阅读说明：本技术 防止电池功率超限的控制方法、装置、电子设备和介质 (Control method, device, electronic equipment and medium for preventing battery power from exceeding limit ) 是由 刘婷 于 2021-08-04 设计创作，主要内容包括：本发明提供了一种防止电池功率超限的控制方法、装置、电子设备和介质,涉及动力电池的技术领域,包括实时获取当前车辆的电机转速变化率,车辆动态控制系统的系统状态、当前电池的最大充放电功率和实际充放电功率；根据车辆动态控制系统的状态影响量、电机转速变化率影响量以及最大充放电功率影响量中的任意一个或多个,确定当前时刻的功率补偿量；基于最大充放电功率和功率补偿量之差,确定当前时刻的第一限制功率；根据第一限制功率对实际充放电功率进行控制,直至实际充放电功率不超过第一限制功率,通过实时获取车辆参数和电池参数,能够预先对限制功率进行调整控制,保证实际充放电功率不会超过电池最大充放电功率。(The invention provides a control method, a device, electronic equipment and a medium for preventing the power of a battery from exceeding the limit, which relate to the technical field of power batteries and comprise the steps of acquiring the change rate of the rotating speed of a motor of a current vehicle, the system state of a dynamic control system of the vehicle, the maximum charge-discharge power and the actual charge-discharge power of the current battery in real time; determining the power compensation quantity at the current moment according to any one or more of the state influence quantity, the motor rotating speed change rate influence quantity and the maximum charging and discharging power influence quantity of the vehicle dynamic control system; determining a first limit power at the current moment based on the difference between the maximum charging and discharging power and the power compensation amount; and controlling the actual charging and discharging power according to the first limit power until the actual charging and discharging power does not exceed the first limit power, and adjusting and controlling the limit power in advance by acquiring vehicle parameters and battery parameters in real time to ensure that the actual charging and discharging power does not exceed the maximum charging and discharging power of the battery.)

1. A control method for preventing battery power overrun, the method comprising:

acquiring the change rate of the motor rotating speed of the current vehicle, the system state of a vehicle dynamic control system, the maximum charge-discharge power and the actual charge-discharge power of the current battery in real time;

determining a power compensation amount at the current moment according to any one or more of a state influence amount, a motor rotating speed change rate influence amount and a maximum charging and discharging power influence amount of a vehicle dynamic control system, wherein the state influence amount of the vehicle dynamic control system is determined based on a system state of the vehicle dynamic control system, the motor rotating speed change rate influence amount is determined based on a comparison result of the motor rotating speed change rate and a change rate threshold value, and the maximum charging and discharging power influence amount is determined based on a comparison result of the maximum charging and discharging power and a power threshold value;

determining a first limit power at the current time based on a difference between the maximum charge-discharge power and the power compensation amount;

and controlling the actual charging and discharging power according to the first limit power until the actual charging and discharging power does not exceed the first limit power.

2. The method according to claim 1, wherein the step of controlling the actual charge-discharge power according to the first limit power until the actual charge-discharge power does not exceed the first limit power comprises:

performing proportional-integral linear adjustment on the first limiting power to obtain a second limiting power;

and controlling the actual charging and discharging power according to the second limit power.

3. The method according to claim 1, wherein the step of determining the power compensation amount at the present time based on any one or more of a state influence amount, a motor rotation speed change rate influence amount, and a maximum charge-discharge power influence amount of the vehicle dynamics control system includes:

acquiring first power corresponding to a system state of the vehicle dynamic control system, wherein the first power comprises the first power corresponding to an activated state of the vehicle dynamic control system or the first power corresponding to an inactivated state of the vehicle dynamic control system;

according to the comparison condition of the change rate of the motor rotating speed and a change rate threshold value, acquiring corresponding second power, wherein the second power comprises the second power corresponding to the condition that the change rate of the motor rotating speed exceeds the change rate threshold value or the second power corresponding to the condition that the change rate of the motor rotating speed is smaller than the change rate threshold value;

according to the comparison condition of the maximum charge-discharge power and a power threshold, acquiring corresponding third power, wherein the third power comprises third power corresponding to the maximum charge-discharge power exceeding the power threshold or third power corresponding to the maximum charge-discharge power being smaller than the power threshold;

determining the power compensation amount at the current moment based on the sum of the first power, the second power and the third power.

4. The method according to claim 3, wherein the step of determining the power compensation amount at the present time based on any one or more of a state influence amount, a motor rotation speed change rate influence amount, and a maximum charge-discharge power influence amount of the vehicle dynamics control system, further comprises:

determining the power compensation amount at the current time based on an initial power compensation value and the sum of the first power, the second power and the third power.

5. The method of claim 3, wherein the first power corresponding to the vehicle dynamics control system active state is greater than the first power corresponding to the vehicle dynamics control system inactive state.

6. The method of claim 3, wherein the second power corresponding to the rate of change of the motor speed exceeding the rate threshold is greater than the second power corresponding to the rate of change of the motor speed being less than the rate threshold.

7. The method of claim 3, wherein the third power corresponding to the maximum charge-discharge power exceeding the power threshold is greater than the third power corresponding to the maximum charge-discharge power being less than the power threshold.

8. The method of claim 1, further comprising:

and if the change slope of the actual charging and discharging power is increased and exceeds a change threshold, controlling a third limiting power to reduce a preset power value so as to control the actual charging and discharging power according to the third limiting power after the operation of reducing.

9. A control device for preventing battery power overrun, the device comprising:

the acquisition module is used for acquiring the change rate of the motor speed of the current vehicle, the system state of a vehicle dynamic control system, the maximum charge-discharge power and the actual charge-discharge power of the current battery in real time;

the device comprises a first determining module, a second determining module and a control module, wherein the first determining module determines a power compensation quantity at the current moment according to any one or more of a state influence quantity of a vehicle dynamic control system, a motor rotating speed change rate influence quantity and a maximum charging and discharging power influence quantity, the state influence quantity of the vehicle dynamic control system is determined based on a system state of the vehicle dynamic control system, the motor rotating speed change rate influence quantity is determined based on a comparison result of a motor rotating speed change rate and a change rate threshold value, and the maximum charging and discharging power influence quantity is based on a comparison result of maximum charging and discharging power and a power threshold value;

a second determination module that determines a first limit power at a current time based on a difference between the maximum charge-discharge power and the power compensation amount;

and the control module is used for controlling the actual charging and discharging power according to the first limit power until the actual charging and discharging power does not exceed the first limit power.

10. An electronic device, characterized in that the electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any of claims 1-8 when executing a program stored on a memory.

11. A computer-readable storage medium, characterized in that a computer program is stored in the readable storage medium, which computer program, when executed, implements the method of any of claims 1-8.

Technical Field

The invention relates to the technical field of power batteries, in particular to a control method and device for preventing the power of a battery from exceeding the limit, electronic equipment and a medium.

Background

The power battery provides energy for each part of the electric automobile, however, the discharge power of the power battery is affected by the operating environment, the current state of the battery and the like. And the actual total load running power of the automobile should not exceed the maximum discharge power of the battery, otherwise, the battery is damaged, and the service life of the battery is reduced. Therefore, it is necessary to exert the battery performance to the maximum extent, and at the same time, reasonably use the battery discharge power, protect the battery, and maintain the stable operation of the automobile.

Currently, the actual power of the total load is generally controlled so that it does not exceed the maximum discharge power of the battery, but there is still a risk of damaging the battery because of the delay in control.

Disclosure of Invention

The invention aims to provide a control method, a control device, electronic equipment and a control medium for preventing the power of a battery from exceeding the limit, which can adjust and control the limit power in advance by acquiring vehicle parameters and battery parameters in real time and ensure that the actual charge and discharge power does not exceed the maximum charge and discharge power of the battery.

In a first aspect, an embodiment of the present invention provides a control method for preventing a battery power from exceeding a limit, where the method includes:

acquiring the change rate of the motor rotating speed of the current vehicle, the system state of a vehicle dynamic control system, the maximum charge-discharge power and the actual charge-discharge power of the current battery in real time;

determining a power compensation amount at the current moment according to any one or more of a state influence amount, a motor rotating speed change rate influence amount and a maximum charging and discharging power influence amount of a vehicle dynamic control system, wherein the state influence amount of the vehicle dynamic control system is determined based on a system state of the vehicle dynamic control system, the motor rotating speed change rate influence amount is determined based on a comparison result of the motor rotating speed change rate and a change rate threshold value, and the maximum charging and discharging power influence amount is based on a comparison result of the maximum charging and discharging power and a power threshold value;

determining a first limit power at the current time based on a difference between the maximum charge-discharge power and the power compensation amount;

and controlling the actual charging and discharging power according to the first limit power until the actual charging and discharging power does not exceed the first limit power.

With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the step of controlling the actual charge and discharge power according to the first limited power until the actual charge and discharge power does not exceed the first limited power includes:

performing proportional-integral linear adjustment on the first limiting power to obtain a second limiting power;

and controlling the actual charging and discharging power according to the second limit power.

With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, wherein the step of determining the power compensation amount at the current time according to any one or more of a state influence amount, a motor rotation speed change rate influence amount, and a maximum charge-discharge power influence amount of the vehicle dynamics control system includes:

acquiring first power corresponding to a system state of the vehicle dynamic control system, wherein the first power comprises the first power corresponding to an activated state of the vehicle dynamic control system or the first power corresponding to an inactivated state of the vehicle dynamic control system;

according to the comparison condition of the change rate of the motor rotating speed and a change rate threshold value, acquiring corresponding second power, wherein the second power comprises the second power corresponding to the condition that the change rate of the motor rotating speed exceeds the change rate threshold value or the second power corresponding to the condition that the change rate of the motor rotating speed is smaller than the change rate threshold value;

according to the comparison condition of the maximum charge-discharge power and a power threshold, acquiring corresponding third power, wherein the third power comprises third power corresponding to the maximum charge-discharge power exceeding the power threshold or third power corresponding to the maximum charge-discharge power being smaller than the power threshold;

determining the power compensation amount based on a sum of the first power, the second power, and the third power.

With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein the step of determining the power compensation amount at the current time according to any one or more of a state influence amount, a motor rotation speed change rate influence amount, and a maximum charge-discharge power influence amount of the vehicle dynamics control system further includes:

determining the power compensation amount based on an initial power compensation value and a sum of the first power, the second power, and the third power.

With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where the first power corresponding to the vehicle dynamic control system in the active state is greater than the first power corresponding to the vehicle dynamic control system in the inactive state.

With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the second power corresponding to the change rate of the rotation speed of the motor exceeding the change rate threshold is greater than the second power corresponding to the change rate of the rotation speed of the motor being smaller than the change rate threshold.

With reference to the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where a third power corresponding to that the maximum charge and discharge power exceeds a power threshold is greater than a third power corresponding to that the maximum charge and discharge power is smaller than the power threshold.

With reference to the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, where the method further includes:

and if the change slope of the actual charging and discharging power is increased and exceeds a change threshold, controlling a third limiting power to reduce a preset power value so as to control the actual charging and discharging power according to the third limiting power after the operation of reducing.

In a second aspect, an embodiment of the present invention further provides a control apparatus for preventing a battery power from exceeding a limit, where the apparatus includes:

the acquisition module is used for acquiring the change rate of the motor speed of the current vehicle, the system state of a vehicle dynamic control system, the maximum charge-discharge power and the actual charge-discharge power of the current battery in real time;

the device comprises a first determining module, a second determining module and a control module, wherein the first determining module determines a power compensation quantity at the current moment according to any one or more of a state influence quantity of a vehicle dynamic control system, a motor rotating speed change rate influence quantity and a maximum charging and discharging power influence quantity, the state influence quantity of the vehicle dynamic control system is determined based on a system state of the vehicle dynamic control system, the motor rotating speed change rate influence quantity is determined based on a comparison result of a motor rotating speed change rate and a change rate threshold value, and the maximum charging and discharging power influence quantity is based on a comparison result of maximum charging and discharging power and a power threshold value;

a second determination module that determines a first limit power at a current time based on a difference between the maximum charge-discharge power and the power compensation amount;

and the control module is used for controlling the actual charging and discharging power according to the first limit power until the actual charging and discharging power does not exceed the first limit power.

In a third aspect, an embodiment provides an electronic device, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps of the method described in any one of the foregoing embodiments when executing the computer program.

In a fourth aspect, embodiments provide a machine-readable storage medium having stored thereon machine-executable instructions that, when invoked and executed by a processor, cause the processor to carry out the steps of the method of any preceding embodiment.

The embodiment of the invention provides a control method and a control device for preventing the power of a battery from exceeding the limit, electronic equipment and a readable storage medium, the power compensation amount at the present time may be determined according to the state influence amount of the vehicle dynamics control system, or, determining the power compensation amount at the current moment according to the state influence amount of the vehicle dynamic control system and the motor rotating speed change rate influence amount, or, determining the power compensation quantity at the current moment according to the state influence quantity, the motor rotating speed change rate influence quantity and the maximum charging and discharging power influence quantity of the vehicle dynamic control system, or, determining the power compensation amount at the current moment according to the influence amount of the motor rotating speed change rate and the influence amount of the maximum charging and discharging power, or, the power compensation amount at the current moment is determined according to the state influence amount and the maximum charge-discharge power influence amount of the vehicle dynamic control system.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a flowchart of a control method for preventing over-limit of battery power according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of power versus time according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of another power versus time relationship provided by an embodiment of the present invention;

FIG. 4 is a schematic diagram of another relationship between power and time according to an embodiment of the present invention;

FIG. 5 is a flowchart of another control method for preventing over-limit of battery power according to an embodiment of the present invention;

FIG. 6 is a functional block diagram of a control device for preventing over-limit of battery power according to an embodiment of the present invention;

fig. 7 is a schematic diagram of a hardware architecture of an electronic device according to an embodiment of the present invention.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Battery life is currently guaranteed by controlling the actual power of the power cell so that it does not exceed the maximum discharge power of the battery, but the battery still risks being lossy. In an actual application scenario, for example, although the actual power is controlled to be reduced at this time, due to the measurement delay, the control accuracy and other reasons, the actual power still has a risk of exceeding the maximum power, and is continuously increased for a period of time, and further the actual power has a risk of exceeding the maximum discharge power during the period of time, so that the service life of the battery is reduced.

Based on this, the control method, the device, the electronic device and the medium for preventing the battery power from exceeding the limit provided by the embodiment of the invention can adjust and control the limit power in advance by acquiring the vehicle parameters and the battery parameters in real time, and ensure that the actual charge and discharge power does not exceed the maximum charge and discharge power of the battery.

For the convenience of understanding the embodiment, a detailed description will be given to a control method for preventing the battery power from being over-limited, which is applicable to a vehicle controller of a vehicle.

Fig. 1 is a flowchart of a control method for preventing the battery power from exceeding the limit according to an embodiment of the present invention.

Referring to fig. 1, the method may include the steps of:

and S102, acquiring the change rate of the motor speed of the current vehicle, the system state of a vehicle dynamic control system, the maximum charge-discharge power and the actual charge-discharge power of the current battery in real time.

Wherein, the motor rotating Speed Change Rate EMS Speed Change Rate is the time Change Rate of the motor rotating Speed collected in real time. A vehicle running dynamic control system (VDC) includes an activated state and a deactivated state. The maximum charge and discharge Power Max is the maximum charge and discharge Power that can be released based on the performance, application environment and working condition of the current battery. The Actual charging and discharging Power Actual is the charging and discharging Power value actually released by the current battery under the control of the vehicle control unit.

It should be noted that the real-time collection of the parameters can be realized through the cooperation of the collection devices (such as sensors) of various devices in the vehicle and the communication protocol.

It is understood that the VDC may be applicable to a multi-power source four-wheel drive vehicle, such as a front-rear axle dual motor four-wheel drive new energy vehicle, etc. The VDC is activated when the desired vehicle yaw rate and the actual vehicle yaw rate do not coincide. For example, the activation may occur in a situation where the driver steps on the accelerator while fast-driving the steering wheel.

The inventor researches and finds that the torque distribution ratio of the front motor and the rear motor preset by the power limiting module and the torque distribution ratio of the front motor and the rear motor actually controlled by the VDC may be inconsistent, so that the working efficiency of the front shaft motor and the rear shaft motor may also be inconsistent, the overall efficiency is low when the VDC is activated, and the situation that the actual power exceeds the limited power is easy to occur. Therefore, the embodiment of the invention carries out power limiting pre-adjustment aiming at the VDC activation condition, avoids the actual power exceeding the maximum charging and discharging power and ensures the safety of the vehicle.

And step S104, determining a power compensation quantity at the current moment according to any one or more of a state influence quantity of the vehicle dynamic control system, a motor rotating speed change rate influence quantity and a maximum charging and discharging power influence quantity, wherein the state influence quantity of the vehicle dynamic control system is determined based on the system state of the vehicle dynamic control system, the motor rotating speed change rate influence quantity is determined based on a comparison result of the motor rotating speed change rate and a change rate threshold value, and the maximum charging and discharging power influence quantity is determined based on a comparison result of the maximum charging and discharging power and the power threshold value.

In the practical application process, the power compensation quantity at the current moment can be determined according to the state influence quantity of the vehicle dynamic control system, or the power compensation quantity at the current moment is determined according to the state influence quantity of the vehicle dynamic control system and the influence quantity of the motor rotating speed change rate, or the power compensation quantity at the current moment is determined according to the state influence quantity of the vehicle dynamic control system, the influence quantity of the motor rotating speed change rate and the maximum charging and discharging power influence quantity, or the power compensation quantity at the current moment is determined according to the state influence quantity of the vehicle dynamic control system and the maximum charging and discharging power influence quantity.

Step S106, based on the difference between the maximum charging and discharging Power Max and the Power compensation amount Offset, determining the first Power Max Offset at the current time.

Illustratively, Power Max Offset is Power Max-Offset. The first Power Max Offset is smaller than the maximum charging/discharging Power and larger than the actual charging/discharging Power.

And S108, controlling the actual charging and discharging power according to the first limit power until the actual charging and discharging power does not exceed the first limit power.

Illustratively, the actual charge-discharge power is limited with a limited power slightly smaller than the maximum charge-discharge power, so that the actual charge-discharge power does not exceed the first limited power, and further the actual charge-discharge power is guaranteed not to exceed the maximum charge-discharge power larger than the limited power.

In a practical preferred embodiment, a power compensation quantity at the current moment is obtained based on any one or more of a state influence quantity, a motor rotation speed change rate influence quantity and a maximum charge-discharge power influence quantity of a vehicle dynamic control system, a first limit power at the current moment is obtained according to a difference value between the maximum charge-discharge power at the current moment and the power compensation quantity, the first limit power at each moment obtained in real time forms a limit power curve, the limit power curve can be adjusted and controlled in advance according to the predicted overrun occasion before the actual charge-discharge power exceeds the first limit power according to the state influence quantity, namely the first limit power curve obtained in real time through the state influence quantity has the characteristics of predicting overrun occasion and adjusting in advance (in the case that the actual charge-discharge power is less than the first limit power, the first limit power can be adjusted), instead of adjusting the first limit power when the actual charging/discharging power reaches the first limit power in the conventional case.

In some embodiments, the determining the first limiting power according to the above embodiments may be optimized to make the control of the actual charge and discharge power more accurate, and for example, the step S108 may be implemented by:

step 1.1), performing proportional-integral-linear PID (proportional-integral-derivative) adjustment on the first limiting power to obtain a second limiting power.

And the actual charging and discharging power does not exceed the first limit power, and the PID control is carried out on the first limit power, the second limit power is output to the power using module for use, and the charging and discharging power consumed by the power using module in control does not exceed the second limit power, so that the actual charging and discharging power does not exceed the first limit power.

And step 1.2), controlling the actual charging and discharging power by using the second limited power.

It should be noted that, in the embodiment of the present invention, the first limit power smaller than the maximum charge/discharge power is used as the control target line, and the first limit power curve Offset is dynamically adjusted, so that the actual charge/discharge power can be effectively prevented from exceeding the limit (exceeding the first limit power curve), and when the actual charge/discharge power is about to exceed the limit, the PID is used to quickly and effectively control the actual charge/discharge power within the battery capacity range.

In some embodiments, the influence on the current power compensation amount may be determined according to the influence amount of the parameter, so that the determined power compensation amount can implement dynamic adjustment before the actual charging and discharging power exceeds the limit, and step S104 further includes the following steps:

and 2.1) acquiring first power corresponding to the system state of the vehicle dynamic control system, wherein the first power comprises first power corresponding to the Active state VDC Active of the vehicle dynamic control system or first power corresponding to the Inactive state VDC Inactive of the vehicle dynamic control system.

The first power corresponding to the activated state of the vehicle dynamic control system is K1, the first power corresponding to the inactivated state of the vehicle dynamic control system is 0, and the first power corresponding to the activated state of the vehicle dynamic control system is greater than the first power corresponding to the inactivated state of the vehicle dynamic control system, that is, the first power Cvdc corresponding to the system state of the vehicle dynamic control system is a positive value.

In the practical application process, as shown in fig. 3, when a vehicle user steps on an accelerator or turns, the vehicle dynamic control system is in an activated state, the power compensation amount influenced by the activated state factor is increased, and at this time, based on the user operation, the actual charging and discharging power curve is raised. According to the embodiment of the invention, the first limit power curve is reduced in advance to obtain a second limit power curve (a limit curve part between VDC Active and VDC Inactive), the actual charging and discharging power can continuously rise for a section when certain inertia exists, and then the actual charging and discharging power is reduced based on the second limit power curve. And after the user finishes the steering operation, the accelerator is loosened, the system is in an inactive state, and the user performs deceleration operation.

It should be noted that, when the vehicle dynamic control system is in the active state, the actual charging/discharging power does not exceed the first limit power, and the first limit power is controlled to be reduced in advance under the increasing action of the power compensation amount.

And 2.2) acquiring corresponding second power according to the comparison condition of the change rate of the motor rotating speed and the change rate threshold, wherein the second power comprises the second power corresponding to the condition that the change rate of the motor rotating speed exceeds the change rate threshold or the second power corresponding to the condition that the change rate of the motor rotating speed is smaller than the change rate threshold.

The second power corresponding to the change Rate of the motor speed exceeding the change Rate threshold is Cem-f 1(Rate), and the second power corresponding to the change Rate of the motor speed being smaller than the change Rate threshold is Cem-0.

It should be noted that the second power corresponding to the change Rate of the motor rotation speed exceeding the change Rate threshold is greater than the second power corresponding to the change Rate of the motor rotation speed being smaller than the change Rate threshold, that is, Cem is a positive value, and the Cem function is positively correlated with the Rate of change of the motor rotation speed.

For example, if a user of the vehicle travels on a slippery road surface where water or ice is present and the vehicle slips, the vehicle speed rapidly increases. As shown in fig. 4, according to the embodiment of the present invention, the power compensation amount affected by the rotation speed increase factor also increases, and at this time, the first limited power curve is lowered in advance based on the power compensation amount to obtain the second limited power curve (the concave limited curve portion exists), and the actual charge/discharge power is lowered based on the second limited power curve. When the vehicle passes through the abnormal road surface, the power compensation amount is reduced, the limited power is increased again (the concave limited curve part which tends to be straight and stable), and the vehicle runs normally.

It can be understood that when the change rate of the motor rotation speed exceeds the change rate threshold, the actual charge-discharge power does not exceed the first limit power, and under the increasing action of the power compensation amount, the first limit power can be controlled to be reduced in advance, so that the actual charge-discharge power cannot exceed the maximum charge-discharge power under the influence of the first limit power adjusted in advance even though inertia exists in the change process.

And 2.3) acquiring corresponding third power according to the comparison condition of the maximum charge-discharge power and the power threshold, wherein the third power comprises the third power corresponding to the maximum charge-discharge power exceeding the power threshold or the third power corresponding to the maximum charge-discharge power being smaller than the power threshold.

The third power corresponding to the maximum charge-discharge power being smaller than the power threshold is Cpower ═ f2(PowerMax), the third power corresponding to the maximum charge-discharge power exceeding the power threshold is Cpower ═ 0, and the third power corresponding to the maximum charge-discharge power exceeding the power threshold is greater than the third power corresponding to the maximum charge-discharge power being smaller than the power threshold. It is known that the third power Cpower is a negative value, and Cpower is positively correlated with the maximum charge-discharge power PowerMax.

For example, as shown in fig. 5, when the user vehicle is in a long driving period, the maximum charge/discharge power may be reduced due to the influence of battery performance (a falling slope in the curve). According to the embodiment of the invention, in order to enable the actual charging and discharging power to meet the power requirement, the power compensation amount influenced by the maximum charging and discharging power reducing factor is reduced, and the first limiting power is ensured to be as large as possible (the part of the limiting curve which tends to be straight and stable after descending a slope is as large as possible), so that the actual charging and discharging is realized to be as large as possible under the condition that the actual charging and discharging power does not exceed the first limiting power, and the power requirement can be met. And when the maximum charge-discharge power is smaller than the power threshold, reducing the power compensation amount, and controlling the first limiting power not to be lower than a preset power threshold.

And 2.4) determining a power compensation amount based on the sum of the first power, the second power and the third power.

In some embodiments, the step S104 may be further implemented by:

and 3.1) determining a power compensation amount based on the initial power compensation value Raw and the sum of the first power Cvdc, the second power Cem and the third power Cpower.

Wherein, the value of the initial power compensation value Raw is K0.

As an alternative embodiment, when the user emphasizes the requirement to ensure the safety of the vehicle running, the method further comprises the following steps:

and 4.1) if the change slope of the actual charging and discharging power is increased and exceeds the change threshold, controlling the third limiting power to reduce the preset power value so as to control the actual charging and discharging power according to the third limiting power after the reduction operation.

Illustratively, if the change slope of the actual charging and discharging power increases sharply and exceeds the preset change threshold value 0.3, the third limiting power at the moment is controlled to reduce the preset power value a, and then the actual charging and discharging power is controlled according to the third limiting power after the reduction operation is completed.

The third limiting power may include the first limiting power or the second limiting power, or may be a limiting power at the current time that is independent of the first limiting power and the second limiting power, that is, based on the foregoing embodiments, the limiting power is controlled according to the embodiments of the present invention, or the control adjustment of the limiting power is directly implemented according to the embodiments of the present invention.

Fig. 2 is a flowchart of another control method for preventing the battery power from exceeding the limit according to an embodiment of the present invention, and referring to fig. 2, the method specifically includes the following steps:

step S202, obtaining a motor rotating speed change Rate, a vehicle dynamic control function activation state VDCActive and a maximum discharge power PowerMax;

step S204, judging whether the vehicle dynamic control function is in an activated state;

if yes, the first power Cvdc is K1; if not, the first power Cvdc is equal to 0;

step S206, judging whether the change rate of the motor rotating speed is greater than a threshold value T;

if yes, the second power Cem is f1 (Rate); if not, the second power Cem is 0;

step S208, judging whether the maximum charge-discharge power is less than a threshold value P;

if yes, the third power Cpower ═ f2 (PowerMax); if not, the third power Cpower is equal to 0;

wherein, the sequence of the step S204 to the step S208 is not in sequence;

step S210, Offset + Raw + Cvdc + Cem + Cpower;

wherein, the initial power compensation value Raw is K0; the power compensation amount Offset is the sum of the initial power compensation value, the first kilometer, the second power and the third power;

step S212, powermaxooffset is PowerMax-Offset;

wherein the first limit power powermaxooffset is a difference between the maximum charge and discharge power PowerMax and the power Offset amount.

As shown in fig. 6, an embodiment of the present invention provides a control device for preventing a battery power from exceeding a limit, including:

the acquisition module is used for acquiring the change rate of the motor speed of the current vehicle, the system state of a vehicle dynamic control system, the maximum charge-discharge power and the actual charge-discharge power of the current battery in real time;

the device comprises a first determining module, a second determining module and a control module, wherein the first determining module determines a power compensation quantity at the current moment according to any one or more of a state influence quantity of a vehicle dynamic control system, a motor rotating speed change rate influence quantity and a maximum charging and discharging power influence quantity, the state influence quantity of the vehicle dynamic control system is determined based on a system state of the vehicle dynamic control system, the motor rotating speed change rate influence quantity is determined based on a comparison result of a motor rotating speed change rate and a change rate threshold value, and the maximum charging and discharging power influence quantity is based on a comparison result of maximum charging and discharging power and a power threshold value;

a second determination module that determines a first limit power at a current time based on a difference between the maximum charge-discharge power and the power compensation amount;

and the control module is used for controlling the actual charging and discharging power according to the first limit power until the actual charging and discharging power does not exceed the first limit power.

In some embodiments, the control module is further specifically configured to perform proportional-integral-linear adjustment on the first limiting power to obtain a second limiting power; and controlling the actual charging and discharging power by the second limit power.

In some embodiments, the first determining module is further specifically configured to obtain a first power corresponding to a system state of the vehicle dynamic control system, where the first power includes a first power corresponding to an active state of the vehicle dynamic control system or a first power corresponding to an inactive state of the vehicle dynamic control system; according to the comparison condition of the change rate of the motor rotating speed and a change rate threshold value, acquiring corresponding second power, wherein the second power comprises the second power corresponding to the condition that the change rate of the motor rotating speed exceeds the change rate threshold value or the second power corresponding to the condition that the change rate of the motor rotating speed is smaller than the change rate threshold value; according to the comparison condition of the maximum charge-discharge power and a power threshold, acquiring corresponding third power, wherein the third power comprises third power corresponding to the maximum charge-discharge power exceeding the power threshold or third power corresponding to the maximum charge-discharge power being smaller than the power threshold; determining the power compensation amount based on a sum of the first power, the second power, and the third power.

In some embodiments, the first determining module is further specifically configured to determine the power compensation amount based on an initial power compensation value and a sum of the first power, the second power, and the third power.

In some embodiments, the first power corresponding to the activated state of the vehicle dynamic control system is greater than the first power corresponding to the deactivated state of the vehicle dynamic control system.

In some embodiments, the second power corresponding to the rate of change of the motor speed exceeding the rate threshold is greater than the second power corresponding to the rate of change of the motor speed being less than the rate threshold.

In some embodiments, the third power corresponding to the maximum charge-discharge power exceeding the power threshold is greater than the third power corresponding to the maximum charge-discharge power being less than the power threshold.

In some embodiments, the control module is further specifically configured to control a third limiting power to decrease a preset power value if a change slope of the actual charge and discharge power increases and exceeds a change threshold, so that the actual charge and discharge power is controlled according to the third limiting power after the decreasing operation.

In this embodiment, the electronic device may be, but is not limited to, a Computer device with analysis and processing capabilities, such as a Personal Computer (PC), a notebook Computer, a monitoring device, and a server.

As an exemplary embodiment, referring to fig. 7, the electronic device 110 includes a communication interface 111, a processor 112, a memory 113, and a bus 114, wherein the processor 112, the communication interface 111, and the memory 113 are connected by the bus 114; the memory 113 is used for storing a computer program for supporting the processor 112 to execute the image sharpening method, and the processor 112 is configured to execute the program stored in the memory 113.

A machine-readable storage medium as referred to herein may be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as executable instructions, data, and the like. For example, the machine-readable storage medium may be: a RAM (random Access Memory), a volatile Memory, a non-volatile Memory, a flash Memory, a storage drive (e.g., a hard drive), any type of storage disk (e.g., an optical disk, a dvd, etc.), or similar storage medium, or a combination thereof.

The non-volatile medium may be non-volatile memory, flash memory, a storage drive (e.g., a hard drive), any type of storage disk (e.g., an optical disk, dvd, etc.), or similar non-volatile storage medium, or a combination thereof.

It can be understood that, for the specific operation method of each functional module in this embodiment, reference may be made to the detailed description of the corresponding step in the foregoing method embodiment, and no repeated description is provided herein.

The computer-readable storage medium provided in the embodiments of the present invention stores a computer program, and when executed, the computer program code may implement the method described in any of the above embodiments, and for specific implementation, reference may be made to the method embodiment, which is not described herein again.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.