Hybrid electric vehicle power balance control method, computer device and storage medium
阅读说明：本技术 混合动力汽车功率平衡控制方法、计算机设备及存储介质 (Hybrid electric vehicle power balance control method, computer device and storage medium ) 是由 李海波 赵田芳 余绍鹏 王恺 李登辉 于 2021-06-30 设计创作，主要内容包括：本发明公开了一种混合动力汽车功率平衡控制方法,包括电池过充功率平衡控制和电池过放功率平衡控制,其中电池过充功率平衡控制包括：S11、基于电池允许充电功率的过充功率计算,S12、基于电池允许充电电流的过充功率计算,S13、基于电池允许充电电压的过充功率计算,S14、基于PI计算电池过充残余功率,S15、计算发电机最大发电能力,S16、发电机能力限制。该方法既可以平衡动力系统的功率偏差,又能满足特殊工况下导致的电池过充和过放,延长电池寿命,提高驾驶安全性。(The invention discloses a power balance control method of a hybrid electric vehicle, which comprises battery overcharge power balance control and battery overdischarge power balance control, wherein the battery overcharge power balance control comprises the following steps: the method comprises the steps of S11, calculating overcharge power based on the allowable charge power of the battery, S12, calculating overcharge power based on the allowable charge current of the battery, S13, calculating overcharge power based on the allowable charge voltage of the battery, S14, calculating overcharge residual power of the battery based on PI, S15, calculating the maximum power generation capacity of the generator, and S16, limiting the capacity of the generator. The method can balance the power deviation of the power system, can meet the requirements of battery overcharge and overdischarge caused under special working conditions, prolongs the service life of the battery and improves the driving safety.)
1. A power balance control method for a hybrid electric vehicle is characterized by comprising the following steps:
first, battery overcharge power balance control
S11 calculation of overcharge power based on allowable charge power of battery
According to the current actual power P of the batteryaAnd the current allowable short-time charging power P of the batterycmCalculating an overcharge power P exceeding an allowable charge power of the battery during chargingop＝Max(Pcm-Pa,0)；
S12 calculation of overcharge power based on allowable charge current of battery
According to the current actual current I of the batteryaAnd the maximum charging current currently allowed by the battery is IcMCalculating the overcharge current I of the battery during chargingb＝Max(IcM-Ia0); then the current actual voltage V of the battery is combinedaCalculating the overrun power P of the current battery charging process due to the overrun of the current capacity of the batteryoI＝Ib×Va；
S13 calculation of overcharge power based on allowable charge voltage of battery
According to the current actual voltage V of the batteryaAnd the maximum allowable charging voltage of the battery is VcMCalculating the overcharge voltage of the battery during chargingVb＝Max(Va-VcM0); and calculating the over-limit power Po of the current battery charging process due to the fact that the over-limit power Po exceeds the voltage capability of the battery by combining the internal resistance value R of the battery at the current ambient temperatureV＝Vb×Va/R；
S14, calculating the over-charging residual power of the battery based on PI
Calculating the maximum power deviation P of the battery exceeding the allowable capacity of the batteryerr＝Max(Max(PoP,PoI,PoV) 0); PI controlling the power deviation, and outputting the adjusted residual powerWherein the content of the first and second substances,in order to adjust the coefficient of the proportion,the integral adjustment coefficient;
s15, calculating the maximum generating capacity of the generator
Calculating the currently allowable short-time charging power P of the batterycmAnd compensating for the load power PloadDifference value P ofclThen calculating the adjusted residual power PeeAnd the difference PclAnd PecResidual power P of battery overchargeRoc＝Max(Pec0), battery short-time allowed correct power capability PST＝Min(Pec0), the current consumed power of the drive motor is PtcThen, the maximum power generation capacity P of the current generatorCa＝PST-Ptc+PRoc；
S16, limiting the generator capacity
Calculating the current generator power generation request PreqThen combining the maximum power generation capacity P of the current generatorCaCalculating the actual required generating power P of the generatorcmd＝Max(Preq,PCa)。
2. The hybrid vehicle power balance control method according to claim 1, characterized by further comprising:
over-discharge power balance control of battery
S21 calculating over-discharge power based on battery allowable discharge power
According to the current actual power P of the batteryaAnd the currently allowable short-time discharge power of the battery is PdmCalculating an overdischarge power P exceeding the allowable discharge power of the battery during dischargedp＝Max(Pa-Pdm,0)；
S22 calculating over-discharge power based on allowable discharge current of battery
According to the current actual current I of the batteryaAnd the maximum current allowed by the battery is IdMCalculating the over-discharge current I of the battery during discharged＝Max(Ia-Idm0); then the current actual voltage V of the battery is combinedaCalculating the overrun power P of the current battery discharging process due to the overrun of the current capacity of the batterydI＝Id×V；
S23 calculating over-discharge power based on allowable discharge voltage of battery
According to the current actual voltage V of the batteryaAnd the maximum allowable current discharge voltage of the battery is VdMCalculating the over-discharge voltage V of the battery during discharged＝Max(Va-VdM0); and calculating the overrun power P of the current battery in the discharging process due to the fact that the overrun power exceeds the voltage capability of the battery by combining the internal resistance value R of the battery at the current ambient temperaturedV＝Vd×Va/R；
S24, calculating the over-discharge residual power of the battery based on PI
Calculating the maximum power deviation P of the battery exceeding the allowable capacity of the batteryerd＝Max(Max(PdP,PdI,PdV) 0); multiplying the power deviation by-1 to perform PI control, and outputting the adjusted residual powerWherein the content of the first and second substances,in order to adjust the coefficient of the proportion,the integral adjustment coefficient;
s25, calculating the maximum driving capacity of the driving motor
Calculating the currently allowable short-time discharge power of the battery to be PdmAnd compensating for the load power PloadDifference value P ofldThen calculating the adjusted residual work PedSum P of the ratio and the differenceelResidual power P of over-discharge of batteryRod＝-1×Min(Pel0), battery short-time permission correction discharge capability PSTd＝Max(Pel0), the actual power consumption of the current generator is PgcThen the maximum driving capability P of the current driving motorCd＝PSTd-Pgc+PRod；
S26 limiting capacity of driving motor
Calculating a current drive motor drive power request PTqThen combining the maximum driving capability P of the current driving motorCdCalculating the actual required driving power P of the driving motorcmd＝Max(PTq,PCd)。
3. The hybrid vehicle power balance control method according to claim 1 or 2, characterized in that the actual current I of the battery is used as the currentaAnd the current actual voltage V of the batteryaCalculating the current actual power P of the batterya＝Ia×Va。
4. The hybrid vehicle power balance control method according to claim 1,the value range is 0 to 1,the value range is-0.1 to 0.1.
5. The hybrid vehicle power balance control method according to claim 2,the value range is 0 to 1,the value range is-0.1 to 0.1.
6. The power balance control method for hybrid vehicle according to claim 1, wherein the consumed power P of the current drive motortc＝n3×T3X 2 π/(60 × 1000); wherein n is3For driving the current speed of the motor, T3The current torque of the driving motor.
7. The power balance control method for hybrid vehicle according to claim 2, wherein the actual consumed power P of the current generator isgc＝Min(ng×TgX 2 π/(60 × 1000), 0); wherein n isgFor the current speed of the generator, TgIs the current torque of the generator.
8. A computer device comprising a processor and a memory, wherein at least one program is stored in the memory and loaded into and executed by the processor to implement the hybrid vehicle power balance control method as claimed above.
9. A storage medium having stored therein at least one instruction, at least one program, set of codes, or set of instructions, which is loaded and executed by a processor to implement a hybrid vehicle power balance control method as claimed above.
Technical Field
The invention belongs to the field of automobile power control, and particularly relates to a hybrid electric vehicle power balance control method, computer equipment and a storage medium.
Background
A hybrid vehicle is provided with multiple power sources, as shown in fig. 1, and is generally equipped with a high-voltage power battery, a drive motor, a generator, and an engine, and the system operation mode is complicated. The capacity of the high-voltage battery of the hybrid electric vehicle is small, so that short-time excessive charging and discharging of the battery are easily caused under certain special working conditions, such as high temperature, low temperature, plateau, rapid acceleration or long downhill deceleration and the like, especially under the high-temperature and high-cold environment, the battery capacity is limited and the precision deviation of the torque of an actuator (an engine/a generator/a driving motor) can cause the imbalance of system power, further cause the excessive charging and the excessive discharging of the battery, and even possibly cause the risk that the battery relay is forcibly disconnected during the driving process to trigger abnormal disconnection and high voltage of the battery.
Disclosure of Invention
The invention aims to provide a power balance control method of a hybrid electric vehicle, computer equipment and a storage medium, so that the system power is kept balanced, the battery is prevented from being overcharged and overdischarged, the battery is protected, and the service life of the battery is prolonged.
The technical scheme provided by the invention is as follows:
a power balance control method for a hybrid electric vehicle comprises the following steps:
first, battery overcharge power balance control
S11 calculation of overcharge power based on allowable charge power of battery
According to the current actual power P of the batteryaAnd the current allowable short-time charging power P of the batterycmCalculating an overcharge power P exceeding a permissible charge power of the battery during chargingop＝Max(Pcm-Pa,0)；
S12 calculation of overcharge power based on allowable charge current of battery
According to the current actual current I of the batteryaAnd the maximum charging current currently allowed by the battery is IcMCalculating the overcharge current I of the battery during chargingb＝Max(IcM-Ia0); then the current actual voltage V of the battery is combinedaCalculating the current powerOverrun power P due to exceeding of battery current capability during battery chargingoI＝Ib×Va；
S13 calculation of overcharge power based on allowable charge voltage of battery
According to the current actual voltage V of the batteryaAnd the maximum allowable charging voltage of the battery is VcMCalculating the overcharge voltage V of the battery during chargingb＝Max(Va-VcM0); and calculating the overrun power P of the current battery charging process due to the fact that the overrun power exceeds the voltage capability of the battery by combining the internal resistance value R of the battery at the current ambient temperatureoV＝Vb×Va/R；
S14, calculating the over-charging residual power of the battery based on PI
Calculating the maximum power deviation P of the battery exceeding the allowable capacity of the batteryerr＝Max(Max(PoP,PoI,PoV) 0); PI controlling the power deviation, and outputting the adjusted residual powerWherein the content of the first and second substances is controlled,in order to adjust the coefficient of the proportion,the integral adjustment coefficient;
s15, calculating the maximum generating capacity of the generator
Calculating the currently allowable short-time charging power P of the batterycmAnd compensating for the load power PloadDifference value P ofclThen calculating the adjusted residual power PeeAnd the difference PclAnd PecResidual power P of battery overchargeRoc＝Max(Pec0), battery short-time allowed correct power capability PST＝Min(Pec0), the current consumed power of the drive motor is PtcThen, the maximum power generation capacity P of the current generatorCa＝PST-Ptc+PRoc；
S16, limiting the generator capacity
Calculating the current generator power generation request PreqThen combining the maximum power generation capacity P of the current generatorCaCalculating the actual required generating power P of the generatorcmd＝Max(Preq,PCa)。
Preferably, the method further comprises: over-discharge power balance control of battery
S21 calculating over-discharge power based on battery allowable discharge power
According to the current actual power P of the batteryaAnd the currently allowable short-time discharge power of the battery is PdmCalculating an overdischarge power P exceeding the allowable discharge power of the battery during dischargedp＝Max(Pa-Pdm,0)；
S22 calculating over-discharge power based on allowable discharge current of battery
According to the current actual current I of the batteryaAnd the maximum current allowed by the battery is IdMCalculating the over-discharge current I of the battery during discharged＝Max(Ia-Idm0); then the current actual voltage V of the battery is combinedaCalculating the overrun power P of the current battery discharging process due to the overrun of the current capacity of the batterydI＝Id×V；
S23 calculating over-discharge power based on allowable discharge voltage of battery
According to the current actual voltage V of the batteryaAnd the maximum allowable current discharge voltage of the battery is VdMCalculating the over-discharge voltage V of the battery during discharged＝Max(Va-VdM0); and calculating the overrun power P of the current battery in the discharging process due to the fact that the overrun power exceeds the voltage capability of the battery by combining the internal resistance value R of the battery at the current ambient temperaturedV＝Vd×Va/R；
S24, calculating the over-discharge residual power of the battery based on PI
Calculating the maximum power deviation P of the battery exceeding the allowable capacity of the batteryerd＝Max(Max(PdP,PdI,PdV) 0); multiplying the power deviation by-1 to perform PI control, and adjusting the outputResidual power ofWherein the content of the first and second substances,in order to adjust the coefficient of the proportion,the integral adjustment coefficient;
s25, calculating the maximum driving capacity of the driving motor
Calculating the currently allowable short-time discharge power of the battery to be PdmAnd compensating for the load power PloadDifference value P ofldThen calculating the adjusted residual work PedSum P of the ratio and the differenceelResidual power P of over-discharge of batteryRod＝-1×Min(Pel0), short-time cell discharge capability correctionSTd＝Max(Pel0), the actual power consumption of the current generator is PgcThen the maximum driving capability P of the current driving motorCd＝PSTd-Pgc+PRod；
S26 limiting capacity of driving motor
Calculating a current drive motor drive power request PTqThen combining the maximum driving capability P of the current driving motorCdCalculating the actual required driving power P of the driving motorcmd＝Max(PTq,PCd)。
Preferably, according to the current actual current I of the batteryaAnd the current actual voltage V of the batteryaCalculating the current actual power P of the batterya＝Ia×Va。
Preferably, the first and second electrodes are formed of a metal,the value range is 0 to 1,the value range is-0.1 to 0.1.
Preference is given toThe ground is a mixture of a plurality of ground,the value range is 0 to 1,the value range is-0.1 to 0.1.
Preferably, the consumed power P of the present drive motortc＝n3×T3X 2 π/(60 × 1000); wherein n is3For driving the current speed of the motor, T3The current torque of the driving motor.
Preferably, the actual power consumption P of the generator is presentgc＝Min(ng×TgX 2 π/(60 × 1000), 0); wherein n isgFor the current speed of the generator, TgIs the current torque of the generator.
A computer device comprises a processor and a memory, wherein at least one program is stored in the memory, and the at least one program is loaded by the processor and executed to realize the power balance control method of the hybrid electric vehicle.
A storage medium having stored therein at least one instruction, at least one program, set of codes, or set of instructions, which is loaded and executed by a processor to implement a hybrid vehicle power balance control method as described above.
The invention has the beneficial effects that:
according to the invention, the overcharge and overdischarge power deviation under various conditions is respectively calculated through the current actual power of the battery, the allowable charge and discharge current of the battery and the allowable charge and discharge voltage of the battery, the power deviation is subjected to PI control, the calculated residual power and the driving motor/generator capacity are combined to correct the torque of the driver required motor/generator, and the optimized power generation power of the driver required generator and the power requirement of the driving motor are output. The method can balance the power deviation of a power system, and can meet the conditions of battery overcharge and overdischarge caused under special working conditions, such as the conditions of short-time overcharge and discharge easily caused by the battery under the working conditions of high temperature, low temperature, plateau, rapid acceleration or long downhill deceleration and the like, particularly the conditions of limited battery capacity and actuator torque deviation under the high-temperature and high-cold environments, the system power is unbalanced caused by the deviation, even the battery relay is forcibly disconnected in the driving process possibly, the service life of the battery is influenced, and the driving safety is also influenced.
Drawings
FIG. 1 is a schematic diagram of the power system of a hybrid vehicle according to the present invention.
Fig. 2 is a block diagram of a battery overcharge power balance control of an embodiment of the invention.
Fig. 3 is a block diagram of a battery over-discharge power balance control according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings and specific embodiments, but the scope of the present invention is not limited to the following embodiments.
In order to make the capacity of multiple power sources stable and reliable, protect the battery, prolong the service life of the battery and balance the power of a power system, the invention provides a power balance control method of a hybrid electric vehicle power system, which combines the current actual power of the battery, the allowed charging and discharging current of the battery and the allowed charging and discharging voltage of the battery, splits the power of the battery, performs PI control on the power deviation, corrects a motor/generator instruction required by a driver by combining the calculated residual power and the capacity of a driving motor/generator, and outputs the optimized power generation power of the generator required by the driver and the power requirement of the driving motor. The method can balance the power deviation of a power system, and can meet the requirements of battery overcharge and overdischarge caused under special working conditions, particularly under low-temperature environment, the battery has weak charge and discharge capacity, and the working efficiency of the motor is low.
According to the power balance control method of the hybrid electric vehicle power system, the power of the battery is split and the power deviation is subjected to PI control by combining the allowable charging capacity of the battery and the torque/power required by a driver, the torque of the generator and the power demand of the driving motor are corrected by combining the residual power and the charging and discharging capacity, the optimized power generation power required by the generator and the power demand of the driving motor required by the driver are output, the system power is kept balanced, and the over-charging and over-discharging of the battery are avoided. The method specifically comprises the following steps:
firstly, controlling the overcharge power balance of the battery, as shown in fig. 2:
s11, calculating the overcharge power based on the allowable charge power of the battery:
according to the current actual current I of the batterya(negative charge, positive discharge), the current actual voltage V of the batteryaCalculating the current actual battery power as Pa,Pa＝Ia×VaAnd/1000, where the above equation divided by 1000 represents the conversion of power to kilowatt units. The current allowable short-time charging power of the battery is PcmWhere positive values represent discharge and negative values represent charge, PcmIs a negative value; overcharge power P exceeding allowable charge power of battery during chargingopSubtracting the current actual power of the battery from the currently allowable short-time charging power of the battery, i.e. Pop＝Max(Pcm-Pa,0)。
S12, calculating the overcharge power based on the allowable charge current of the battery:
according to the current actual current I of the batterya(negative charge, positive discharge) and the maximum currently allowed charge current of the battery is IcM(negative charge and positive discharge) to obtain the overcharge current I of the battery during chargingbI.e. Ib＝Max(IcM-Ia0); then the current actual voltage V of the battery is combinedaCalculating the overrun power P of the current charging process due to the overrun battery current capabilityoII.e. PoI＝Ib×Va/1000。
S13, calculating the overcharge power based on the allowable charge voltage of the battery:
according to the current actual voltage V of the batteryaThe maximum allowable charging voltage of the battery is VcMObtaining the overcharge voltage V of the battery during chargingbI.e. Vb＝Max(Va-VcM0); recombination of battery currentThe internal resistance value R at the ambient temperature is calculated, and the overrun power of the current charging process due to the capability of exceeding the voltage of the battery is PoVI.e. PoV＝Vb×Va/(1000×R)。
S14, calculating the over-charging residual power of the battery based on the PI:
after the judgment is carried out based on the three overcharge conditions, the power deviation P of the battery with the maximum output exceeding the allowable capacity of the battery is outputerrI.e. Perr＝Max(Max(PoP,PoI,PoV),0). PI controlling the power deviation, and outputting the adjusted residual power PeeI.e. byWhereinIs a proportional adjustment coefficient, the value of which is 0 to 1,the integral adjustment coefficient is-0.1.
S15, calculating the maximum power generation capacity of the generator:
measure residual power PeeAllowing the short-time charging power to be P with the current batterycmSubtracting the compensated load power PloadRear battery short-time power PclSumming to obtain PecIn which P iscl＝Pcm-Pload，Pec＝Pee+PclResidual power P of battery overchargeRoc＝Max(Pec0), battery short-time allowed correct power capability PST＝Min(Pec0), the consumed power of the driving motor is Ptc＝n3×T3X 2 π/(60X 1000), where n3For driving the current speed of the motor, T3The current torque of the driving motor. Maximum power generation capacity P of current generatorCaI.e. PCa＝PST-Ptc+PRoc。
S16, limiting output of the required torque of the generator:
calculating the current power generation power request of the generator as P according to the requirement of the driverreqThen combining the calculated maximum generating capacity P of the current generatorCaCalculating and outputting the actual required generating power P of the generatorCmdI.e. PCmd＝Max(Preq,PCa)。
Second, battery over-discharge power balance control, as shown in fig. 3:
s21, calculating the over-discharge power based on the allowable discharge power of the battery:
according to the current actual current I of the batterya(negative charge, positive discharge), the current actual voltage V of the batteryaCalculating the current actual battery power as Pa,Pa＝Ia×Va/1000. The current allowable short-time discharge power of the battery is PdmWherein a positive value represents discharging and a negative value represents charging, PdmIs a positive value; over-discharge power P if the discharge power exceeds the allowable discharge power of the battery during dischargedpSubtracting the currently allowable short-time discharge power of the battery from the current actual power of the battery, namely Pdp＝Max(Pa-Pdm,0)。
S22, calculating the over-discharge power based on the allowable discharge current of the battery:
according to the current actual current I of the batterya(negative charge and positive discharge) and the maximum current allowed by the battery is IdM(negative charge and positive discharge) to obtain the over-discharge current I of the battery during dischargedI.e. Id＝Max(Ia-Idm0); then the current actual voltage V of the battery is combinedaCalculating the overrun power P of the current battery discharging process due to the overrun battery current capabilitydII.e. PdI＝Id×Va/1000。
S23, calculating the over-discharge power based on the allowable discharge voltage of the battery:
according to the current actual voltage V of the batteryaThe maximum allowable discharge voltage of the battery is VdMObtaining the over-discharge voltage V of the battery during dischargingdI.e. Vd＝Max(Va-VdM0); and calculating the overrun power P of the current battery discharging process due to the fact that the overrun power exceeds the voltage capability of the battery by combining the internal resistance value R of the battery at the current ambient temperaturedVI.e. PdV＝Vd×Va/(1000×R)。
S24, calculating the over-discharge residual power of the battery based on the PI:
after the judgment is carried out based on the three overcharge conditions, the power deviation P of the battery with the maximum output exceeding the allowable capacity of the battery is outputerdI.e. Perd＝Max(Max(PdP,PdI,PdV),0). Multiplying the power deviation by-1 to perform PI control, and outputting the adjusted residual power PedI.e. byWhereinIs a proportional adjustment coefficient, the value of which is 0 to 1,the integral adjustment coefficient is-0.1.
S25, calculating the maximum driving capacity of the driving motor:
measure residual power PedAnd the currently allowed short-time discharge power of the battery is PdmSubtracting the compensated load power PloadRear battery short-time power PldSumming to obtain PelIn which P isld＝Pdm-Pload，Pel＝Ped+PldExcess power P of the batteryRod＝-1×Min(Pel0), battery short-time permission correction discharge capability PSTd＝Max(Pel0), the current actual power consumption of the generator is Pgc＝Min(ng×TgX 2 π/(60 × 1000),0), where ngIs the current rotational speed, T, of the generatorgIs the current torque of the generator. Maximum driving capability P of current driving motorCdI.e. PCd＝PSTd-Pgc+PRod。
S26, limiting the torque required by the output driving motor:
calculating the current driving power request of the driving motor as P according to the driver demandTqThen combining the calculated maximum driving capability P of the current driving motorCdCalculating the actual required drive power P of the output drive motorcmdI.e. Pcmd＝Max(PTq,PCd)。
And calculating the overcharge and overdischarge residual power of the power battery in real time by combining the overcharge and overdischarge judgment, and dynamically adjusting the power requirements of the generator and the driving motor, so that the overcharge and overdischarge under special working conditions and the power imbalance of a power system caused by the torque deviation of an actuator are avoided, and the normal work of the system is ensured. For example, the battery charging capacity is weak at low temperature, if the battery is overcharged due to the torque deviation of the motor, the power instruction of the generator/driving motor is adjusted through overcharge balance control at this time, and the battery is prevented from being overcharged; at the moment, the discharging capacity of the battery is also weaker, the battery is easy to enter the over-discharge state again under the working conditions of emergency acceleration and the like, the over-discharge of the battery is avoided by combining the over-discharge balance control, the normal work of the system is ensured while the system power is balanced, and the performance limitation caused by the system limitation can remind a driver through an instrument.
In another aspect, a computer device is provided, the computer device includes a processor and a memory, and the memory stores at least one program, and the at least one program is loaded by the processor and executed to implement the hybrid vehicle power balance control method as described in any one of the embodiments of the present application.
In another aspect, a storage medium is provided, in which at least one instruction, at least one program, code set, or instruction set is stored, and the at least one instruction, the at least one program, code set, or instruction set is loaded and executed by a processor to implement the hybrid vehicle power balance control method according to any one of the embodiments of the present application.
In summary, the invention provides a power balance compensation control method for a hybrid electric vehicle power system, which combines the current actual power of a battery, the allowable charge and discharge power of the battery, the allowable charge and discharge current of the battery and the allowable charge and discharge voltage of the battery, splits the power of the battery, performs PI control on the power deviation, corrects the torque of a motor/generator required by a driver by combining the calculated residual power and the power of the driving motor/generator, outputs the optimized power generated by the generator required by the driver and the power requirement of the driving motor, and avoids overcharging and overdischarging of the battery while balancing the system power.
It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included within the scope of the present invention.
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