile platform of the present embodiment can be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • FIG. 11 is a schematic structural diagram of a mobile platform according to Embodiment 2 of the present invention.
  • the equalization control circuit 510 of the present embodiment includes: a controller 511, N loads 512, and N path switches 513.
  • N load 512 are respectively connected to N cells, and the N path switches 513 are respectively connected between the N cells 521 and the N loads 512;
  • the controller 511 is configured to perform discharge processing on the M cells 521 by controlling a path switch 513 of each of the M cells 521 and the load 512.
  • the path switch is a MOS tube or a solid state relay.
  • the controller 511 is specifically configured to: control a discharge time of the M cells 521 by outputting a PWM signal to the path switch 513.
  • the controller 511 is further configured to: determine a duty of the PWM signal according to a voltage difference between a current voltage of the M cells 521 and an average voltage of the N cells 521 ratio.
  • the controller 511 is specifically configured to: determine a duty ratio of the PWM signal according to a ratio of the voltage difference to a preset voltage difference.
  • the controller 511 is specifically configured to: determine a duty ratio corresponding to a voltage difference between the voltage of the battery cell 521 and the average voltage according to a correspondence between a pressure difference and a duty ratio And determining the duty ratio as the duty ratio of the PWM signal corresponding to the cell 521.
  • the duty ratio of the PWM signal is less than or equal to a preset duty ratio; the preset duty ratio is less than or equal to a ratio of a rated power of the load to a current actual power.
  • the equalization control circuit 510 is specifically configured to: when the voltage equalization period arrives, detect a voltage of each of the N cells 521; and according to the voltage of the N cells 521, Determining M cells 521 that require passive equalization in the N cells 521; and discharging the M cells 521 during the voltage equalization period; wherein, during the voltage equalization period The discharge voltage of each of the cells 521 is not less than a preset voltage.
  • the mobile platform of the present embodiment can be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the mobile platform of this embodiment further includes: the battery 520, and the battery 520 is disposed on the movable platform 500. Inside the fuselage.
  • FIG. 13 is a schematic structural diagram of a mobile platform according to Embodiment 4 of the present invention. As shown in FIG. 13 , the mobile platform of this embodiment further includes: a charging circuit 530, configured to charge the battery, where The charging circuit 530 is disposed within the body of the movable platform 500.
  • the mobile platform of this embodiment further includes: the battery 520 and a charging circuit 530, wherein the battery 520 is disposed in the The inside of the body of the movable platform 500.
  • the charging circuit 530 is configured to charge the battery 520, wherein the charging circuit 530 is disposed in a body of the movable platform 500.
  • the movable platform 500 is an unmanned aerial vehicle, or a ground remote control vehicle, or a handheld cloud platform. It should be noted that the embodiment is not limited thereto. Moreover, the mobile platform 500 includes not only the airframe but also other components. For the specific structure, refer to the related description in the prior art, and details are not described herein again.
  • the foregoing program may be stored in a computer readable storage medium, and the program is executed when executed.
  • the foregoing storage medium includes: read-only memory (English: Read-Only Memory, ROM for short), random access memory (English: Random Access Memory, RAM), disk or A variety of media such as optical discs that can store program code.

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Abstract

本发明实施例提供一种充电控制方法、系统、充电器、智能电池和可移动平台。此方法包括：在对电池充电的过程中，根据检测到的N个电芯的电压确定需要被动均衡的M个电芯，然后对该M个电芯进行放电处理，从而使得N个电芯在充电过程中达到均衡状态。由于各个电芯间达到了均衡状态，所以提高了电池的可用容量。而且，本实施例是直接对M个电芯的电压进行放电处理，无需进行现有技术中的电能转移，因此，避免了能量转换的损失，而且提高了均衡过程中的稳定性。

Description

充电控制方法、系统、充电器、智能电池和可移动平台 技术领域
本发明实施例涉及电池技术领域，尤其涉及一种充电控制方法、系统、充电器、智能电池和可移动平台。
背景技术
为满足动力系统的用电需求，电池往往由电芯串联组成。各单电芯有最高安全电压和最低安全电压，超过则会损坏电芯。由于电芯间的不平衡，会减少整个电池包的可用容量。故在多串电芯间均衡很重要。目前的一种方式为：利用电容、电感、DC/DC将电能从高压电芯转移到低压电芯中，从而达到电芯间的电压平衡。但是，经过电能经过高压电芯，再经过电容或电感或DC/DC，再到低压电芯，中间经过两次电能转换，从而造成能量转换损失较多。
发明内容
本发明实施例提供一种充电控制方法、系统、充电器、智能电池和可移动平台，用于避免电压均衡过程中能量转换造成能量损失。
第一方面，本发明实施例提供一种充电控制方法，包括：
在对电池充电的过程中，所述电池包括N个电芯，检测所述N个电芯中每个电芯的电压，所述N为大于1的整数；
根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯；所述M为大于0且小于N的整数；
对所述M个电芯进行放电处理。
第二方面，本发明实施例提供一种充电控制系统，包括：充电电路、均衡控制电路和电池；所述电池分别与所述充电电路和所述均衡控制电路电连接；
所述充电电路，用于对所述电池进行充电，所述电池包括N个电芯；所述N为大于1的整数；
所述均衡控制电路，用于在所述充电电路对所述电池充电的过程中，检测所述N个电芯中每个电芯的电压；以及根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯；所述M为大于0且小于N的整数；对所述M个电芯进行放电处理。
第三方面，本发明实施例提供一种充电器，包括：充电电路和均衡控制电路；
所述充电电路，用于对电池进行充电，所述电池包括N个电芯；所述N为大于1的整数；
所述均衡控制电路，用于在所述充电电路对所述电池充电的过程中，检测所述N个电芯中每个电芯的电压；以及根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯；所述M为大于0且小于N的整数；对所述M个电芯进行放电处理。
第四方面，本发明实施例提供一种智能电池，包括：均衡控制电路和电能存储单元；所述均衡控制电路与所述电能存储单元电连接；所述电能存储单元包括N个电芯；所述N为大于1的整数；
所述均衡控制电路，用于在所述智能电池的充电过程中，检测所述N个电芯中每个电芯的电压；以及根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯；所述M为大于0且小于N的整数；对所述M个电芯进行放电处理。
第五方面，本发明实施例提供一种可移动平台，包括：均衡控制电路，所述均衡控制电路设置在所述可移动平台的机身内；
所述均衡控制电路，用于与电池电连接时，在所述电池的充电过程中，所述电池包括N个电芯，检测所述N个电芯中每个电芯的电压；以及根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯；所述M为大于0且小于N的整数；对所述M个电芯进行放电处理。
本发明实施例提供的充电控制方法、系统、充电器、智能电池和可移动平台，通过在对电池充电的过程中，根据检测到的N个电芯的电压确定需要被动均衡的M个电芯，然后对该M个电芯进行放电处理，从而使得N个电芯在充电过程中达到均衡状态。由于各个电芯间达到了均衡状态，所以提高了电池的可用容量。而且，本实施例是直接对M个电芯的电压进行放电处理， 无需进行现有技术中的电能转移，因此，避免了能量转换的损失，而且提高了均衡过程中的稳定性。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例一提供的充电控制方法的流程图；
图2为本发明实施例一提供的充电控制系统的结构示意图；
图3为本发明实施例二提供的充电控制系统的结构示意图；
图4为本发明实施例三提供的充电控制系统的结构示意图；
图5为本发明实施例一提供的充电器的结构示意图；
图6为本发明实施例二提供的充电器的结构示意图；
图7为本发明实施例一提供的智能电池的结构示意图；
图8为本发明实施例二提供的智能电池的结构示意图；
图9为本发明实施例三提供的智能电池的结构示意图；
图10为本发明实施例一提供的可移动平台的结构示意图，
图11为本发明实施例二提供的可移动平台的结构示意图；
图12为本发明实施例三提供的可移动平台的结构示意图；
图13为本发明实施例四提供的可移动平台的结构示意图；
图14为本发明实施例五提供的可移动平台的结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
图1为本发明实施例一提供的充电控制方法的流程图，如图1所示，本 实施例的方法可以包括：
S101、在对电池充电的过程中，所述电池包括N个电芯，检测所述N个电芯中每个电芯的电压，所述N为大于1的整数。
S102、根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯。
S103、对所述M个电芯进行放电处理；所述M为大于0且小于N的整数。
本实施例中的电池包括N个电芯，N为大于1的整数，在对该电池充电的过程中，可以检测N个电芯中每个电芯的电压，以获得N个电芯的电压。再根据该N个电芯的电压，从N个电芯中确定需要被动均衡的电芯，其中，需要被动均衡的电芯的个数为M，M为大于或等于1的整数。其中，需要被动均衡的电芯的电压较高，为了使N个电芯的电压达到均衡状态，需要降低该M个电芯的电压。因此，本实施例在充电的过程中对上述确定的M个电芯进行放电处理，使得该M个电芯的电压降低，使得N个电芯的电压较接近，从而达到均衡状态。
本实施例中，通过在对电池充电的过程中，根据检测到的N个电芯的电压确定需要被动均衡的M个电芯，然后对该M个电芯进行放电处理，从而使得N个电芯在充电过程中达到均衡状态。由于各个电芯间达到了均衡状态，所以提高了电池的可用容量。而且，本实施例是直接对M个电芯的电压进行放电处理，无需进行现有技术中的电能转移，因此，避免了能量转换的损失，而且提高了均衡过程中的稳定性。
可选地，在上述S101的一种可能的实现方式中，具体为：根据所述N个电芯的平均电压，从N个电芯中确定上述需要被动均衡的M个电芯。具体地，N个电芯的平均电压可以为：N个电芯的电压之和再比上N得到的值。或者，N个电芯的平均电压为：N个电芯的电压中每个电芯的电压与对应的加权系数的乘积再相加得到的值；其中，每个电芯对应的加权系数可以相同，也可以不完全相同。其中，本实施例中可以根据每个电芯的电压与该平均电压是否满足预设关系，来确定该电芯是否为需要被动均衡的电芯。例如：根据电芯的电压减去平均电压得到的值是否大于预设值，如果大于，则确定该电芯为需要被动均衡的电压，若不大于，则确定该电芯不是需要被动均衡的 电芯。需要说明的是，本实施例并不限于此举例。
可选地，上述S103的一种可能的实现方式中，具体为：依次对M个电芯进行放电处理。也就是，先对M个电芯中的一个电芯进行放电处理，在该电芯的电压达到均衡后，再对另一个电芯进行放电处理，以此类推，直至N个电芯的电压均达到均衡后停止对电芯进行放电处理。可选地，可以按照电压从高到低的顺序，对M个电芯进行排序，先对电压最高的电芯进行放电处理，在该电芯的电压达到均衡后，再对第二高的电压的电芯进行放电处理，以此类推，直至N个电芯的电压达到均衡。由于本实施例是依次对电芯进行放电处理的，有可能在已完成M个电芯的部分电芯的放电处理后，所有电芯的电压已达到均衡状态了，此时无需再对另一部分电芯进行放电处理，这样可以减小放电处理的电芯的个数。
可选地，上述S103的一种可能的实现方式中，具体为：同时对所述M个电芯进行放电处理。由于M个电芯是并行进行放电处理，所以可以节省N个电芯达到均衡状态时所需的时间，提高均衡效率。
可选地，上述S103在上述几种可能的实现方式的基础上，该S103还可以具体为：通过控制所述M个电芯中每个电芯与负载之间的通路开关，对所述M个电芯进行放电处理。其中，可以将每个电芯与负载连接，其中，电芯与负载之间加设有通路开关，该通路开关可以控制该电芯与负载的通电或者断电，当通路开关开启时，说明电芯与负载通电，负载会消耗电芯的电能，使得电芯的电压下降，从而实现电芯的放电处理。当通路开关断开时，说明电芯与负载断电，负载不会消耗电芯的电能，从而停止了对电芯的放电处理。
可选地，上述通过控制所述M个电芯中每个电芯与负载的通路开关，对所述M个电芯进行放电处理的一种实现方式为：通过向所述通路开关输出PWM信号，控制所述M个电芯的放电时间。其中，通路开关的开启或者断开是通过PWM信号来控制的，例如：当PWM信号处于高电平时，高电平的PWM信号使得通路开关开启；当PWM信号处于低电平时，低电平的PWM信号使得通路开关断；需要说明的是，本实施例并不限于此举例开。因此，PWM信号不同，其控制通路开关的开启或断开的状态也不相同，通路开关的开启时间也会不相同，从而影响该通路开关控制的电芯的放电时间，所以通过控制每个电芯对应的通路开关所受控的PWM信号，可以控制每个电芯的 放电时间。如果是在同时对M个电芯进行放电的场景下，通过控制每个电芯对应的PWM信号，可以达到M个电芯同时达到电压均衡的目的。
因此，本实施例通过调节占空比，可实现综合更高的均衡效率，降低负载上的温升。例如，如果占空比为50％，那么充电过程中均衡可达到充电尾端均衡2倍功率的效果。
可选地，上述通路开关为MOS管或者固态继电器等。
可选地，PWM信号的一个重要参数为占空比。占空比表示PWM信号的在一个周期内高电平的时间与该周期时间的比值。例如：占空比为1/5，周期时间为1秒，则说明在1秒的时间内，PWM信号处于高电平的时间为0.2秒，则也说明在1秒的时间内，电芯的实际放电时间为0.2秒。因此，通过调整占PWM信号的占空比，可以准确地控制电芯的放电时间。其中，PWM信号的占空比越高，说明电芯的放电时间越长，则电芯的电压降低得越多。而需要电芯降低多少电压可以根据所述M个电芯的当前电压与N个电芯的平均电压之间的压差来确定，因此，本实施例可以根据M个电芯的当前电压与N个电芯的平均电压之间的压差，确定所述PWM信号的占空比。
可选地，所述根据所述M个电芯的当前电压与平均电压之间的压差，确定所述PWM信号的占空比的一种可能的实现方式为：根据所述压差与预设电压差的比值，确定所述PWM信号的占空比。具体地，确定M个电芯的当前电压与该N个电芯的平均电压的压差，即可以确定M个压差，然后根据该M个压差与预设电压差的比值，分别确定M个电芯对应的PWM信号的占空比，例如：根据第一个电芯的当前电压与平均电压的压差与预设电压差的比值，确定用于控制该第一电芯的PWM信号的占空比。由于电池也存在损坏判断的条件，如果电芯的压差过大，则可以认定该电芯已损坏，则无需对该电芯进行放电处理，因此，将压差与预设电压差的比值与预设比值进行比较，若压差与预设电压差的比值大于预设比值，则可以认为该电芯已损坏，则不对该电芯进行放电处理，若压差与预设电压差的比值小于预设比值，则说明电芯正常，然后根据压差与预设电压差的比值，确定该电芯对应的PWM信号的占空比，例如：将该压差与预设电压差的比值作为该PWM信号的占空比。可选地，该预记电压差例如为电芯的最大电压差，预设比值例如为1。
可选地，所述根据所述M个电芯的当前电压与平均电压之间的压差，确 定所述PWM信号的占空比的一种可能的实现方式为：根据压差与占空比之间的对应关系，确定所述电芯的电压与平均电压之间的压差对应的占空比；将确定的所述占空比作为所述电芯对应的所述PWM信号的占空比。具体地，压差与占空比之间存在预设的对应关系，例如：压差1对应占空比1，压差2对应占空比2，等等。本实施例在确定M个电芯的当前电压与该N个电芯的平均电压的压差之后，即确定M个压差之后，根据压差与占空比的对应关系，确定上述每个压差所对应的占空比，并将每个压差所对应的占空比作为该电芯对应的PWM信号的占空比，例如：压差1为电芯1的电压与平均电压的差值，则将该压差1对应的占空比，确定为电芯1对应的PWM信号的占空比。
可选地，所述PWM信号的占空比小于或等于预设占空比；所述预设占空比为小于或等于所述负载的额定功率与当前实际功率的比值。因此，可以避免PWM信号的占空比过大，从而造成负载的功率过大而损坏负载，保证均衡过程的安全性。可选地，若上述确定PWM信号的占空比大于该预设占空比，则可以确定该预设占空比为该PWM信号的最终占空比。
可选地，所述检测所述N个电芯中每个电芯的电压，还包括：在电压均衡周期到达时，检测所述N个电芯中每个电芯的电压。相应地，所述对所述M个电芯进行放电处理，包括：在所述电压均衡周期内时，对所述M个电芯进行放电处理；其中，在所述电压均衡周期内每个电芯的放电电压不小于预设电压。以电压均衡周期为5分钟为例，在每个5分钟周期到达，检测N个电芯的电压，然后在这个5分钟时间内，对电芯进行放电处理。而且在每个分钟时间内，对每个电芯进行放电处理，使得每个电芯的放电电压不小于预设电压，以避免电芯的放电电压过大而对电芯造成的损伤。
综上所述，通过本实施例的方案来实现在充电过程中对电池的均衡过程，与现有技术相比，可以缩短整个充电和均衡充的总计时间。而且，在有些经常使用快充的应用场景中(而现有技术中，在这种应用场景下经常不进行均衡处理)，能达到很好的电池充电效果。
本发明实施例中还提供了一种计算机存储介质，该计算机存储介质中存储有程序指令，所述程序执行时可包括如图1及其对应实施例中的充电控制方法的部分或全部步骤。
图2为本发明实施例一提供的充电控制系统的结构示意图，如图2所示，本实施例的充电控制系统200包括：充电电路210、均衡控制电路220和电池230；所述电池230分别与所述充电电路210和所述均衡控制电路220电连接；
所述充电电路210，用于对所述电池230进行充电，所述电池230包括N个电芯231；所述N为大于1的整数；
所述均衡控制电路220，用于在所述充电电路210对所述电池230充电的过程中，检测所述N个电芯231中每个电芯231的电压；以及根据N个电芯231的电压，从所述N个电芯中确定需要被动均衡的M个电芯231；所述M为大于0且小于N的整数；对所述M个电芯231进行放电处理。
可选地，所述均衡控制电路220，具体用于：根据所述N个电芯231的平均电压，从N个电芯231中确定所述M个电芯231。
可选地，所述均衡控制电路220，具体用于：依次对所述M个电芯231进行放电处理，或者，同时对所述M个电芯231进行放电处理。
本实施例的充电控制系统，可以用于执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图3为本发明实施例二提供的充电控制系统的结构示意图，如图3所示，本实施例的充电控制系统在图2所示实施例的基础上，所述均衡控制电路220包括：控制器221、N个负载222和N个通路开关223，所述N个负载222分别与N个电芯231连接，所述N个通路开关223分别连接在所述N个电芯231与所述N个负载222之间；
所述控制器221，用于通过控制所述M个电芯231中每个电芯231与负载222之间的通路开关223，对所述M个电芯进行放电处理。
可选地，所述通路开关223为MOS管或者固态继电器。如图4所示，图4中以N等于3，通路开关223为MOS管，负载222为电阻为例，示出了一种充电控制系统的结构示意图。
可选地，所述控制器221，具体用于：通过向所述通路开关223输出PWM信号，控制所述M个电芯231的放电时间。
可选地，所述控制器221，还用于：根据所述M个电芯231的当前电压与所述N个电芯231的平均电压之间的压差，确定所述PWM信号的占空比。
可选地，所述控制器221，具体用于：根据所述压差与预设电压差的比值，确定所述PWM信号的占空比。
可选地，所述控制器221，具体用于：根据压差与占空比之间的对应关系，确定所述电芯231的电压与所述平均电压之间的压差对应的占空比；以及将确定的所述占空比作为所述电芯231对应的所述PWM信号的占空比。
可选地，所述PWM信号的占空比小于或等于预设占空比；所述预设占空比为小于或等于所述负载222的额定功率与当前实际功率的比值。
可选地，所述均衡控制电路220，具体用于：在电压均衡周期到达时，检测所述N个电芯231中每个电芯231的电压；并根据N个电芯231的电压，从所述N个电芯231中确定需要被动均衡的M个电芯231；以及在所述电压均衡周期内时，对所述M个电芯231进行放电处理；其中，在所述电压均衡周期内每个电芯231的放电电压不小于预设电压。
本实施例的充电控制系统，可以用于执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图5为本发明实施例一提供的充电器的结构示意图，如图5所示，本实施例的充电器300包括：充电电路310和均衡控制电路320；
所述充电电路310，用于对电池进行充电，所述电池包括N个电芯；所述N为大于1的整数；
所述均衡控制电路320，用于在所述充电电路310对所述电池充电的过程中，检测所述N个电芯中每个电芯的电压；以及根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯；所述M为大于0且小于N的整数；对所述M个电芯进行放电处理。
可选地，所述均衡控制电路320，具体用于：根据所述N个电芯的平均电压，从N个电芯中确定所述M个电芯。
可选地，所述均衡控制电路320，具体用于：依次对所述M个电芯进行放电处理，或者，同时对所述M个电芯进行放电处理。
本实施例的充电器，可以用于执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图6为本发明实施例二提供的充电器的结构示意图，如图6所示，本实施例的充电器在图5所示实施例的基础上，所述均衡控制电路320包括：控 制器321、N个负载322和N个通路开关323，所述N个负载322分别与N个电芯连接，所述N个通路开关323分别连接在所述N个电芯与所述N个负载322之间；
所述控制器321，用于通过控制所述M个电芯中每个电芯与负载322之间的通路开关323，对所述M个电芯进行放电处理。
可选地，所述通路开关323为MOS管或者固态继电器。
可选地，所述控制器321，具体用于：通过向所述通路开关323输出PWM信号，控制所述M个电芯的放电时间。
可选地，所述控制器321，还用于：根据所述M个电芯的当前电压与所述N个电芯的平均电压之间的压差，确定所述PWM信号的占空比。
可选地，所述控制器321，具体用于：根据所述压差与预设电压差的比值，确定所述PWM信号的占空比。
可选地，所述控制器321，具体用于：根据压差与占空比之间的对应关系，确定所述电芯的电压与所述平均电压之间的压差对应的占空比；以及将确定的所述占空比作为所述电芯对应的所述PWM信号的占空比。
可选地，所述PWM信号的占空比小于或等于预设占空比；所述预设占空比为小于或等于所述负载的额定功率与当前实际功率的比值。
可选地，所述均衡控制电路320，具体用于：在电压均衡周期到达时，检测所述N个电芯中每个电芯的电压；并根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯；以及在所述电压均衡周期内时，对所述M个电芯进行放电处理；其中，在所述电压均衡周期内每个电芯的放电电压不小于预设电压。
本实施例的充电器，可以用于执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图7为本发明实施例一提供的智能电池的结构示意图，如图7所示，本实施例的智能电池400包括：均衡控制电路410和电能存储单元420；所述均衡控制电路410与所述电能存储单元420电连接；所述电能存储单元420包括N个电芯421；所述N为大于1的整数；
所述均衡控制电路410，用于在所述智能电池的充电过程中，检测所述N个电芯421中每个电芯421的电压；以及根据N个电芯421的电压，从所述 N个电芯421中确定需要被动均衡的M个电芯421；所述M为大于0且小于N的整数；对所述M个电芯421进行放电处理。
可选地，所述均衡控制电路410，具体用于：根据所述N个电芯421的平均电压，从N个电芯421中确定所述M个电芯421。
可选地，所述均衡控制电路410，具体用于：依次对所述M个电芯421进行放电处理，或者，同时对所述M个电芯421进行放电处理。
本实施例的智能电池，可以用于执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图8为本发明实施例二提供的智能电池的结构示意图，如图8所示，本实施例的智能电池在图7所示实施例的基础上，所述均衡控制电路410包括：控制器411、N个负载412和N个通路开关413，所述N个负载412分别与N个电芯421连接，所述N个通路开关413分别连接在所述N个电芯421与所述N个负载412之间；
所述控制器411，用于通过控制所述M个电芯421中每个电芯与负载的通路开关，对所述M个电芯进行放电处理。
可选地，所述通路开关413为MOS管或者固态继电器。
可选地，所述控制器411，具体用于：通过向所述通路开关413输出PWM信号，控制所述M个电芯421的放电时间。
可选地，所述控制器411，还用于：根据所述M个电芯421的当前电压与所述N个电芯421的平均电压之间的压差，确定所述PWM信号的占空比。
可选地，所述控制器411，具体用于：根据所述压差与预设电压差的比值，确定所述PWM信号的占空比。
可选地，所述控制器411，具体用于：根据压差与占空比之间的对应关系，确定所述电芯421的电压与所述平均电压之间的压差对应的占空比；以及将确定的所述占空比作为所述电芯421对应的所述PWM信号的占空比。
可选地，所述PWM信号的占空比小于或等于预设占空比；所述预设占空比为小于或等于所述负载的额定功率与当前实际功率的比值。
可选地，所述均衡控制电路410，具体用于：在电压均衡周期到达时，检测所述N个电芯421中每个电芯421的电压；并根据N个电芯421的电压，从所述N个电芯421中确定需要被动均衡的M个电芯；以及在所述电压均衡 周期内时，对所述M个电芯421进行放电处理；其中，在所述电压均衡周期内每个电芯421的放电电压不小于预设电压。
本实施例的智能电池，可以用于执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图9为本发明实施例三提供的智能电池的结构示意图，如图9所示，本实施例的智能电池在图7或图8所示实施例的基础上，本实施例的智能电池400还包括：充电电路430。其中，充电电路430，用于对所述电能存储单元420进行充电。
本实施例的智能电池，可以用于执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图10为本发明实施例一提供的可移动平台的结构示意图，如图10所示，本实施例的可移动平台500包括：均衡控制电路510，所述均衡控制电路510设置在所述可移动平台500的机身内；
所述均衡控制电路510，用于与电池520电连接时，在所述电池520的充电过程中，所述电池520包括N个电芯521，检测所述N个电芯521中每个电芯521的电压；以及根据N个电芯521的电压，从所述N个电芯521中确定需要被动均衡的M个电芯521；所述M为大于0且小于N的整数；对所述M个电芯521进行放电处理。
可选地，所述均衡控制电路510，具体用于：根据所述N个电芯521的平均电压，从N个电芯中确定所述M个电芯。
可选地，所述均衡控制电路510，具体用于：依次对所述M个电芯521进行放电处理，或者，同时对所述M个电芯521进行放电处理。
本实施例的可移动平台，可以用于执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图11为本发明实施例二提供的可移动平台的结构示意图，如图11所示，本实施例的均衡控制电路510包括：控制器511、N个负载512和N个通路开关513，所述N个负载512分别与N个电芯连接，所述N个通路开关513分别连接在所述N个电芯521与所述N个负载512之间；
所述控制器511，用于通过控制所述M个电芯521中每个电芯521与负载512的通路开关513，对所述M个电芯521进行放电处理。
可选地，所述通路开关为MOS管或者固态继电器。
可选地，所述控制器511，具体用于：通过向所述通路开关513输出PWM信号，控制所述M个电芯521的放电时间。
可选地，所述控制器511，还用于：根据所述M个电芯521的当前电压与所述N个电芯521的平均电压之间的压差，确定所述PWM信号的占空比。
可选地，所述控制器511，具体用于：根据所述压差与预设电压差的比值，确定所述PWM信号的占空比。
可选地，所述控制器511，具体用于：根据压差与占空比之间的对应关系，确定所述电芯521的电压与所述平均电压之间的压差对应的占空比；以及将确定的所述占空比作为所述电芯521对应的所述PWM信号的占空比。
可选地，所述PWM信号的占空比小于或等于预设占空比；所述预设占空比为小于或等于所述负载的额定功率与当前实际功率的比值。
可选地，所述均衡控制电路510，具体用于：在电压均衡周期到达时，检测所述N个电芯521中每个电芯521的电压；并根据N个电芯521的电压，从所述N个电芯521中确定需要被动均衡的M个电芯521；以及在所述电压均衡周期内时，对所述M个电芯521进行放电处理；其中，在所述电压均衡周期内每个电芯521的放电电压不小于预设电压。
本实施例的可移动平台，可以用于执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图12为本发明实施例三提供的可移动平台的结构示意图，如图12所示，本实施例的可移动平台还包括：所述电池520，所述电池520设置在所述可移动平台500的机身内。
图13为本发明实施例四提供的可移动平台的结构示意图，如图13所示，本实施例的可移动平台还包括：还包括：充电电路530，用于对所述电池进行充电，其中，所述充电电路530设置在所述可移动平台500的机身内。
图14为本发明实施例五提供的可移动平台的结构示意图，如图14所示，本实施例的可移动平台还包括：所述电池520和充电电路530，所述电池520设置在所述可移动平台500的机身内。所述充电电路530，用于对所述电池520进行充电，其中，所述充电电路530设置在所述可移动平台500的机身内。
可选地，所述可移动平台500为无人飞行器，或者，地面遥控车，或者，手持云台。需要说明的是，本实施例并不限于此。而且可移动平台500不仅包括机身，还包括其它部件，具体结构可以参见现有技术中的相关描述，此处不再赘述。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(英文：Read-Only Memory，简称：ROM)、随机存取存储器(英文：Random Access Memory，简称：RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (59)

  1. 一种充电控制方法，其特征在于，包括：
    在对电池充电的过程中，所述电池包括N个电芯，检测所述N个电芯中每个电芯的电压，所述N为大于1的整数；
    根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯；所述M为大于0且小于N的整数；
    对所述M个电芯进行放电处理。
  2. 根据权利要求1所述的方法，其特征在于，所述根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯，包括：
    根据所述N个电芯的平均电压，从N个电芯中确定所述M个电芯。
  3. 根据权利要求1或2所述的方法，其特征在于，所述对所述M个电芯进行放电处理，包括：
    依次对所述M个电芯进行放电处理，或者，
    同时对所述M个电芯进行放电处理。
  4. 根据权利要求1-3任意一项所述的方法，其特征在于，所述对所述M个电芯进行放电处理，包括：
    通过控制所述M个电芯中每个电芯与负载之间的通路开关，对所述M个电芯进行放电处理。
  5. 根据权利要求4所述的方法，其特征在于，所述通路开关为MOS管或者固态继电器。
  6. 根据权利要求4或5所述的方法，其特征在于，所述通过控制所述M个电芯中每个电芯与负载的通路开关，对所述M个电芯进行放电处理，包括：
    通过向所述通路开关输出脉冲宽度调制PWM信号，控制所述M个电芯的放电时间。
  7. 根据权利要求6所述的方法，其特征在于，还包括：
    根据所述M个电芯的当前电压与所述N个电芯的平均电压之间的压差，确定所述PWM信号的占空比。
  8. 根据权利要求7所述的方法，其特征在于，所述根据所述M个电芯的当前电压与所述N个电芯的平均电压之间的压差，确定所述PWM信号的占空比，包括：
    根据所述压差与预设电压差的比值，确定所述PWM信号的占空比。
  9. 根据权利要求7所述的方法，其特征在于，根据所述M个电芯的电压与所述N个电压的平均电压之间的压差，确定所述PWM信号的占空比，包括：
    根据压差与占空比之间的对应关系，确定所述电芯的电压与所述平均电压之间的压差对应的占空比；
    将确定的所述占空比作为所述电芯对应的所述PWM信号的占空比。
  10. 根据权利要求6-9任意一项所述的方法，其特征在于，所述PWM信号的占空比小于或等于预设占空比；所述预设占空比为小于或等于所述负载的额定功率与当前实际功率的比值。
  11. 根据权利要求1-10任意一项所述的方法，其特征在于，所述检测所述N个电芯中每个电芯的电压，还包括：在电压均衡周期到达时，检测所述N个电芯中每个电芯的电压；
    所述对所述M个电芯进行放电处理，包括：在所述电压均衡周期内时，对所述M个电芯进行放电处理；其中，在所述电压均衡周期内每个电芯的放电电压不小于预设电压。
  12. 一种充电控制系统，其特征在于，包括：充电电路、均衡控制电路和电池；所述电池分别与所述充电电路和所述均衡控制电路电连接；
    所述充电电路，用于对所述电池进行充电，所述电池包括N个电芯；所述N为大于1的整数；
    所述均衡控制电路，用于在所述充电电路对所述电池充电的过程中，检测所述N个电芯中每个电芯的电压；以及根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯；所述M为大于0且小于N的整数；对所述M个电芯进行放电处理。
  13. 根据权利要求12所述的系统，其特征在于，所述均衡控制电路，具体用于：根据所述N个电芯的平均电压，从N个电芯中确定所述M个电芯。
  14. 根据权利要求12或13所述的系统，其特征在于，所述均衡控制电路，具体用于：依次对所述M个电芯进行放电处理，或者，同时对所述M个电芯进行放电处理。
  15. 根据权利要求12-14任意一项所述的系统，其特征在于，所述均衡 控制电路包括：控制器、N个负载和N个通路开关，所述N个负载分别与N个电芯连接，所述N个通路开关分别连接在所述N个电芯与所述N个负载之间；
    所述控制器，用于通过控制所述M个电芯中每个电芯与负载之间的通路开关，对所述M个电芯进行放电处理。
  16. 根据权利要求15所述的系统，其特征在于，所述通路开关为MOS管或者固态继电器。
  17. 根据权利要求15或16所述的系统，其特征在于，所述控制器，具体用于：通过向所述通路开关输出脉冲宽度调制PWM信号，控制所述M个电芯的放电时间。
  18. 根据权利要求17所述的系统，其特征在于，所述控制器，还用于：根据所述M个电芯的当前电压与所述N个电芯的平均电压之间的压差，确定所述PWM信号的占空比。
  19. 根据权利要求18所述的系统，其特征在于，所述控制器，具体用于：根据所述压差与预设电压差的比值，确定所述PWM信号的占空比。
  20. 根据权利要求18所述的系统，其特征在于，所述控制器，具体用于：根据压差与占空比之间的对应关系，确定所述电芯的电压与所述平均电压之间的压差对应的占空比；以及将确定的所述占空比作为所述电芯对应的所述PWM信号的占空比。
  21. 根据权利要求17-20任意一项所述的系统，其特征在于，所述PWM信号的占空比小于或等于预设占空比；所述预设占空比为小于或等于所述负载的额定功率与当前实际功率的比值。
  22. 根据权利要求12-21任意一项所述的系统，其特征在于，所述均衡控制电路，具体用于：在电压均衡周期到达时，检测所述N个电芯中每个电芯的电压；并根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯；以及在所述电压均衡周期内时，对所述M个电芯进行放电处理；其中，在所述电压均衡周期内每个电芯的放电电压不小于预设电压。
  23. 一种充电器，其特征在于，包括：充电电路和均衡控制电路；
    所述充电电路，用于对电池进行充电，所述电池包括N个电芯；所述N为大于1的整数；
    所述均衡控制电路，用于在所述充电电路对所述电池充电的过程中，检测所述N个电芯中每个电芯的电压；以及根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯；所述M为大于0且小于N的整数；对所述M个电芯进行放电处理。
  24. 根据权利要求23所述的充电器，其特征在于，所述均衡控制电路，具体用于：根据所述N个电芯的平均电压，从N个电芯中确定所述M个电芯。
  25. 根据权利要求23或24所述的充电器，其特征在于，所述均衡控制电路，具体用于：依次对所述M个电芯进行放电处理，或者，同时对所述M个电芯进行放电处理。
  26. 根据权利要求23-25任意一项所述的充电器，其特征在于，所述均衡控制电路包括：控制器、N个负载和N个通路开关，所述N个负载分别与N个电芯连接，所述N个通路开关分别连接在所述N个电芯与所述N个负载之间；
    所述控制器，用于通过控制所述M个电芯中每个电芯与负载之间的通路开关，对所述M个电芯进行放电处理。
  27. 根据权利要求26所述的充电器，其特征在于，所述通路开关为MOS管或者固态继电器。
  28. 根据权利要求26或27所述的充电器，其特征在于，所述控制器，具体用于：通过向所述通路开关输出脉冲宽度调制PWM信号，控制所述M个电芯的放电时间。
  29. 根据权利要求28所述的充电器，其特征在于，所述控制器，还用于：根据所述M个电芯的当前电压与所述N个电芯的平均电压之间的压差，确定所述PWM信号的占空比。
  30. 根据权利要求29所述的充电器，其特征在于，所述控制器，具体用于：根据所述压差与预设电压差的比值，确定所述PWM信号的占空比。
  31. 根据权利要求29所述的充电器，其特征在于，所述控制器，具体用于：根据压差与占空比之间的对应关系，确定所述电芯的电压与所述平均电压之间的压差对应的占空比；以及将确定的所述占空比作为所述电芯对应的所述PWM信号的占空比。
  32. 根据权利要求28-31任意一项所述的充电器，其特征在于，所述PWM信号的占空比小于或等于预设占空比；所述预设占空比为小于或等于所述负载的额定功率与当前实际功率的比值。
  33. 根据权利要求23-32任意一项所述的充电器，其特征在于，所述均衡控制电路，具体用于：在电压均衡周期到达时，检测所述N个电芯中每个电芯的电压；并根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯；以及在所述电压均衡周期内时，对所述M个电芯进行放电处理；其中，在所述电压均衡周期内每个电芯的放电电压不小于预设电压。
  34. 一种智能电池，其特征在于，包括：均衡控制电路和电能存储单元；所述均衡控制电路与所述电能存储单元电连接；所述电能存储单元包括N个电芯；所述N为大于1的整数；
    所述均衡控制电路，用于在所述智能电池的充电过程中，检测所述N个电芯中每个电芯的电压；以及根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯；所述M为大于0且小于N的整数；对所述M个电芯进行放电处理。
  35. 根据权利要求34所述的智能电池，其特征在于，所述均衡控制电路，具体用于：根据所述N个电芯的平均电压，从N个电芯中确定所述M个电芯。
  36. 根据权利要求34或35所述的智能电池，其特征在于，所述均衡控制电路，具体用于：依次对所述M个电芯进行放电处理，或者，同时对所述M个电芯进行放电处理。
  37. 根据权利要求34-36任意一项所述的智能电池，其特征在于，所述均衡控制电路包括：控制器、N个负载和N个通路开关，所述N个负载分别与N个电芯连接，所述N个通路开关分别连接在所述N个电芯与所述N个负载之间；
    所述控制器，用于通过控制所述M个电芯中每个电芯与负载之间的通路开关，对所述M个电芯进行放电处理。
  38. 根据权利要求37所述的智能电池，其特征在于，所述通路开关为MOS管或者固态继电器。
  39. 根据权利要求37或38所述的智能电池，其特征在于，所述控制器， 具体用于：通过向所述通路开关输出脉冲宽度调制PWM信号，控制所述M个电芯的放电时间。
  40. 根据权利要求39所述的智能电池，其特征在于，所述控制器，还用于：根据所述M个电芯的当前电压与所述N个电芯的平均电压之间的压差，确定所述PWM信号的占空比。
  41. 根据权利要求40所述的智能电池，其特征在于，所述控制器，具体用于：根据所述压差与预设电压差的比值，确定所述PWM信号的占空比。
  42. 根据权利要求40所述的智能电池，其特征在于，所述控制器，具体用于：根据压差与占空比之间的对应关系，确定所述电芯的电压与所述平均电压之间的压差对应的占空比；以及将确定的所述占空比作为所述电芯对应的所述PWM信号的占空比。
  43. 根据权利要求39-42任意一项所述的智能电池，其特征在于，所述PWM信号的占空比小于或等于预设占空比；所述预设占空比为小于或等于所述负载的额定功率与当前实际功率的比值。
  44. 根据权利要求34-43任意一项所述的智能电池，其特征在于，所述均衡控制电路，具体用于：在电压均衡周期到达时，检测所述N个电芯中每个电芯的电压；并根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯；以及在所述电压均衡周期内时，对所述M个电芯进行放电处理；其中，在所述电压均衡周期内每个电芯的放电电压不小于预设电压。
  45. 根据权利要求34-44任意一项所述的智能电池，其特征在于，还包括：充电电路，用于对所述电能存储单元进行充电。
  46. 一种可移动平台，其特征在于，包括：均衡控制电路，所述均衡控制电路设置在所述可移动平台的机身内；
    所述均衡控制电路，用于与电池电连接时，在所述电池的充电过程中，所述电池包括N个电芯，检测所述N个电芯中每个电芯的电压；以及根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯；所述M为大于0且小于N的整数；对所述M个电芯进行放电处理。
  47. 根据权利要求46所述的可移动平台，其特征在于，所述均衡控制电路，具体用于：根据所述N个电芯的平均电压，从N个电芯中确定所述M个电芯。
  48. 根据权利要求46或47所述的可移动平台，其特征在于，所述均衡控制电路，具体用于：依次对所述M个电芯进行放电处理，或者，同时对所述M个电芯进行放电处理。
  49. 根据权利要求46-48任意一项所述的可移动平台，其特征在于，所述均衡控制电路包括：控制器、N个负载和N个通路开关，所述N个负载分别与N个电芯连接，所述N个通路开关分别连接在所述N个电芯与所述N个负载之间；
    所述控制器，用于通过控制所述M个电芯中每个电芯与负载之间的通路开关，对所述M个电芯进行放电处理。
  50. 根据权利要求49所述的可移动平台，其特征在于，所述通路开关为MOS管或者固态继电器。
  51. 根据权利要求49或50所述的可移动平台，其特征在于，所述控制器，具体用于：通过向所述通路开关输出脉冲宽度调制PWM信号，控制所述M个电芯的放电时间。
  52. 根据权利要求51所述的可移动平台，其特征在于，所述控制器，还用于：根据所述M个电芯的当前电压与所述N个电芯的平均电压之间的压差，确定所述PWM信号的占空比。
  53. 根据权利要求52所述的可移动平台，其特征在于，所述控制器，具体用于：根据所述压差与预设电压差的比值，确定所述PWM信号的占空比。
  54. 根据权利要求52所述的可移动平台，其特征在于，所述控制器，具体用于：根据压差与占空比之间的对应关系，确定所述电芯的电压与所述平均电压之间的压差对应的占空比；以及将确定的所述占空比作为所述电芯对应的所述PWM信号的占空比。
  55. 根据权利要求51-54任意一项所述的可移动平台，其特征在于，所述PWM信号的占空比小于或等于预设占空比；所述预设占空比为小于或等于所述负载的额定功率与当前实际功率的比值。
  56. 根据权利要求46-55任意一项所述的可移动平台，其特征在于，所述均衡控制电路，具体用于：在电压均衡周期到达时，检测所述N个电芯中每个电芯的电压；并根据N个电芯的电压，从所述N个电芯中确定需要被动均衡的M个电芯；以及在所述电压均衡周期内时，对所述M个电芯进行放 电处理；其中，在所述电压均衡周期内每个电芯的放电电压不小于预设电压。
  57. 根据权利要求46-56任意一项所述的可移动平台，其特征在于，还包括：所述电池，所述电池设置在所述可移动平台的机身内。
  58. 根据权利要求46-57任意一项所述的可移动平台，其特征在于，还包括：充电电路，用于对所述电池进行充电，其中，所述充电电路设置在所述可移动平台的机身内。
  59. 根据权利要求46-58任意一项所述的可移动平台，其特征在于，所述可移动平台为无人飞行器，或者，地面遥控车，或者，手持云台。
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