阅读说明：本技术 用于向至少一个电能消耗单元或至少一个电能恢复单元供电的设备 (Device for supplying at least one energy consumption unit or at least one energy recovery unit ) 是由 伯努瓦·裴隆 于 2020-01-30 设计创作，主要内容包括：一种用于向电气装置的至少一个电能消耗单元或至少一个电能恢复单元或至少一个电能消耗和电能恢复单元(102-(1))供电的设备,该设备包括多个电能发生器(101-(1)、101-(2)、101-(3)),多个发生器中的每个发生器与其他发生器并联电连接,每个发生器包括计算单元(UC-(k))、功率转换器(CP-(k))和电能存储和恢复元件(ES-(k)),发生器(101-(1)、101-(2)、101-(3))的功率转换器(CP-(k))是双向的并且被配置为基于所述发生器的存储元件(ES-(k))的充电或放电功率(Pcal-(k))来监视设定变量(V-(k))的值,充电或放电功率(Pcal-(k))由计算单元(CP-(k))基于以下实时计算：其他发生器(101-(1)、101-(2)、101-(3))的每个存储和恢复元件的充电或放电功率(Pcal-(k))的设定变量(V-(k))的值的函数；和确定的设定点功率P；和处于确定操作状态的发生器(101-(1)、101-(2)、101-(3))的数量,多个发生器中的每个发生器的每个存储元件的充电或放电功率(Pcal-(k))的总和等于确定的设定点电功率P。(A method for supplying at least one electrical energy consumption unit or at least one electrical energy recovery unit or at least one electrical energy consumption and power recovery unit (102) to an electrical device 1 ) Apparatus for supplying power, the apparatus comprising a plurality of power generators (101) 1 、101 2 、101 3 ) In a plurality of generatorsEach generator of (a) is electrically connected in parallel with other generators, each generator comprising a calculation Unit (UC) k ) Power Converter (CP) k ) And an electric energy storage and recovery Element (ES) k ) Generator (101) 1 、101 2 、101 3 ) Power Converter (CP) k ) Storage Element (ES) which is bidirectional and is configured based on the generator k ) Charging or discharging power (Pcal) k ) To monitor the set variable (V) k ) Value of (c), charging or discharging power (Pcal) k ) By a computing unit (CP) k ) Real-time calculations based on: other generators (101) 1 、101 2 、101 3 ) Each storing and restoring a charging or discharging power (Pcal) of the element k ) Is set variable (V) k ) A function of the value of; and the determined setpoint power P; and a generator (101) in a determined operating state 1 、101 2 、101 3 ) The charge or discharge power (Pcal) of each storage element of each generator of the plurality of generators k ) Is equal to the determined set-point electric power P.)

1. At least one electrical energy consuming component or at least one electrical energy recovery component or at least one electrical energy consuming and recovery component (102) of an electrical device₁) Comprising a plurality of electrical energy generators (101)₁、101₂、101₃) Each generator of the plurality of generators being electrically connected in parallel with the other generators, each generator comprising a calculation Unit (UC)_k) Power Converter (CP)_k) And an electric energy storage and recovery Element (ES)_k) Generator (101)₁、101₂、101₃) Said power Converter (CP)_k) Storage Element (ES) which is bidirectional and is configured based on the generator_k) Charge or discharge electric power (Pcal)_k) To monitor the set value (V)_k) The value of (c), the charging or discharging electric power (Pcal)_k) By said calculation Unit (UC)_k) Real-time calculations are based on:

-said other generator (101)₁、101₂、101₃) Each storing and restoring element of (1) charging or discharging electric power (Pcal)_k) Set amount (V)_k) A function of the value of, and

-a determined setpoint power P, and

-a generator (101) in a determined operating state₁、101₂、101₃) The number of the (c) component(s),

charging or discharging electrical power (Pcal) of each storage element of each generator of the plurality of generators_k) Is equal to the determined set-point electric power P.

2. The apparatus according to claim 1, wherein the set amount (V)_k) Is a lyapunov function and the value of the setpoint power (P).

3. The apparatus of claim 1, wherein the set amount of electrical power (V)_k) Is a voltageOr the current intensity or the cumulative count of the charge flowing in the storage element.

4. A method for supplying at least one electrical energy consuming component or at least one electrical energy recovery component or at least one electrical energy consuming and recovery component (102) to an electrical device₁) Providing electrical energy or for recovering electrical energy from at least one electrical energy consuming component or at least one electrical energy recovery component or at least one electrical energy consuming and recovery component (102) of an electrical device₁) Method (100) of providing electrical energy by a plurality of electrical energy generators (101)₁、101₂、101₃) Transmitting or providing, each generator of the plurality of generators being electrically connected in parallel with the other generators, each generator comprising a calculation Unit (UC)_k) Bidirectional power Converter (CP)_k) And an electric energy storage and recovery Element (ES)_k) Said method comprising the following steps is implemented and then performed by said plurality of generators (101)₁、101₂、101₃) Each generator of (a) repeats according to a repetition time frequency:

-by a calculation Unit (UC) of said generator_k) Reading (101) a set value (V) of a power converter of the generator_k) And a set value (V) of the power converter of said other generator_k) A value of (d);

-by said calculation Unit (UC)_k) Reading (102) the operating state (N) of the generator_k) And the plurality of generators (101)₁、101₂、101₃) Of each of the other generators (N)_k) A value of (d);

-by said calculation Unit (UC)_k) Setting the power converter of the generator by a set quantity (V)_k) And the operating state (N) of the generator_k) Transmitting (103) the value of to the other generator;

-by said calculation Unit (UC)_k) From the operating state (N) of the generator_k) And from the plurality of generators (101)₁、101₂、101₃) Operation of each of the other generatorsState (N)_k) To calculate (104) a generator (101) in a determined operating state₁、101₂、101₃) The number of (2);

-by said calculation Unit (UC)_k) Calculating (104) a storage Element (ES) of the generator according to_k) Charge or discharge electric power (Pcal)_k)：

-said generator and said other generator (101)₁、101₂、101₃) Each storing and restoring element of (1) charging or discharging electric power (Pcal)_k) Set amount (V)_k) A function of the value of, and

-a determined setpoint power P and a generator (101) in a determined operating state₁、101₂、101₃) The number of the (c) component(s),

charging or discharging electrical power (Pcal) of each storage element of each generator of the plurality of generators_k) Is equal to the determined setpoint electric power P;

-based on the generation by said generator (101)₁、101₂、101₃) The calculation unit of (c) is configured to calculate the charging or discharging electric power (Pcal)_k) To monitor (105) the generator (101)₁、101₂、101₃) Of the storage and retrieval element (V)_k) The value of (c).

5. The method (100) according to the preceding claim, wherein the charging or discharging electrical power (Pcal)_k) Set amount (V)_k) The function of the value of (a) is a lyapunov function.

6. The method (100) according to any one of claims 4 or 5, wherein the repetition time frequency is determined at least partly according to an operating frequency or a cut-off frequency of a power converter of the generator.

Technical Field

The present invention relates to the field of electric vehicles.

Background

It is known to drive traction components of a vehicle by powering an electric motor, in particular an electric motor whose supply voltage has a fixed or regulated value, from an electric energy storage element. However, when multiple electrical energy storage elements are distributed at different locations in a vehicle and interconnected so as to provide electrical energy to at least one electric motor that drives traction components of the vehicle, uneven physical distribution of the storage elements relative to the electric machines may produce voltage drops in the interconnection cables. The energy transferred by the storage elements may become unstable and result in large current consumption between the storage elements.

The present invention is therefore directed to providing a solution to all or part of these problems.

Disclosure of Invention

To this end, the invention relates to a power supply device of at least one electrical energy consumption component or at least one electrical energy recovery component or at least one electrical energy consumption and recovery component of an electrical apparatus, the device comprising a plurality of electrical energy generators, each of the plurality of generators being electrically connected in parallel with the other generators, each generator comprising a calculation unit, a power converter and an electrical energy storage and recovery element, the power converters of the generators being bidirectional and configured to monitor values of set quantities based on charging or discharging electrical power of the storage elements of said generators, the charging or discharging electrical power being calculated in real time by the calculation unit according to:

-a function of the value of the set quantity of electric charge or discharge power of each storage and recovery element of the other generators, and

-the determined setpoint power P, and

-the number of generators in a certain operating state,

the sum of the charged or discharged electric power of each storage element of each generator of the plurality of generators is equal to the determined set point electric power P.

According to these arrangements, the adjustment of the value of the set quantity of each generator of the plurality of generators of the plant is distributed over each generator, each generator being configured to ensure this adjustment in an independent manner according to the information received from each other generator.

According to one embodiment, the invention comprises one or more of the following features, considered alone or in combination.

According to one embodiment, the at least one consuming component is configured to exclusively consume electrical energy provided by the device, the at least one restoring component is configured to exclusively provide electrical energy to the device, and the consuming and restoring components are configured to alternately consume electrical energy transmitted by the device or provide electrical energy to the device.

According to one embodiment, the determined power setpoint is determined by the difference between the setpoint voltage of the electrical device and the voltage measured at the terminals of each generator.

According to these arrangements, the values of the set quantities converge towards the same value, regardless of the initial conditions or the impedance of the device between each generator, while keeping the voltage of the electrical device regulated around the set point voltage of the electrical device.

According to one embodiment, the function of the value of the set quantity and the function of the set point power are lyapunov functions.

According to these arrangements, for a given set point power, the charging or discharging electrical power is distributed in a non-uniform manner over the different electrical storage and recovery elements, so that the set amount of electrical power remains balanced across all generators, regardless of initial conditions.

According to one embodiment, the electrical device is a motor vehicle, such as a tram, or a train, or a bus, or a truck, or a boat, or an airplane.

According to one embodiment, the power consuming component is a reversible electric motor configured to operate alternately in a power consuming mode and a power restoring mode.

According to one embodiment, the charging or discharging electrical power is calculated by the calculation unit according to a determined time period, depending at least in part on the operating frequency or cut-off frequency of the power converter of the generator, according to the response time of the system.

According to one embodiment, the set amount of electrical power is a voltage or amperage or a cumulative count of the charge flowing in the storage element.

According to these arrangements, the voltage or strength at the terminals of the storage elements of the generators is balanced regardless of the initial conditions, regardless of the energy value of the storage elements, regardless of the number of generators connected in parallel.

According to these arrangements, the setpoint power is immediately divided and adjusted to balance the voltage or current at the storage element terminals.

According to these arrangements, the sum of the powers calculated by the generators will always be equal to the setpoint power.

According to one aspect, the invention also relates to a method for supplying electrical energy to at least one electrical energy consuming component or at least one electrical energy recovering component or at least one electrical energy consuming and recovering component of an electrical device, or for recovering electrical energy supplied by at least one electrical energy consuming component or at least one electrical energy recovering component or at least one electrical energy consuming and recovering component of an electrical device, the electrical energy being transmitted or supplied by a plurality of electrical energy generators, each generator of the plurality of generators being electrically connected in parallel with the other generators, each generator comprising a calculation unit, a bidirectional power converter and an electrical energy storage and recovery element, the method comprising the following steps, carried out by each generator of the plurality of generators and then repeated according to a repetition time frequency:

-reading, by the calculation unit of the generator, the values of the set quantities of the power converter of the generator and of the other generators;

-reading, by a calculation unit, the value of the operating state of the generator and the value of the operating state of each of the other generators of the plurality of generators;

-transmitting, by a calculation unit, values of set quantities of a power converter of the generator and values of operating states of the generator to other generators;

-calculating, by a calculation unit, the number of generators in a determined operating state from the value of the operating state of the generator and from the value of the operating state of each of the other generators of the plurality of generators;

-calculating, by a calculation unit, the charging or discharging electric power of the storage element of the generator according to:

-a function of the value of the set quantity of electric charge or discharge power of each storage and recovery element of the generator and of the other generators, and

-the determined set point power and the number of generators in the determined operating state,

the sum of the charged or discharged electric power of each storage element of each generator of the plurality of generators is equal to the determined set point electric power;

-monitoring the value of the set quantity of the storage and recovery element of the generator on the basis of the electric charge or discharge power calculated by the calculation unit of the generator.

According to one embodiment, the invention includes one or more of the following features, taken alone or in combination.

According to one embodiment, the at least one consumption component is configured to exclusively consume electrical energy provided by the device, the at least one recovery component is configured to exclusively provide electrical energy to the device, and the consumption and recovery components are configured to alternately consume electrical energy transmitted by the device or provide electrical energy to the device.

According to one embodiment, the function of the value of the set amount of electrical charge or discharge power is a lyapunov function.

According to one embodiment, the repetition time frequency is determined at least partly on the basis of the operating frequency or the cut-off frequency of the power converter of the generator.

Drawings

For a better understanding of the invention, examples and/or embodiments thereof are described with reference to the accompanying drawings, which show, by way of non-limiting example, examples or embodiments, respectively, of an apparatus and/or method according to the invention. In the drawings, like reference numbers can indicate similar elements or functionally similar elements.

FIG. 1 is a schematic view of an apparatus according to the present invention;

FIG. 2 is a schematic diagram of a generator according to the present invention;

FIG. 3 is a schematic illustration of data exchange between multiple generators of a device according to the present invention;

fig. 4 is a schematic illustration of the steps of the method according to the invention.

Fig. 5 is a more comprehensive representation of an embodiment of the present invention.

Fig. 6 is a more comprehensive representation of an embodiment of the present invention.

Detailed Description

According to the embodiment shown in fig. 1, the power supply device according to the invention comprises a plurality of power generators (101)₁、101₂、101₃) Each generator of the plurality of generators being electrically connected in parallel with the other generators so as to provide at least one electric energy consuming or electric energy recovering or electric energy consuming and recovering component (102) by the electric device₁) The required electrical energy; at least one consumer part isConfigured to exclusively consume electrical energy provided by the device; at least one recovery component configured to provide electrical energy exclusively to the device; at least one consumption and recovery component configured to alternately consume power delivered by the device or provide power to the device; according to one embodiment, the electrical device is a motor vehicle, such as a tram, or a train, or a bus, or a boat or an airplane; and the electrical consumer comprises, for example, a reversible electric motor configured to operate alternately in an electric energy consumption mode and in an electric energy recovery mode and configured to actuate a propulsion or traction device of said vehicle. For example, the vehicle is a tram comprising one or more trains or trucks, each equipped with one or more drive wheels driven by one or more electric motors; furthermore, each of the one or more trains or wagons of the tram may be equipped with one or more electric generators (101) according to the invention₁、101₂、101₃). A train equipped with motor drive wheels may be different from a train equipped with one or more electric generators, the electric generators installed on different trains being electrically connected to each other and to the different motors, for example, along at least one cable deployed on all trains, to ensure that the electric power required by these motors is supplied in parallel. The motors may have different powers.

According to one embodiment, the electrical generators may be combined in whole or in part in one or more groups comprising a plurality of generators coupled in parallel, which groups are then in turn connected to each other to ensure that the electrical power required by the motors is provided in parallel.

According to the tram or train type embodiment just described, the generators and/or groups combining multiple generators together are physically distributed at different locations of the train so that some of them may be close to the motors 102 driving the drive wheels of the train₁While others may be remote. Some of them may be connected near additional electrical loads, such as air conditioning systems. This uneven physical distribution of functionality results in a voltage drop in the interconnection cable.

Without a compensation or regulation system, the energy delivered by each generator and/or group may be unstable, resulting in considerable current consumption between generators and/or groups.

As shown in FIG. 2, according to one embodiment, each generator of the device includes a bidirectional power converter CP_kAnd an electric energy storage element ES_k. For example, the power converter is a 133kW converter. The power converter allows to adjust the physical quantity of voltage and/or current type present on the interconnection network of the generator to a quantity V of voltage and/or current type corresponding to the needs of the electrical energy storage element_k。

In order to operate all the energy storage elements of the generators distributed over the supply network of the electric motor in the same way, a method for calculating the charging and/or discharging power adjusted for each storage element of each generator is implemented such that the discharging of the most charged storage element is facilitated and/or the charging of the least charged storage element is facilitated. According to these arrangements, the charges of the different storage elements are uniformly balanced, and undesired flow of current between the storage elements is avoided.

The charging or discharging power regulated for each storage element of each generator is calculated from a setpoint power P related to the demand of the drive motor of the drive wheel.

The regulation method is implemented in a distributed manner by each generator. To this end, as shown in fig. 2, each generator 101₁、101₂、101₃Comprises a calculation unit UC_kIn one aspect, the calculation unit of a generator is configured to assign a set characteristic quantity V of the memory element of the generator according to a determined period_kIs transmitted to all the calculation units of the other generators and, on the other hand, receives the set characteristic quantity V of the storage elements of the other generators interconnected on the power supply network of the electrical machine_kThe value of (c).

The regulation method also takes into account the possible loss of one or more generators due to possible faults. For this purpose, each generator 101_kWith indicators N relating to its operating state_kBy the meter of each generatorThe calculation unit is propagated to all calculation units of other generators. These arrangements allow for even one generator 101_kFailure will also ensure operation of the device.

According to one aspect of the invention, the invention relates to a method.

According to one embodiment of the method, as shown in fig. 4, the following steps are carried out in real time and then repeated by each generator according to a repetition time frequency, wherein:

-calculation unit UC by said generator_kReading 101 a set quantity V of a power converter of the generator_kAnd the set quantity V of the power converter of the other generator_kA step of (d);

by a calculation unit UC_kReading 102 the operating state N of the generator_kAnd other generators 101 of a plurality of generators₁、101₂、101₃Operating state N of each generator in_kA step of (d);

by a calculation unit UC_kTransmitting 103 to the other generators a set quantity V of the power converter of said generator_kAnd the operating state N of the generator_kA step of (d);

by a calculation unit UC_kFrom the operating state N of the generator_kAnd other generators 101 from the plurality of generators₁、101₂、101₃Operating state N of each generator in_kTo calculate 104 the generator 101 in a determined operating state₁、101₂、101₃A step of counting;

by a calculation unit UC_kCalculating 105 a storage element ES of the generator from_kCharge or discharge electric power Pcal of_kThe steps of (1):

the generator and the other generators 101₁、101₂、101₃Is charged or discharged with electric power Pcal of each storage and recovery element_kSet amount V of_kA function of the value of, and

-determiningAnd generator 101 in a determined operating state₁、101₂、101₃The number of the (c) component(s),

charging or discharging electric power Pcal of each storage element of each of a plurality of generators_kIs equal to the determined setpoint electric power P;

based on the generation by the generator 101₁、101₂、101₃The calculation unit of (2) calculates the charging or discharging electric power Pcal_kMonitoring 106 said generator 101₁、101₂、101₃Of the storage and retrieval element_kThe value of (c).

According to one embodiment, the quantity V is set_kCorresponding to ES at each storage element_kThe accumulated count of the charge flowing in.

According to one embodiment, the setpoint power is determined by the setpoint voltage TC of the electrical device and the measured voltage TM at the terminals of each generator₁、TM₂、TM₃The difference between them is determined.

According to these arrangements, the quantity V is set_kConverge towards the same value regardless of the initial conditions or each generator 101₁、101₂、101₃In between, while keeping the voltage of the electrical device regulated around the set point voltage TC of the electrical device.

The repetition time frequency of the steps of the method is determined at least partly on the basis of the cut-off frequency or operating frequency of the power converter of each generator; therefore, the repetition time frequency of the steps must be higher than or equal to the cut-off frequency or the operating frequency of the power converter.

According to one embodiment, the quantity V is set when the generators are grouped together in the same group_kPreferably a voltage, and the repetition time frequency of the steps is preferably high; therefore, a time frequency corresponding to a period of about 5 milliseconds is advantageous.

According to another embodiment, when the generators are physically dispersed on the distributed power supply network, the physical dispersion of the generators is the origin of different impedances 1, 2, 3 on different parts of the network, the terminals of the generators being connected on different parts of the network, as shown in fig. 1; the consumption of these different impedances at the generator terminals is preferably performed using current intensities to regulate the charging and discharging of the storage elements of the generators and by repeating the steps of the regulation method according to a lower temporal frequency than when the generators are grouped together into groups; thus, for example, a time frequency corresponding to a period of about 80ms is advantageous.

According to one embodiment, when the generators are not operating, each generator is configured to determine the number of generators in normal operating state: state N of each generator in normal operating state_kIs equal to 1, for example, and state N of each generator in the non-operating state_kIs equal to 0, so that the state N for each generator that will be received at the calculation step 104 is the one for each generator_kWhen the values of (c) are added, the calculation unit UC of each generator_kThe number of generators that can contribute to providing electrical energy to the power consuming components of the device can be determined in an independent manner. Therefore, the set amount V of charge and discharge to and from the storage element is taken into consideration in accordance with the determined function_kAfter adjustment of the value of $ each generator can apply an appropriate ratio to the setpoint power P so that the total power delivered by all generators remains equal to the setpoint power P.

According to one embodiment, the set amount V of charge and discharge of the storage element_kThe function of the value of (a) is a lyapunov function. According to these arrangements, for a given set point power, the charging or discharging electrical power is distributed in a non-uniform manner over the different electrical storage and recovery elements, so as to keep the set amount of electrical power balanced across all generators, regardless of the initial conditions.

FIG. 5 shows in a more comprehensive manner the method according to the invention with N generators 101 of electrical energy_k(where k is 1 to k is N) forming the device 110₁Each storage element ES of_kThe device is included in a system 120 connected to a distribution line₁Chinese and bagMeans for determining a setpoint power P are included.

By system 120₁Requested power setpoint P is based on device 110₁Voltage TM of a power distribution line₁And the set point TC.

From one storage element ES in the initial condition_kTo a different situation, by the calculation unit UC_kDetermined each storage element ES_kCharging or discharging power Pcal of_kWill be in the generator 101_kDifferent from each other. Calculation Unit UC_kFor each power generator 101_kDefining a power set point Pcal_kSo as to balance each storage element ES_k. The balancing is performed according to the sign of P, which indicates whether the device is operating in a charging mode or a discharging mode.

Thus, if P is positive, the device is operating in charge, and the storage element ES with the least charge_kWill be dominated by the set point Pcal_kOperating, the set point Pcal_kWill be higher than the ES corresponding to the most charged element_kPower Pcal of_k。

At this stage, the calculation unit UC_kPower Pcal according to the state of charge of each element_kWeighting to ensure that each generator 101 is powered_kPower Pcal of_kThe sum is equal to the setpoint P to ensure the stability of the power and energy of the system. In practice, each electrical energy generator 101_kNo more power than the device desires should be received or generated in real time.

Conversely, if P is negative, the device operates in discharge, and then the storage element ES having the highest charge_kWill be dominated by the set point Pcal_kOperating, the set point Pcal_kWill be higher than the element ES corresponding to the minimum charge_kPower Pcal of_k。

Furthermore, at this stage, the monitoring unit UC_kPower Pcal according to the state of charge of each element_kWeighting is performed to ensure that each power generator 101_kPower Pcal of_kThe sum being equal to the setpoint P to ensurePower and energy stability of the system. In practice, each electrical energy generator 101_kNo more power than the device desires should be received or generated in real time.

According to these arrangements, by the monitoring unit UC_kThe estimated quantity allows ES to be applied to each energy storage element according to the sign of P_kPcal (a)_kReal-time and simultaneous weighting while respecting ES in each energy storage element_kAnd each power converter CP_kAcceptable instantaneous power Pcal_k。

Therefore, the element ES is not exceeded_kAnd CP_kBalancing is performed under physical constraints of (1).

The balancing strategy according to the invention thus results in charging or discharging the storage and recovery elements in proportion to the total requested charging or discharging power P; as is the case with the balancing strategy according to the prior art, this balancing strategy specifically excludes the storage and retrieval element ES_kIs another storage and retrieval element ES_jIn the case of charging or discharging. Therefore, prior art strategies are on the one hand at the energy storage element ES_kAnd on the other hand in the electrical energy generator 101_kPower converter CP_kCausing an overcurrent. The balancing strategy according to the invention allows to avoid these overcurrents.

Despite the power Pcal_kIn contrast, but the device remains in operation continuously, possibly in order to avoid the energy storage element ES_kWhile ensuring that the pair is provided to the device 110₁Management of power P.

Furthermore, monitoring by the unit UC may be performed_kFor a set point value Pcal_kTo compensate for some of the energy storage elements ES_kWhile maintaining Pcal_kIs equal to the set point P.

Because, each generator 101 of the plurality of generators_kEach storage element ES of_kCharge and discharge electric power Pcal of_kIs equal to the determined electric power P.

Due to the fact that the terminal 120 is₁Measured line voltage TM₁Difference from voltage setpoint TC regulates power P, hence line voltage TM₁Naturally adjusted:

if there is no load 102 on the line₁、102₂、102_iAnd these last two voltages are exactly the same, the power P will be zero, since the voltage TM measured₁Will equal the set point voltage TC.

If TM₁>TC, the power P will be determined in proportion to the voltage difference, and it will be based on UC_kIs calculated to element ES_kAnd charging is carried out.

If TM₁<TC, the power P will be determined in proportion to the voltage difference, and it will be based on UC_kIs calculated to element ES_kAnd discharging is performed.

FIG. 6 uses the same principle with several systems 120₁、120₂、…、120_kTo balance:

at each system 120_kSet point power P in_k。

Or at each system 120_kSet point current I in_k(this alternative is not shown in FIG. 6, but the method is similar to that described above for determining setpoint power P_kThe same method as above).

Thus, in FIG. 6, the setpoint power, Pcal_kAnd then becomes each device 110_kPower set point of (1) and the latter is determined by UC_kPerform calculations to be performed at each system 120_kHas exactly the same power P_kRegardless of the line impedances z1, z2 to zk.

The described method is implemented, for example, in a 40 meter tram vehicle, nice france, where the vehicle configuration being developed is included in the system 120_iThree devices 101 in_k(k 1 to 3), 3 systems 120_i(i-1 to 3) are arranged in a vehicle in a diversified manner.

It is also implemented on a 30 meter tram vehicle, taiwan hero, where the vehicle configuration under development includes system 120_i3 devices 101 in_k(k 1 to 3), 2 systems 120_i(i-1 to 2) are arranged in a vehicle in a diversified manner.