WO2026021189A1 - 一种高能效锂电池单轨吊机车及其电池管理系统 - Google Patents

一种高能效锂电池单轨吊机车及其电池管理系统

Info

Publication number
WO2026021189A1
WO2026021189A1 PCT/CN2025/105539 CN2025105539W WO2026021189A1 WO 2026021189 A1 WO2026021189 A1 WO 2026021189A1 CN 2025105539 W CN2025105539 W CN 2025105539W WO 2026021189 A1 WO2026021189 A1 WO 2026021189A1
Authority
WO
WIPO (PCT)
Prior art keywords
battery
soc
sensor
management system
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2025/105539
Other languages
English (en)
French (fr)
Inventor
朱真才
卢昊
陈新忠
杨文庆
彭玉兴
汤裕
王威
马华旭
王丽杰
闫鹏伟
董润桢
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
Xuzhou University of Technology
Original Assignee
China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
Xuzhou University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China University of Mining and Technology CUMT, China University of Mining and Technology Beijing CUMTB, Xuzhou University of Technology filed Critical China University of Mining and Technology CUMT
Priority to AU2025275245A priority Critical patent/AU2025275245A1/en
Publication of WO2026021189A1 publication Critical patent/WO2026021189A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
    • 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
    • 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
    • B60L58/18—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules
    • B60L58/22—Balancing the charge of battery modules
    • 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
    • B60L58/25—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 by controlling the electric load
    • 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
    • B60L58/27—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 by heating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B61B13/04—Monorail systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B3/00—Elevated railway systems with suspended vehicles
    • B61B3/02—Elevated railway systems with suspended vehicles with self-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
    • B61C17/06—Power storing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C3/00—Electric locomotives or railcars
    • B61C3/02—Electric locomotives or railcars with electric accumulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C9/00—Locomotives or motor railcars characterised by the type of transmission system used; Transmission systems specially adapted for locomotives or motor railcars
    • B61C9/38—Transmission systems in or for locomotives or motor railcars with electric motor propulsion
    • B61C9/46—Transmission systems in or for locomotives or motor railcars with electric motor propulsion with motors forming parts of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/041—Obstacle detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/021—Measuring and recording of train speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • 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
    • B60L2200/26—Rail 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
    • 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
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/545—Temperature
    • 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
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/547—Voltage
    • 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
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/549—Current
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F13/00—Transport specially adapted to underground conditions

Definitions

  • This invention relates to the field of mining transportation, specifically to a high-efficiency lithium battery monorail crane and its battery management system.
  • the working conditions of monorail locomotives underground are complex, with many slopes and curves in the tunnels and complex geological conditions.
  • the monorail locomotives consume a lot of energy under heavy loads. It is necessary to develop a high-efficiency monorail locomotive operation mode to improve energy utilization.
  • this invention provides a high-efficiency lithium battery monorail crane, comprising a drive unit, a battery unit, and a carrying trolley.
  • the carrying trolley is used to carry goods
  • the battery unit is used to output power to the drive unit
  • the drive unit is used to drive the crane to move.
  • the battery unit includes a battery management system, a supercapacitor, and a battery pack composed of several individual cells.
  • the battery management system is used to obtain the minimum state of charge difference ⁇ SOC min between individual cells in the battery pack, the state of charge SOC n of each individual cell, the maximum state of charge SOC max of each individual cell, and the minimum state of charge SOC min of each individual cell, where n is the cell number, i.e., the state of charge of each individual cell is denoted as SOC 1... SOC n .
  • the supercapacitor and the battery pack are controlled by the battery management system for charging and discharging.
  • the battery cell also includes a voltage sensor, a current sensor, and an alarm device; the voltage sensor is used to monitor the voltage of a single battery cell, the current sensor is used to monitor the current of a single battery cell, and the alarm device is used to issue an alarm when a single battery cell is overcharged or over-discharged.
  • the speed sensor is used to monitor the operating speed of the monorail locomotive
  • the weight sensor is used to monitor the weight carried by the trolley
  • the lidar sensor is used to monitor the road conditions ahead of the monorail locomotive and the inclination angle of the suspended track
  • the positioning device is used to monitor the position of the monorail locomotive
  • the data from the speed sensor, weight sensor, lidar sensor, and positioning device are transmitted to the control module, which is used to analyze the next stage power demand Preq of the monorail locomotive.
  • the drive unit includes a synchronous reluctance motor, a drive wheel, a hydraulic braking unit, and a pressure sensor; the drive wheel is driven by the synchronous reluctance motor, and the pressure sensor is installed on the hydraulic braking unit to monitor the braking pressure of the hydraulic braking unit, which is used to clamp the suspension rail to achieve braking; the data from the pressure sensor is transmitted to the control module, and the synchronous reluctance motor and the hydraulic braking unit are controlled by the control module.
  • the battery balancing unit When the battery pack is in a charging state, the individual cells are charged and balanced.
  • the battery balancing unit first obtains the state of charge (SOC n) of each individual cell and the maximum state of charge (SOC max) among them.
  • > ⁇ SOC min that is, the corresponding individual cell needs to be charged
  • the battery balancing unit charges the individual cell that needs to be charged through the supercapacitor until the corresponding
  • the battery balancing unit When the battery pack is in a discharging state, the individual cells are balanced.
  • the battery balancing unit first obtains the state of charge (SOC n) of each individual cell and the minimum state of charge (SOC min) of each individual cell. When
  • the battery management system also includes a voltage sensor, a current sensor, an alarm device, and an overcharge or over-discharge protection unit; when the charging voltage of a single battery cell is higher than the maximum allowable voltage or the charging current of a single battery cell is higher than the maximum allowable current, the overcharge or over-discharge protection unit controls the single battery cell to stop charging; when the discharging voltage of a single battery cell is lower than the minimum allowable voltage or the discharging current of a single battery cell is lower than the minimum allowable current, the overcharge or over-discharge protection unit controls the single battery cell to stop discharging; when the overcharge or over-discharge protection unit fails, the alarm device is activated to issue an alarm.
  • the battery management system also includes temperature sensors, heaters, and a thermal management and protection system.
  • the thermal management and protection system detects the temperature of individual cells and compares the average temperature T of the temperature sensor at the individual cell with the minimum starting temperature Tmin . If T ⁇ Tmin , the monorail crane starts normally; if T ⁇ Tmin , the thermal management and protection system turns on the heater to heat the individual cells until T ⁇ Tmin .
  • the average temperature value T of the temperature sensor at each individual cell is compared with the maximum allowable temperature Tmax .
  • T ⁇ Tmax the charging and discharging rate is reduced.
  • the thermal management and protection system continuously monitors the temperature of each individual cell until T ⁇ Tmax .
  • the battery management system also includes a control module, speed sensor, weight sensor, lidar sensor, and positioning device; the battery management system's transportation modes include a high-energy-consuming mode and an operating mode.
  • the current speed Vk of the monorail crane is obtained through the speed sensor.
  • the lidar sensor detects a switch or curve, or when the positioning device detects a preset route node
  • the power demand Preq for the next stage is obtained through the speed sensor, load weight, and the inclination angle of the track ahead.
  • the operating mode of the monorail crane is selected according to Preq .
  • Preq > P0 the transportation mode is set to high-energy consumption mode; when 0 ⁇ Preq ⁇ P0 , the transportation mode is set to normal mode.
  • P0 is the preset power demand threshold value.
  • SOC is the remaining battery capacity
  • SOC L is the average SOC of individual cells in the battery pack
  • SOC Lsub is the lower limit of the battery pack's state of charge (SOC L)
  • SOC Lup is the upper limit of the battery pack's state of charge (SOC L)
  • SOC Csub is the lower limit of the supercapacitor's state of charge (SOC C)
  • SOC Cup is the upper limit of the supercapacitor's state of charge (SOC C) .
  • the battery pack and supercapacitor work together to output power.
  • SOC L ⁇ SOC Lsub the supercapacitor outputs power as an auxiliary power source.
  • SOC C ⁇ SOC Csub the supercapacitor's power energy is exhausted, and the control module controls the alarm device to issue a warning.
  • the battery pack is driven independently first.
  • SOC L ⁇ SOC Lsub the supercapacitor outputs power as an auxiliary power source.
  • SOC C ⁇ SOC Csub the supercapacitor's power energy is exhausted, and the control module controls the alarm device to issue a warning.
  • the drive unit includes a synchronous reluctance motor, drive wheels, a hydraulic braking unit, and a pressure sensor;
  • the battery management system also includes a regenerative braking mode, which includes braking under smooth operating conditions and braking under complex operating conditions.
  • Braking under stable operating conditions includes: sending a braking signal during braking to control the synchronous reluctance motor to generate negative torque to achieve braking and energy recovery.
  • Braking under complex operating conditions includes: a lidar sensor scanning the road conditions ahead of the monorail gantry; the control module collecting and processing lidar sensor information; and when a damper, foreign object, or person is detected ahead of the monorail gantry, the battery pack and supercapacitor stop outputting power to the synchronous reluctance motor.
  • the control module calculates the estimated braking distance and recovers potential and kinetic energy based on the monorail gantry's current speed, weight, and gradient angle, thereby calculating the required braking torque and distributing the hydraulic and motor reverse braking.
  • the distribution method is as follows:
  • a pressure sensor is installed on the hydraulic braking unit.
  • the braking pressure of the hydraulic braking unit is calculated and controlled by the pressure sensor value.
  • the remaining braking force is controlled by the synchronous reluctance motor to generate negative torque to achieve braking and energy recovery.
  • the energy generated by the synchronous reluctance motor in reverse is converted into electrical energy, which first charges the battery pack in reverse.
  • SOC L > SOC Lup charging of the battery pack stops, and the remaining electrical energy charges the supercapacitor.
  • SOC C > SOC Cup the excess energy is consumed by discharging.
  • This invention designs a battery management system for underground monorail crane vehicles. By dynamically monitoring the working status and temperature changes of the battery pack, it achieves balanced energy management of lithium batteries and underground safety protection functions. By controlling the energy output of the battery pack and supercapacitor and the recovery of braking energy under different operating modes, it achieves the best performance of the monorail crane vehicle and extends the battery life, thereby improving the transportation efficiency of the underground monorail crane vehicle.
  • Figure 1 is a schematic diagram of the high-efficiency lithium battery monorail crane of the present invention.
  • FIG. 2 is a schematic diagram of the battery management system in this invention.
  • FIG. 3 is a schematic diagram of the control module in this invention.
  • Figure 4 is a schematic diagram of the driving and braking process in this invention.
  • this embodiment of a high-efficiency lithium battery monorail crane uses a suspended track for movement and includes a driver's cab 1, a drive unit 2, a battery unit 3, and a carrier trolley 4.
  • the battery unit 3 includes a battery management system, a supercapacitor 5, and a battery pack 7 composed of several individual cells 6, preferably a lithium battery pack.
  • the battery management system acquires the minimum state of charge difference ⁇ SOC min between the individual cells 6 in the battery pack 7, the state of charge SOC n of each individual cell 6, the maximum state of charge SOC max of each individual cell 6, and the minimum state of charge SOC min of each individual cell 6.
  • the supercapacitor 5 and the battery pack 7 are controlled by the battery management system for charging and discharging.
  • the charging and discharging of battery pack 7 and supercapacitor 5 are managed by a battery management system. During the charging and discharging process, supercapacitor 5 acts as a buffer to reduce fluctuations in charging and discharging current and voltage.
  • the battery cell 3 in this embodiment also includes a voltage sensor 8, a current sensor 9, and an alarm device 10.
  • the voltage sensor 8 and the current sensor 9 are used to monitor the voltage and current of the individual battery cell 6, and the alarm device 10 is used to issue an alarm when the individual battery cell 6 is overcharged or over-discharged.
  • the battery cell 3 in this embodiment also includes a temperature sensor 11 and a heater 12.
  • a PTC heater 12 is preferably used.
  • the temperature sensor 11 is used to monitor the temperature of the individual battery cell 6. When the average temperature T of the individual battery cell 6 is lower than the minimum start-up temperature T min , the heater 12 heats the individual battery cell 6 to prevent the battery temperature from being too low and affecting the efficiency.
  • the system also includes a control module, a speed sensor 13, a weight sensor 14, a lidar sensor 15, and a positioning device 16.
  • the speed sensor 13 monitors the operating speed of the monorail trolley;
  • the weight sensor 14 monitors the weight carried by the trolley 4;
  • the lidar sensor 15 monitors the road conditions ahead of the monorail trolley and the inclination angle of the suspended track;
  • the positioning device 16 monitors the position of the monorail trolley; and the data from the speed sensor 13, weight sensor 14, lidar sensor 15, and positioning device 16 are transmitted to the control module, which analyzes the next stage power requirement Preq of the monorail trolley.
  • the drive unit 2 includes a synchronous reluctance motor 17, a drive wheel 18, a hydraulic braking unit 19, and a pressure sensor 20; the drive wheel 18 is driven by the synchronous reluctance motor 17, and the pressure sensor 20 is installed on the hydraulic braking unit 19 to monitor the braking pressure of the hydraulic braking unit 19.
  • the hydraulic braking unit 19 is used to clamp the suspension rail to achieve braking; the data of the pressure sensor 20 is transmitted to the control module, and the synchronous reluctance motor 17 and the hydraulic braking unit 19 are controlled by the control module.
  • the synchronous reluctance motor 17 can be used for braking, or the hydraulic braking unit 19 can be added for braking.
  • the battery management system of this embodiment is applied to the monorail crane in the above embodiment.
  • the battery management system includes a battery balancing unit and includes the following steps:
  • the battery balancing unit When the battery pack 7 is in the charging state, the individual cells 6 are charged and balanced.
  • the battery balancing unit first obtains the state of charge (SOC n) of each individual cell 6 and the maximum state of charge (SOC max ) among them.
  • > ⁇ SOC min that is, the corresponding individual cell 6 needs to be charged
  • the battery balancing unit charges the individual cell 6 that needs to be charged through the supercapacitor 5 until the corresponding
  • the battery balancing unit When battery pack 7 is in a discharging state, the individual cells 6 are discharged and balanced.
  • the battery balancing unit first obtains the state of charge (SOC n) of each individual cell 6 and the minimum state of charge (SOC min) of each individual cell 6.
  • > ⁇ SOC min that is, the corresponding individual cell 6 needs to be discharged
  • the battery balancing unit discharges the individual cell 6 that needs to be discharged through the supercapacitor 5 until the corresponding
  • the battery management system further includes a voltage sensor 8, a current sensor 9, an alarm device 10, and an overcharge or over-discharge protection unit.
  • the charging voltage of a single cell 6 is higher than the maximum allowable voltage or the charging current of a single cell 6 is higher than the maximum allowable current
  • the single cell 6 is controlled to stop charging.
  • the discharging voltage of a single cell 6 is lower than the minimum allowable voltage or the discharging current of a single cell 6 is lower than the minimum allowable current, the single cell 6 is controlled to stop discharging.
  • the overcharge or over-discharge protection unit fails, the alarm device 10 is activated.
  • the battery management system further includes a temperature sensor 11, a heater 12, and a thermal management and protection system.
  • the thermal management and protection system detects the temperature of the individual battery 6 and compares the average temperature value T of the individual battery 6 temperature sensor 11 with the minimum starting temperature Tmin . If T ⁇ Tmin , the monorail crane starts normally; if T ⁇ Tmin , the thermal management and protection system turns on the heater 12 to heat the individual battery 6 until T ⁇ Tmin .
  • the average temperature value T of the temperature sensor 11 of the individual cell 6 is compared with the maximum allowable temperature Tmax .
  • T ⁇ Tmax the charging and discharging rate is reduced.
  • the thermal management and protection system continuously monitors the temperature of the individual cell 6 until T ⁇ Tmax .
  • the monorail crane includes a control module, a speed sensor 13, a weight sensor 14, a lidar sensor 15, and a positioning device 16.
  • a control module When the monorail crane is heavily loaded or on an uphill track, the required power is high, so a high-energy-consumption mode is selected.
  • an operating mode is selected, including:
  • the current speed Vk of the monorail crane is obtained by speed sensor 13.
  • the required power Preq for the next stage is obtained by speed sensor 13, load weight, and the inclination angle of the track ahead.
  • the operating mode of the monorail crane is selected according to Preq , and the required power threshold value is set to P0 .
  • Preq > P0 the transportation mode is set to high energy consumption mode; when 0 ⁇ Preq ⁇ P0 , the transportation mode is set to operating mode.
  • Time k is any time during the operation of the monorail crane, and time k+1 is the time one unit after time k. The specific unit of measurement can be selected according to actual needs.
  • SOC is the remaining battery capacity
  • SOC L is the average SOC of individual cells 6 in battery pack 7
  • SOC Lsub is the lower limit of SOC L of battery pack 7
  • SOC Lup is the upper limit of SOC L of battery pack 7
  • SOC Csub is the lower limit of SOC C of supercapacitor 5
  • SOC Cup is the upper limit of SOC C of supercapacitor 5.
  • the battery pack 7 and the supercapacitor 5 jointly output power.
  • SOC L ⁇ SOC Lsub the supercapacitor 5 outputs power as an auxiliary power source.
  • SOC C ⁇ SOC Csub the supercapacitor 5's power energy is exhausted, and the control module controls the alarm device 10 to issue a warning.
  • the high temperature protection of the individual battery 6 is not considered.
  • battery pack 7 is driven independently first.
  • SOC L ⁇ SOC Lsub supercapacitor 5 outputs power as an auxiliary power source.
  • SOC C ⁇ SOC Csub the power energy of supercapacitor 5 is exhausted, and the alarm device 10 is controlled by the control module to issue a warning.
  • the drive unit 2 includes a synchronous reluctance motor 17, a drive wheel 18, a hydraulic braking unit 19, and a pressure sensor 20, and also includes a regenerative braking mode for the monorail locomotive, which includes braking under stable operating conditions and braking under complex operating conditions.
  • Smooth operating condition braking refers to the process where the monorail crane is traveling smoothly on a horizontal track.
  • the monorail crane can slowly decelerate and send a braking signal to control the synchronous reluctance motor 17 to generate negative torque to achieve braking and energy recovery.
  • the lidar sensor 15 scans the road conditions ahead of the monorail crane.
  • the control module collects and processes the information from the lidar sensor 15.
  • the battery pack 7 and supercapacitor 5 stop outputting to the synchronous reluctance motor 17.
  • the control module calculates the estimated braking distance and recovers potential and kinetic energy based on the current speed, weight, and slope angle of the monorail crane, thereby calculating the required braking torque and realizing the distribution of hydraulic and motor reverse braking.
  • the distribution method is as follows:
  • Pressure sensor 20 is installed on hydraulic braking unit 19.
  • Control unit calculates and controls braking pressure of hydraulic braking unit 19 based on the value sensed by pressure sensor 20. Residual braking force is used to generate negative torque by controlling synchronous reluctance motor 17 to achieve braking and energy recovery. This energy recovery method results in less friction and wear on brake shoes on hydraulic braking unit 19 and can effectively recover excess kinetic or potential energy during downhill braking.
  • the energy generated by the synchronous reluctance motor 17 in reverse is converted into electrical energy, which is first reverse-charged to the battery pack 7 via the inverter.
  • SOC L > SOC Lup charging of the battery pack 7 stops.
  • the remaining electrical energy is charged to the supercapacitor 5 through the DC/DC converter.
  • SOC C > SOC Cup the excess energy is consumed by the discharge load.
  • the battery management system After the battery management system determines that the operating mode is a high-energy-consumption mode, it reallocates the power output of battery pack 7 and supercapacitor 5, thereby controlling the locomotive's operating speed and avoiding sudden large fluctuations in the battery pack 7's charge level; it also uses fuzzy control based on the fruit fly optimization algorithm to allocate the power output of the composite power supply.

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Abstract

本发明为一种高能效锂电池单轨吊机车及其电池管理系统，单轨吊机车包括驱动部、电池单元和承载小车，承载小车用于承载货物，电池单元用于向驱动部输出电力，驱动部用于驱动机车移动；电池单元包括电池管理系统、超级电容和由若干单体电池组成的电池组，电池管理系统用于获取电池组中各单体电池之间的最小荷电状态差值ΔSOCmin、各单体电池荷电状态SOCn、各单体电池中最大荷电状态SOCmax和各单体电池中最小荷电状态SOCmin，超级电容和电池组由电池管理系统控制充电和放电。利用电池管理系统对电池组和超级电容的充放电进行管理，在充放电的过程中，超级电容起到缓冲的作用，降低充放电电流与电压的波动。

Description

一种高能效锂电池单轨吊机车及其电池管理系统
相关申请
本申请要求于2024年07月23日提交中国专利局、申请号为202410989947.3，申请名称为“一种高能效锂电池单轨吊机车及其电池管理系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及采矿运输领域，具体涉及一种高能效锂电池单轨吊机车及其电池管理系统。
背景技术
近年来，我国煤炭工业的生产规模及机械化生产水平都有大幅度提升，为适应井下运输环节多、巷道环境复杂的特点，推行高效的辅助运输装备是现阶段我国煤炭行业发展的一个重要环节。作为一种井下高产高效的重要辅助运输方式，单轨吊机车具有本机截面小、巷道断面空间利用率高、装卸方便等优点。
目前，我国各大煤矿的单轨吊机车所用的动力系统主要有柴油机动力系统和蓄电池动力系统两种。传统的柴油机单轨吊机车存在噪音大、废气污染严重和成本较高等问题，而铅酸蓄电池具有重金属污染、体积大、重量大、充电频繁等问题。针对井下空间有限、电池续航时间要求高的特点，需对以往的防爆铅蓄电池做出改进。锂电池能量密度高，循环寿命长、维护简单且对环境友好，随着锂离子电池工艺技术的成熟，可研制符合井下隔爆技术要求的锂离子蓄电池电源。
单轨吊机车井下工作条件复杂，巷道中坡道与弯道多，地质条件复杂，单轨吊机车运行在大功率充放电状态下，充放电电流与电压波动较大，容量衰减过快，且锂离子电池体积较大，能量密度低，单轨吊机车重载情况下耗能较大，有必要发展高能效单轨吊机车的运行模式，提高能量利用率。
发明内容
为了解决上述现有技术中存在的问题，本发明提供一种高能效锂电池单轨吊机车，包括驱动部、电池单元和承载小车，承载小车用于承载货物，电池单元用于向驱动部输出电力，驱动部用于驱动机车移动；电池单元包括电池管理系统、超级电容和由若干单体电池组成的电池组，电池管理系统用于获取电池组中各单体电池之间的最小荷电状态差值ΔSOCmin、各单体电池荷电状态SOCn、各单体电池中最大荷电状态SOCmax和各单体电池中最小荷电状态SOCmin，n为电池编号，即各单体电池荷电状态记作SOC1…SOCn；超级电容和电池组由电池管理系统控制充电和放电。
进一步的，所述电池单元还包括电压传感器、电流传感器和报警装置；电压传感器用于监测单体电池的电压，电流传感器用于监测单体电池的电流，报警装置用于在单体电池过充或过放时发出警报。
进一步的，所述电池单元还包括温度传感器和加热器；温度传感器用于监测单体电池的温度；在平均温度值T低于启动最低温度Tmin时，加热器对单体电池进行加热，其中平均温度值T为所有单体电池的平均温度。
进一步的，还包括控制模块、速度传感器、重量传感器、激光雷达传感器和定位装置；速度传感器用于监测单轨吊机车的运行速度，重量传感器用于监测承载小车所承载的重量；激光雷达传感器用于监测单轨吊机车前方路况和悬挂轨道倾角；定位装置用于监测单轨吊机车的位置；速度传感器、重量传感器、激光雷达传感器和定位装置的数据传输至控制模块，控制模块用于分析单轨吊机车的下一阶段需求功率Preq。
进一步的，驱动部包括同步磁阻电机、驱动轮、液压制动单元和压力传感器；驱动轮由同步磁阻电机传动，压力传感器设置在液压制动单元上，用于监测液压制动单元的制动压力，液压制动单元用于夹紧悬挂轨道实现制动；压力传感器的数据传输至控制模块，同步磁阻电机和液压制动单元由控制模块控制。
本发明还提供一种高能效锂电池单轨吊机车的电池管理系统，应用于如上述的单轨吊机车，所述电池管理系统包括电池均衡单元，电池均衡单元进行均衡管理时，包括以下步骤：
S1、根据电池组电流大小与方向，判断电池组状态处于充电状态或放电状态；获取电池组内各单体电池中的最小荷电状态差值ΔSOCmin；
S2、当电池组处于充电状态时，对单体电池进行充电均衡，电池均衡单元首先获取各单体电池荷电状态SOCn与其中最大荷电状态SOCmax，当∣SOCn-SOCmax∣＞ΔSOCmin时，即对应的单体电池需要充电，此时电池均衡单元通过超级电容对所需要充电的单体电池进行充电，直至对应的∣SOCn-SOCmax∣≤ΔSOCmin，停止均衡；
当电池组处于放电状态时，对单体电池进行放电均衡，电池均衡单元首先获取各单体电池荷电状态SOCn与各单体电池中最小荷电状态SOCmin，当∣SOCn-SOCmin∣＞ΔSOCmin时，即对应的单体电池需要放电，此时电池均衡单元通过超级电容将所需要放电的单体电池进行放电，直至对应的∣SOCn-SOCmin∣≤ΔSOCmin，停止均衡。
进一步的，电池管理系统还包括电压传感器、电流传感器、报警装置和过充或过放保护单元；当单体电池充电电压高于最高允许电压或单体电池充电电流高于最高允许电流时，过充或过放保护单元控制单体电池停止充电；当单体电池放电电压低于最低允许电压或单体电池放电电流低于最低允许电流时，过充或过放保护单元控制单体电池停止放电；当过充或过放保护单元失效时启动报警装置发出警报。
进一步的，电池管理系统还包括温度传感器、加热器和热管理及保护系统；单轨吊机车启动前，热管理及保护系统检测单体电池温度并将单体电池处温度传感器的平均温度值T与启动最低温度Tmin进行对比，若T≥Tmin，则单轨吊机车正常启动；若T＜Tmin，热管理及保护系统打开加热器对单体电池进行加热直至T≥Tmin。
电池组运行或充电过程中时，将单体电池处温度传感器的平均温度值T与允许最高温度Tmax进行对比，当T≥Tmax时，控制降低充放电速率，热管理及保护系统持续检测单体电池温度，直至T＜Tmax。
进一步的，还包括控制模块、速度传感器、重量传感器、激光雷达传感器和定位装置；电池管理系统的运输模式包括高耗能模式和运行模式：
在t＝k时刻，通过速度传感器获取当前时刻单轨吊机车运行速度Vk，当激光雷达传感器检测到道岔或弯道时，或定位装置检测到预设路线节点时，通过激光雷达传感器、Vk与定位装置预测t＝k+1时刻运行速度Vk+1，通过速度传感器、负载重量和前方轨道倾角获取下一阶段需求功率Preq；根据Preq选择单轨吊机车的工作模式，当Preq＞P0时，将运输模式设置为高耗能模式；当0＜Preq≤P0时，将运输模式设置为运行模式；其中P0为预设的需求功率分界值。
SOC为电池剩余电量，SOCL为电池组内单体电池的平均SOC，SOCLsub为电池组荷电状态SOCL的下限值，SOCLup为电池组荷电状态SOCL的上限值，SOCCsub为超级电容荷电状态SOCC的下限值，SOCCup为超级电容荷电状态SOCC的上限值。
在高耗能模式下，电池组与超级电容共同输出动力，当SOCL＜SOCLsub时，超级电容作为辅助动力源输出功率；当SOCC＜SOCCsub时，超级电容动力能量耗尽，由控制模块控制报警装置进行预警。
运行模式下，电池组首先单独驱动，当SOCL＜SOCLsub时，超级电容作为辅助动力源输出功率，当SOCC＜SOCCsub时，超级电容动力能量耗尽，由控制模块控制报警装置进行预警。
进一步的，驱动部包括同步磁阻电机、驱动轮、液压制动单元和压力传感器；电池管理系统还包括制动回收模式，制动回收模式包括平稳工况制动和复杂工况制动：
平稳工况制动包括：制动时发送制动信号，控制同步磁阻电机产生负扭矩实现制动并实现能量回收。
复杂工况制动包括：激光雷达传感器扫描单轨吊机车前方路况，控制模块采集并处理激光雷达传感器信息，当检测到单轨吊机车前方存在风门、异物或人员时，电池组与超级电容停止向同步磁阻电机输出电力，控制模块根据单轨吊机车当前速度、单轨吊机车重量和坡度倾角计算预计制动距离和回收势能与动能，从而计算制动所需扭矩，实现液压与电机反转制动的分配，分配方法如下：
压力传感器安装在液压制动单元上，通过压力传感器感测值计算并控制液压制动单元的制动压力；剩余制动力通过控制同步磁阻电机产生负扭矩实现制动并实现能量回收；同步磁阻电机反转产生的能量转化为电能，首先向电池组反向充电，当SOCL＞SOCLup时，停止向电池组充电，剩余电能向超级电容充电，当SOCC＞SOCCup时，通过放电消耗多余的能量。
本发明设计了井下单轨吊机车用电池管理系统，通过动态监测电池组工作状态与温度变化，实现锂电池能量均衡管理与井下安全保护功能；通过控制不同运行模式下电池组与超级电容的能量输出和制动能量回收，实现单轨吊机车运行的最佳性能与延长电池使用寿命，提高了井下单轨吊机车运输效率。
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简单地介绍，显而易见地，下面描述中的附图仅仅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是本发明高能效锂电池单轨吊机车的示意图。
图2是本发明中电池管理系统示意图。
图3是本发明中控制模块示意图。
图4是本发明中驱动和制动流程示意图。
图中：1、驾驶舱；2、驱动部；3、电池单元；4、承载小车；5、超级电容；6、单体电池；7、电池组；8、电压传感器；9、电流传感器；10、报警装置；11、温度传感器；12、加热器；13、速度传感器；14、重量传感器；15、激光雷达传感器；16、定位装置；17、同步磁阻电机；18、驱动轮；19、液压制动单元；20、压力传感器。
具体实施方式
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，所描述的实施例仅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做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。
实施例1：
如图1所示，本实施例的一种高能效锂电池单轨吊机车，利用悬挂轨道进行移动，包括驾驶舱1、驱动部2、电池单元3和承载小车4。
电池单元3包括电池管理系统、超级电容5和由若干单体电池6组成的电池组7，优选为锂电池组；电池管理系统获取电池组7各单体电池6之间的最小荷电状态差值ΔSOCmin、各单体电池6荷电状态SOCn、各单体电池6中最大荷电状态SOCmax和各单体电池6中最小荷电状态SOCmin，其中超级电容5和电池组7由电池管理系统控制充电和放电。
利用电池管理系统对电池组7和超级电容5的充放电进行管理，在充放电的过程中，超级电容5起到缓冲的作用，降低充放电电流与电压的波动。
本实施例的电池单元3还包括电压传感器8、电流传感器9和报警装置10。电压传感器8和电流传感器9用于监测单体电池6的电压和电流，报警装置10用于在单体电池6过充或过放时发出警报。
本实施例的电池单元3还包括温度传感器11和加热器12，本实施例优选采用PTC加热器12；温度传感器11用于监测单体电池6的温度，在单体电池6的平均温度值T低于启动最低温度Tmin时，加热器12对单体电池6进行加热，防止电池温度过低影响效率。
优选的，还包括控制模块、速度传感器13、重量传感器14、激光雷达传感器15和定位装置16。速度传感器13用于监测单轨吊机车的运行速度；重量传感器14用于监测承载小车4所承载的重量；激光雷达传感器15用于监测单轨吊机车前方路况和悬挂轨道倾角；定位装置16用于监测单轨吊机车的位置；速度传感器13、重量传感器14、激光雷达传感器15和定位装置16的数据传输至控制模块，控制模块用于分析单轨吊机车的下一阶段需求功率Preq。
优选的，驱动部2包括同步磁阻电机17、驱动轮18、液压制动单元19和压力传感器20；驱动轮18由同步磁阻电机17传动，压力传感器20设置在液压制动单元19上，用于监测液压制动单元19的制动压力，液压制动单元19用于夹紧悬挂轨道实现制动；压力传感器20的数据传输至控制模块，同步磁阻电机17和液压制动单元19由控制模块控制，制动时可以选择用同步磁阻电机17制动，或增加液压制动单元19制动。
实施例2：
本实施例的电池管理系统，应用于上述实施例中的单轨吊机车，参见图2，电池管理系统包括电池均衡单元，包括以下步骤：
S1、根据电池组7电流大小与方向，判断电池组7状态处于充电状态或放电状态；获取电池组7内各单体电池6中的最小荷电状态差值ΔSOCmin。
S2、当电池组7处于充电状态时，对单体电池6进行充电均衡，电池均衡单元首先获取各单体电池6荷电状态SOCn与其中最大荷电状态SOCmax，当∣SOCn-SOCmax∣＞ΔSOCmin时，即对应的单体电池6需要充电，此时电池均衡单元通过超级电容5对所需要充电的单体电池6进行充电，直至对应的∣SOCn-SOCmax∣≤ΔSOCmin，停止均衡；
当电池组7处于放电状态时，对单体电池6进行放电均衡，电池均衡单元首先获取各单体电池6荷电状态SOCn与各单体电池6中最小荷电状态SOCmin，当∣SOCn-SOCmin∣＞ΔSOCmin时，即对应的单体电池6需要放电，此时电池均衡单元通过超级电容5将所需要放电的单体电池6进行放电，直至对应的∣SOCn-SOCmin∣≤ΔSOCmin，停止均衡。
优选的，电池管理系统还包括电压传感器8、电流传感器9、报警装置10和过充或过放保护单元，当单体电池6充电电压高于最高允许电压或单体电池6充电电流高于最高允许电流时，控制单体电池6停止充电；当单体电池6放电电压低于最低允许电压或单体电池6放电电流低于最低允许电流时，控制单体电池6停止放电，当过充或过放保护单元失效时启动报警装置10。
优选的，电池管理系统还包括温度传感器11、加热器12和热管理及保护系统，单轨吊机车启动前，热管理及保护系统检测单体电池6温度并将单体电池6温度传感器11的平均温度值T与启动最低温度Tmin进行对比，若T≥Tmin，则单轨吊机车正常启动；若T＜Tmin，热管理及保护系统打开加热器12对单体电池6进行加热直至T≥Tmin。
电池组7运行或充电过程中时，将单体电池6温度传感器11的平均温度值T与允许最高温度Tmax进行对比，T≥Tmax时，控制降低充放电速率，热管理及保护系统持续检测单体电池6温度，直至T＜Tmax。
优选的，参见图3，单轨吊机车包括控制模块、速度传感器13、重量传感器14、激光雷达传感器15和定位装置16；当单轨吊机车处于重载和上坡轨道时，此时所需功率较大，选择高耗能模式；当单轨吊机车空载或在水平轨道运行时，或所需功率一般，选择运行模式，包括：
在t＝k时刻，通过速度传感器13获取当前时刻单轨吊机车运行速度Vk，激光雷达传感器15检测到道岔或弯道时，或定位装置16检测到预设路线节点时，通过激光雷达传感器15、Vk与定位装置16预测t＝k+1时刻运行速度Vk+1，通过速度传感器13、负载重量和前方轨道倾角获取下一阶段需求功率Preq；根据Preq选择单轨吊机车的工作模式，设定需求功率分界值为P0，当Preq＞P0时，将运输模式设置为高耗能模式；当0＜Preq≤P0时，将运输模式设置为运行模式；k时刻是单轨吊机车运行时的任意时刻，k+1时刻是k时刻过后一个计量单位的时刻，具体的计量单位可以根据实际需要选择。
SOC为电池剩余电量，SOCL为电池组7内单体电池6的平均SOC，SOCLsub为电池组7荷电状态SOCL的下限值，SOCLup为电池组7的SOCL的上限值，SOCCsub为超级电容5荷电状态SOCC的下限值，SOCCup为超级电容5的SOCC的上限值。
参见图4，高耗能模式下，电池组7与超级电容5共同输出动力，当SOCL＜SOCLsub时，超级电容5作为辅助动力源输出功率，当SOCC＜SOCCsub时，超级电容5动力能量耗尽，由控制模块控制报警装置10进行预警；当然，在高耗能模式下，不考虑单体电池6的高温保护。
运行模式下，电池组7首先单独驱动，当SOCL＜SOCLsub时，超级电容5作为辅助动力源输出功率，当SOCC＜SOCCsub时，超级电容5动力能量耗尽，由控制模块控制报警装置10进行预警。
优选的，驱动部2包括同步磁阻电机17、驱动轮18、液压制动单元19和压力传感器20，还包括单轨吊机车设置制动回收模式，制动回收模式包括平稳工况制动和复杂工况制动。
平稳工况制动为单轨吊机车平稳行驶在水平轨道情况下，单轨吊机车可以缓慢减速，制动时发送制动信号，控制同步磁阻电机17产生负扭矩实现制动并实现能量回收。
复杂工况制动为下坡、弯道或紧急制动工况等情况下，激光雷达传感器15扫描单轨吊机车前方路况，控制模块采集并处理激光雷达传感器15信息，当检测到单轨吊机车前方存在风门、异物或人员时，电池组7与超级电容5停止向同步磁阻电机17输出，控制模块根据单轨吊机车当前速度、单轨吊机车重量和坡度倾角计算预计制动距离和回收势能与动能，从而计算制动所需扭矩，实现液压与电机反转制动的分配，分配方法如下：
压力传感器20安装在液压制动单元19上，控制单元通过压力传感器20感测值计算并控制液压制动单元19制动压力。剩余制动力通过控制同步磁阻电机17产生负扭矩实现制动并实现能量回收，此能量回收方式对液压制动单元19上的制动闸瓦摩擦磨损较小且可以有效回收下坡制动过程中多余的动能或势能。
同步磁阻电机17反转产生的能量转化为电能，经由逆变器首先向电池组7反向充电，当SOCL＞SOCLup时，停止向电池组7充电，剩余电能通过DC/DC转换器向超级电容5充电，当SOCC＞SOCCup时，通过放电负载消耗多余的能量；
电池管理系统判定运行模式为高耗能模式后，重新分配电池组7与超级电容5功率输出情况，进而控制机车运行速度，避免电池组7电量的瞬时大幅波动；采用基于果蝇优化算法的模糊控制分配复合电源的功率输出情况。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (9)

  1. 一种高能效锂电池单轨吊机车的电池管理系统，应用于高能效锂电池单轨吊机车，包括驱动部(2)、电池单元(3)和承载小车(4)，承载小车(4)用于承载货物，电池单元(3)用于向驱动部(2)输出电力，驱动部(2)用于驱动机车移动；电池单元(3)包括电池管理系统、超级电容(5)和由若干单体电池(6)组成的电池组(7)，电池管理系统用于获取电池组(7)中各单体电池(6)之间的最小荷电状态差值ΔSOCmin、各单体电池(6)荷电状态SOCn、各单体电池(6)中最大荷电状态SOCmax和各单体电池(6)中最小荷电状态SOCmin，超级电容(5)和电池组(7)由电池管理系统控制充电和放电，n为电池编号，其特征在于，所述电池管理系统包括电池均衡单元，电池均衡单元进行均衡管理时，包括以下步骤：
    S1、根据电池组(7)电流大小与方向，判断电池组(7)状态处于充电状态或放电状态；获取电池组(7)内各单体电池(6)中的最小荷电状态差值ΔSOCmin；
    S2、当电池组(7)处于充电状态时，对单体电池(6)进行充电均衡，电池均衡单元首先获取各单体电池(6)荷电状态SOCn与其中最大荷电状态SOCmax，当∣SOCn-SOCmax∣＞ΔSOCmin时，即对应的单体电池(6)需要充电，此时电池均衡单元通过超级电容(5)对所需要充电的单体电池(6)进行充电，直至对应的∣SOCn-SOCmax∣≤ΔSOCmin，停止均衡；
    当电池组(7)处于放电状态时，对单体电池(6)进行放电均衡，电池均衡单元首先获取各单体电池(6)荷电状态SOCn与各单体电池(6)中最小荷电状态SOCmin，当∣SOCn-SOCmin∣＞ΔSOCmin时，即对应的单体电池(6)需要放电，此时电池均衡单元通过超级电容(5)将所需要放电的单体电池(6)进行放电，直至对应的∣SOCn-SOCmin∣≤ΔSOCmin，停止均衡。
  2. 根据权利要求1所述的高能效锂电池单轨吊机车的电池管理系统，其特征在于，电池管理系统还包括电压传感器(8)、电流传感器(9)、报警装置(10)和过充或过放保护单元；当单体电池(6)充电电压高于最高允许电压或单体电池(6)充电电流高于最高允许电流时，过充或过放保护单元控制单体电池(6)停止充电；当单体电池(6)放电电压低于最低允许电压或单体电池(6)放电电流低于最低允许电流时，过充或过放保护单元控制单体电池(6)停止放电；当过充或过放保护单元失效时启动报警装置(10)发出警报。
  3. 根据权利要求1所述的高能效锂电池单轨吊机车的电池管理系统，其特征在于，电池管理系统还包括温度传感器(11)、加热器(12)和热管理及保护系统；单轨吊机车启动前，热管理及保护系统检测单体电池(6)温度并将单体电池(6)处温度传感器(11)的平均温度值T与启动最低温度Tmin进行对比，若T≥Tmin，则单轨吊机车正常启动；若T＜Tmin，热管理及保护系统打开加热器(12)对单体电池(6)进行加热直至T≥Tmin；
    电池组(7)运行或充电过程中时，将单体电池(6)处温度传感器的平均温度值T与允许最高温度Tmax进行对比，当T≥Tmax时，控制降低充放电速率，热管理及保护系统持续检测单体电池(6)温度，直至T＜Tmax。
  4. 根据权利要求1所述的高能效锂电池单轨吊机车的电池管理系统，其特征在于，还包括控制模块、速度传感器(13)、重量传感器(14)、激光雷达传感器(15)和定位装置(16)；电池管理系统的运输模式包括高耗能模式和运行模式：
    在t＝k时刻，通过速度传感器(13)获取当前时刻单轨吊机车运行速度Vk，当激光雷达传感器(15)检测到道岔或弯道时，或定位装置(16)检测到预设路线节点时，通过激光雷达传感器(15)、Vk与定位装置(16)预测t＝k+1时刻运行速度Vk+1，通过速度传感器(13)、负载重量和前方轨道倾角获取下一阶段需求功率Preq；根据Preq选择单轨吊机车的工作模式，当Preq＞P0时，将运输模式设置为高耗能模式；当0＜Preq≤P0时，将运输模式设置为运行模式；其中P0为预设的需求功率分界值；
    SOC为电池剩余电量，SOCL为电池组(7)内单体电池(6)的平均SOC，SOCLsub为电池组荷电状态SOCL的下限值，SOCLup为电池组荷电状态SOCL的上限值，SOCCsub为超级电容荷电状态SOCC的下限值，SOCCup为超级电容荷电状态SOCC的上限值；
    在高耗能模式下，电池组(7)与超级电容(5)共同输出动力，当SOCL＜SOCLsub时，超级电容(5)作为辅助动力源输出功率；当SOCC＜SOCCsub时，超级电容(5)动力能量耗尽，由控制模块控制报警装置(10)进行预警；
    运行模式下，电池组(7)首先单独驱动，当SOCL＜SOCLsub时，超级电容(5)作为辅助动力源输出功率，当SOCC＜SOCCsub时，超级电容(5)动力能量耗尽，由控制模块控制报警装置(10)进行预警。
  5. 根据权利要求4所述的高能效锂电池单轨吊机车的电池管理系统，其特征在于，驱动部(2)包括同步磁阻电机(17)、驱动轮(18)、液压制动单元(19)和压力传感器(20)；电池管理系统还包括制动回收模式，制动回收模式包括平稳工况制动和复杂工况制动：
    平稳工况制动包括：制动时发送制动信号，控制同步磁阻电机(17)产生负扭矩实现制动并实现能量回收；
    复杂工况制动包括：激光雷达传感器(15)扫描单轨吊机车前方路况，控制模块采集并处理激光雷达传感器(15)信息，当检测到单轨吊机车前方存在风门、异物或人员时，电池组(7)与超级电容(5)停止向同步磁阻电机(17)输出电力，控制模块根据单轨吊机车当前速度、单轨吊机车重量和坡度倾角计算预计制动距离和回收势能与动能，从而计算制动所需扭矩，实现液压与电机反转制动的分配，分配方法如下：
    压力传感器(20)安装在液压制动单元(19)上，通过压力传感器(20)感测值计算并控制液压制动单元(19)的制动压力；剩余制动力通过控制同步磁阻电机(17)产生负扭矩实现制动并实现能量回收；同步磁阻电机(17)反转产生的能量转化为电能，首先向电池组(7)反向充电，当SOCL＞SOCLup时，停止向电池组(7)充电，剩余电能向超级电容(5)充电，当SOCC＞SOCCup时，通过放电消耗多余的能量。
  6. 根据权利要求1所述的高能效锂电池单轨吊机车的电池管理系统，其特征在于，所述电池单元(3)还包括电压传感器(8)、电流传感器(9)和报警装置(10)；电压传感器(8)用于监测单体电池(6)的电压，电流传感器(9)用于监测单体电池(6)的电流，报警装置(10)用于在单体电池(6)过充或过放时发出警报。
  7. 根据权利要求1所述的高能效锂电池单轨吊机车的电池管理系统，其特征在于，所述电池单元(3)还包括温度传感器(11)和加热器(12)；温度传感器(11)用于监测单体电池(6)的温度；在平均温度值T低于启动最低温度Tmin时，加热器(12)对单体电池(6)进行加热，其中平均温度值T为所有单体电池(6)的平均温度。
  8. 根据权利要求1所述的高能效锂电池单轨吊机车的电池管理系统，其特征在于，还包括控制模块、速度传感器(13)、重量传感器(14)、激光雷达传感器(15)和定位装置(16)；速度传感器(13)用于监测单轨吊机车的运行速度，重量传感器(14)用于监测承载小车(4)所承载的重量；激光雷达传感器(15)用于监测单轨吊机车前方路况和悬挂轨道倾角；定位装置(16)用于监测单轨吊机车的位置；速度传感器(13)、重量传感器(14)、激光雷达传感器(15)和定位装置(16)的数据传输至控制模块，控制模块用于分析单轨吊机车的下一阶段需求功率Preq。
  9. 根据权利要求8所述的高能效锂电池单轨吊机车，其特征在于，驱动部(2)包括同步磁阻电机(17)、驱动轮(18)、液压制动单元(19)和压力传感器(20)；驱动轮(18)由同步磁阻电机(17)传动，压力传感器(20)设置在液压制动单元(19)上，用于监测液压制动单元(19)的制动压力，液压制动单元(19)用于夹紧悬挂轨道实现制动；压力传感器(20)的数据传输至控制模块，同步磁阻电机(17)和液压制动单元(19)由控制模块控制。
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