Battery balancing method and device

Abstract

The present application provides a battery balancing method and device, which includes: calculating the battery polarization voltage of the target battery pack during charging of the target battery pack; determining the cell voltage of each battery cell in the target battery pack based on the battery polarization voltage; performing battery charge correction on the battery cells in the platform area based on the cell voltage to obtain the target battery charge corresponding to the battery cells to be balanced and the battery cells to be balanced; estimating the balancing time of each battery cell to be balanced based on the target battery charge; and performing balancing processing on each battery cell to be balanced according to the balancing time. It can be seen that this method can accurately achieve battery balancing, has good stability, and improves balancing efficiency, thereby helping to improve battery life.

Description

Technical Field

[0001] The present application relates to the field of battery technology, and in particular to a battery balancing method and device. Background Art

[0002] Electric vehicles require battery packs to provide energy during use. Battery packs typically consist of multiple cells. Cells produced from the same batch require balancing during the charge and discharge process to reduce capacity imbalances in the battery pack caused by variations in the individual cell capacities. Existing balancing solutions typically connect a resistor and a switch in series with each cell in the battery pack. The switch conducts, converting some of the cell's electrical energy into heat energy in the resistor, thereby balancing the capacities of the individual cells in the battery pack. However, in practice, existing balancing methods have been found to suffer from low accuracy and stability, resulting in low balancing efficiency. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a battery balancing method and device that can accurately achieve battery balancing with good stability and improve balancing efficiency, thereby facilitating the extension of battery life.

[0004] A first aspect of an embodiment of the present application provides a battery balancing method, including:

[0005] During charging of a target battery pack, calculating a battery polarization voltage of the target battery pack;

[0006] Determining a cell voltage of each battery cell in the target battery pack according to the battery polarization voltage;

[0007] Performing battery charge correction on the battery cells in the platform area according to the battery cell voltage to obtain the battery cells to be balanced and the target battery charge corresponding to the battery cells to be balanced;

[0008] estimating the balancing time of each battery cell to be balanced according to the target battery charge;

[0009] Performing a balancing process on each of the battery cells to be balanced according to the balancing time.

[0010] In the above implementation process, the method can preferentially calculate the battery polarization voltage of the target battery pack during the charging process of the target battery pack; then determine the cell voltage of each battery cell in the target battery pack based on the battery polarization voltage; then perform battery charge correction on the battery cells in the platform area based on the cell voltage to obtain the target battery charge corresponding to the battery cells to be balanced and the battery cells to be balanced; then, estimate the balancing time of each battery cell to be balanced based on the target battery charge; finally, perform balancing on each battery cell to be balanced according to the balancing time. It can be seen that this method can add a correctness correction means to the balancing time; and solve the following technical problems: the battery cell voltages in the battery pack must all be in the voltage non-platform area in order to estimate the balancing time of the battery pack; a long period of static time is required before estimating the balancing to ensure that the voltage is in a stable state; there is no correctness verification during the balancing execution process, and closed-loop control cannot be formed.

[0011] Furthermore, the method further comprises:

[0012] Determine whether the target battery pack currently has a slow charge request;

[0013] If yes, the target battery pack is charged according to a preset slow charging current.

[0014] Furthermore, the battery charge correction is performed on the battery cells in the platform area according to the battery cell voltage to obtain the battery cells to be balanced and the target battery charge corresponding to the battery cells to be balanced, including:

[0015] Determine, according to the cell voltage, a platform area battery cell in the platform area and a non-platform area battery cell in the non-platform area;

[0016] Determine the battery charge at the intersection of the platform area and the non-platform area;

[0017] Correcting the initial battery charge of the battery cells in the platform area to the battery charge at the junction point;

[0018] The battery charges of the battery cells in the platform area and the estimated initial battery charges of the battery cells in the non-platform area are summarized to obtain the battery cells to be balanced and the target battery charges corresponding to the battery cells to be balanced.

[0019] Furthermore, determining the platform area battery cells in the platform area and the non-platform area battery cells in the non-platform area according to the cell voltages includes:

[0020] Determining a voltage range of each of the battery cells according to the cell voltage;

[0021] Determining whether the voltage interval of any battery cell is a non-platform area according to the voltage interval;

[0022] If yes, determining the initial battery charge of each of the battery cells according to a preset SOC-OCV table;

[0023] The platform area battery cells and the non-platform area battery cells are determined according to the voltage range.

[0024] Furthermore, the method further comprises:

[0025] In the process of performing the balancing process on each of the battery cells to be balanced, detecting the real-time cell voltage of each of the battery cells to be balanced in real time;

[0026] Determine a target battery cell with the lowest battery cell voltage according to the real-time battery cell voltage;

[0027] Correct the balancing time of the target cell to 0.

[0028] A second aspect of an embodiment of the present application provides a battery balancing device, the battery balancing device comprising:

[0029] a calculation unit, configured to calculate a battery polarization voltage of a target battery pack during charging of the target battery pack;

[0030] a determining unit, configured to determine a cell voltage of each battery cell in the target battery pack according to the battery polarization voltage;

[0031] a correction unit, configured to perform battery charge correction on the battery cells in the platform area according to the battery cell voltage, to obtain the battery cells to be balanced and target battery charges corresponding to the battery cells to be balanced;

[0032] an estimating unit, configured to estimate a balancing time of each of the battery cells to be balanced according to the target battery charge;

[0033] The balancing unit is configured to perform balancing processing on each of the battery cells to be balanced according to the balancing time.

[0034] Furthermore, the battery balancing device further includes:

[0035] A judgment unit, used to judge whether the target battery pack currently has a slow charge request;

[0036] The charging unit is used to charge the target battery pack according to a preset slow charging current when it is determined that there is a slow charging demand.

[0037] Furthermore, the correction unit includes:

[0038] a determination subunit, configured to determine, based on the cell voltages, a platform area battery cell located in the platform area and a non-platform area battery cell located in the non-platform area; and determine a junction point battery charge at a junction point between the platform area and the non-platform area;

[0039] a correction subunit, configured to correct the initial battery charge of the battery cells in the platform area to the battery charge at the junction point;

[0040] The summarizing subunit is configured to summarize the junction point battery charges of the battery cells in the platform area and the estimated initial battery charges of the battery cells in the non-platform area to obtain the battery cells to be balanced and the target battery charges corresponding to the battery cells to be balanced.

[0041] A third aspect of the embodiments of the present application provides an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the battery balancing method described in any one of the first aspects of the embodiments of the present application.

[0042] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium storing computer program instructions. When the computer program instructions are read and executed by a processor, the battery balancing method described in any one of the first aspects of the embodiments of the present application is executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 A flowchart of a battery balancing method provided in an embodiment of the present application;

[0045] Figure 2 A schematic diagram of the structure of a battery balancing device provided in an embodiment of the present application;

[0046] Figure 3 A schematic diagram of a voltage-SOC curve provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0048] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0049] Example 1

[0050] Please see Figure 1 , Figure 1 A flowchart of a battery balancing method is provided for an embodiment of the present application. The battery balancing method includes:

[0051] S101. Determine whether the target battery pack currently has a slow charge request. If so, execute step S102; if not, end this process.

[0052] S102: Charge the target battery pack according to a preset slow charging current.

[0053] In this embodiment, slow current charging is continued for at least a minutes before performing subsequent steps, where a is determined according to the polarization elimination speed of the battery cell.

[0054] S103 . Calculate the battery polarization voltage of the target battery pack during charging of the target battery pack.

[0055] In this embodiment, during the charging process, the battery polarization voltage is determined. The current polarization voltage of the battery is calculated as follows:

[0056] V pol-real =α*V pol-past +V pol-now

[0057] V pol-now =Table-lookup(I, SOC)

[0058] Among them, V pol-past is the polarization voltage value accumulated historically by the battery pack, V pol-now The increase in polarization voltage caused by charging and discharging during the current period, α is the polarization voltage decay coefficient, and I is the cumulative value of charging and discharging current during the current period.

[0059] In this embodiment, V pol-now <0.05 to ensure that the battery is in a state of polarization elimination and the voltage is in a relatively stable state.

[0060] S104 : Determine the cell voltage of each battery cell in the target battery pack according to the battery polarization voltage.

[0061] S105 : Determine the voltage range of each battery cell according to the cell voltage.

[0062] S106 , judging whether the voltage range of any battery cell is a non-platform area according to the voltage range, if so, executing step S107 ; if not, ending the process.

[0063] In this embodiment, the method determines which range the voltage of each battery cell in the battery pack is in and whether at least one battery cell is in a non-platform area.

[0064] In this embodiment, the cell voltage ≤ b is a non-platform region, and > b is a platform region. The definition of b is as follows: Figure 3 As shown by Figure 3 It can be seen that the b value is where the slope of the voltage-SOC curve drops to 0.

[0065] S107 : Determine the initial battery charge of each battery cell according to a preset SOC-OCV table.

[0066] In this embodiment, the method obtains the initial SOC through Table-lookup according to the voltage of each battery cell, and the SOC in the platform area is forcibly corrected to the SOC at the intersection of the platform and the non-platform.

[0067] In this embodiment, for cells whose voltage is in the non-plateau region, the SOC can be confirmed using a voltage table-lookup; for cells whose voltage is in the plateau region, the SOC is forced to be equal to c.

[0068] S108. Determine, according to the voltage range, the platform area battery cells that are in the platform area and the non-platform area battery cells that are in the non-platform area.

[0069] S109: Determine the battery charge at the intersection of the platform area and the non-platform area.

[0070] S110: Correcting the initial battery charge of the battery cells in the platform area to the battery charge at the junction point.

[0071] S111 , summarizing the battery charges at the intersection of the battery cells in the platform area and the estimated initial battery charges of the battery cells in the non-platform area to obtain the battery cells to be balanced and the target battery charges corresponding to the battery cells to be balanced.

[0072] S112: Estimate the balancing time of each battery cell to be balanced according to the target battery charge.

[0073] In this embodiment, the method can estimate the balancing time required for each battery cell based on the SOC of each battery cell. The calculation method is as follows:

[0074] t bal =(SOC cell -SOC ref)*C cap / I bal

[0075] SOC ref =min(SOC min +SOC avg )

[0076] Among them, t bal is the equilibrium time, SOC cell For battery cell SOC, SOC ref For balanced reference SOC, C cap is the battery pack capacity, I bal is the balancing current, SOC min The minimum SOC of the battery cell in the battery pack, SOC avg is the average SOC of the cells in the battery pack.

[0077] In this embodiment, this step needs to use each cell SOC to calculate the balancing time required for each cell. bal >0, it is considered that the battery cell needs to be balanced.

[0078] S113: Perform balancing processing on each battery cell to be balanced according to the balancing time.

[0079] S114 . During the process of performing the balancing process on each battery cell to be balanced, detecting the real-time cell voltage of each battery cell to be balanced in real time.

[0080] S115 . Determine a target cell with the lowest cell voltage according to the real-time cell voltage.

[0081] S116: Correct the balancing time of the target cell to 0.

[0082] In this embodiment, the method can perform balancing according to the balancing time calculated for each cell, and during the process, compare and judge the voltage of each cell in real time. For the cell with the lowest voltage, the balancing time is corrected to 0.

[0083] In this embodiment, during the balancing process, the method detects the voltages of all cells in the battery pack, and changes the balancing time of the cell with the lowest voltage to 0.

[0084] In this embodiment, the balancing process for the static scene may be as follows:

[0085] Step 1: Determine whether the battery's current standstill time has reached d min (d is determined based on the polarization elimination speed of the battery cell);

[0086] Step 2: Determine the polarization voltage of the battery pack. The calculation method is the same as step S103.

[0087] Step 3: Determine the voltage range of each cell in the battery pack and whether at least one cell is in the non-platform area.

[0088] Step 4: Get the initial SOC through table-lookup based on the voltage of each cell, and forcibly correct the SOC in the platform area to the SOC at the intersection of the platform and non-platform;

[0089] Step 5: Estimate the balancing time required for each cell based on the SOC of each cell. The calculation method is the same as step S112.

[0090] Step 6: Perform balancing, and during the process, compare and judge the voltage of each cell in real time. For the cell with the lowest voltage, the balancing time is corrected to 0.

[0091] In this embodiment, the execution subject of the method may be a computing device such as a computer or a server, and this is not limited in this embodiment.

[0092] It can be seen that the battery balancing method described in this embodiment can calculate the balancing time when the battery is in a non-stationary state by charging with a slow charging current for a period of time, thereby enriching the scenarios for entering the balancing time calculation and shortening the static time requirement; it can also ensure that at least one battery cell voltage is in the non-platform area to realize the balancing time calculation, thereby greatly relaxing the battery cell voltage requirement for entering the balancing; it can also ensure the accuracy of the battery cell Table-lookup SOC by adding the battery cell polarization voltage calculation, thereby making the calculated balancing time more accurate; it can also judge the battery cell voltage during the balancing process, thereby ensuring that the voltage difference of the battery pack will not be increased during the balancing process, thereby increasing the verification of the balancing instruction and ensuring the correctness of the balancing.

[0093] Example 2

[0094] Please see Figure 2 , Figure 2 This is a structural diagram of a battery balancing device provided in an embodiment of the present application. Figure 2 As shown, the battery balancing device includes:

[0095] a calculation unit 210 for calculating a battery polarization voltage of a target battery pack during charging of the target battery pack;

[0096] a determining unit 220, configured to determine a cell voltage of each battery cell in a target battery pack according to the battery polarization voltage;

[0097] a correction unit 230 for performing battery charge correction on the battery cells in the platform area according to the battery cell voltage to obtain the battery cells to be balanced and the target battery charge corresponding to the battery cells to be balanced;

[0098] An estimating unit 240 is configured to estimate the balancing time of each battery cell to be balanced according to the target battery charge;

[0099] The balancing unit 250 is configured to perform balancing processing on each battery cell to be balanced according to the balancing time.

[0100] As an optional implementation, the battery balancing device further includes:

[0101] A determination unit 260 is configured to determine whether the target battery pack currently has a slow charge request;

[0102] The charging unit 270 is configured to charge the target battery pack according to a preset slow charging current when it is determined that there is a slow charging demand.

[0103] As an optional implementation, the correction unit 230 includes:

[0104] The determining subunit 231 is configured to determine the platform area battery cells in the platform area and the non-platform area battery cells in the non-platform area according to the cell voltages; and determine the intersection point battery charge of the intersection point between the platform area and the non-platform area;

[0105] The correction subunit 232 is used to correct the initial battery charge of the battery cells in the platform area to the battery charge of the junction point;

[0106] The summarizing subunit 233 is configured to summarize the battery charges at the junction points of the battery cells in the platform area and the estimated initial battery charges of the battery cells in the non-platform area to obtain the battery cells to be balanced and the target battery charges corresponding to the battery cells to be balanced.

[0107] As an optional implementation manner, the determining subunit 231 includes:

[0108] A determination module, configured to determine the voltage range of each battery cell according to the cell voltage;

[0109] A judgment module, configured to judge whether the voltage interval of any battery cell is a non-platform area according to the voltage interval;

[0110] The determination module is further configured to determine the initial battery charge of each battery cell according to a preset SOC-OCV table if the voltage interval of any battery cell is a non-platform area;

[0111] The determination module is further configured to determine the platform area battery cells that are in the platform area and the non-platform area battery cells that are in the non-platform area according to the voltage range in which they are located.

[0112] As an optional implementation, the battery balancing device further includes:

[0113] The detection unit 280 is used to detect the real-time cell voltage of each battery cell to be balanced in real time during the process of performing the balancing process on each battery cell to be balanced;

[0114] A determination unit 220 is configured to determine a target cell having the lowest cell voltage according to the real-time cell voltage;

[0115] The correction unit 230 is configured to correct the balancing time of the target battery cell to 0.

[0116] In this embodiment, the explanation of the battery balancing device can refer to the description in Embodiment 1, and will not be further elaborated in this embodiment.

[0117] It can be seen that the battery balancing device described in this embodiment can calculate the balancing time by charging the battery with a slow charge current for a period of time in a non-stationary state, thereby enriching the scenarios for entering the balancing time calculation and shortening the static time requirement. It can also ensure that the voltage of at least one battery cell is in the non-plateau area to realize the balancing time calculation, thereby greatly relaxing the battery cell voltage requirement for entering the balancing. It can also ensure the accuracy of the battery cell Table-lookup SOC by adding the battery cell polarization voltage calculation, thereby making the calculated balancing time more accurate. It can also judge the battery cell voltage during the balancing process to ensure that the voltage difference of the battery pack is not increased during the balancing process, thereby increasing the verification of the balancing instruction and ensuring the correctness of the balancing.

[0118] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the battery balancing method in Embodiment 1 of the present application.

[0119] An embodiment of the present application provides a computer-readable storage medium storing computer program instructions. When the computer program instructions are read and executed by a processor, the battery balancing method in Embodiment 1 of the present application is executed.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0121] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0122] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0123] The foregoing is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures.

[0124] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

[0125] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

Claims

1. A battery balancing method, characterized in that: include: During charging of a target battery pack, calculating a battery polarization voltage of the target battery pack; Determining a cell voltage of each battery cell in the target battery pack according to the battery polarization voltage; Performing battery charge correction on the battery cells in the platform area according to the battery cell voltage to obtain the battery cells to be balanced and the target battery charge corresponding to the battery cells to be balanced; estimating the balancing time of each battery cell to be balanced according to the target battery charge; Performing balancing processing on each of the battery cells to be balanced according to the balancing time; The step of performing battery charge correction on the battery cells in the platform area according to the battery cell voltage to obtain the battery cells to be balanced and the target battery charges corresponding to the battery cells to be balanced includes: Determine, according to the cell voltage, a platform area battery cell in the platform area and a non-platform area battery cell in the non-platform area; Determine the battery charge at the intersection of the platform area and the non-platform area; Correcting the initial battery charge of the battery cells in the platform area to the battery charge at the junction point; The battery charges of the battery cells in the platform area and the estimated initial battery charges of the battery cells in the non-platform area are summarized to obtain the battery cells to be balanced and the target battery charges corresponding to the battery cells to be balanced.

2. The battery balancing method according to claim 1, wherein: The method further comprises: Determine whether the target battery pack currently has a slow charge request; If yes, the target battery pack is charged according to a preset slow charging current.

3. The battery balancing method according to claim 1, wherein: The determining, according to the cell voltages, the platform area battery cells that are in the platform area and the non-platform area battery cells that are in the non-platform area includes: Determining a voltage range of each of the battery cells according to the cell voltage; Determining whether the voltage interval of any battery cell is a non-platform area according to the voltage interval; If yes, determining the initial battery charge of each of the battery cells according to a preset SOC-OCV table; The platform area battery cells and the non-platform area battery cells are determined according to the voltage range.

4. The battery balancing method according to claim 1, wherein: The method further comprises: In the process of performing the balancing process on each of the battery cells to be balanced, detecting the real-time cell voltage of each of the battery cells to be balanced in real time; Determine a target battery cell with the lowest battery cell voltage according to the real-time battery cell voltage; Correct the balancing time of the target cell to 0.

5. A battery balancing device, characterized in that: The battery balancing device includes: a calculation unit, configured to calculate a battery polarization voltage of a target battery pack during charging of the target battery pack; a determining unit, configured to determine a cell voltage of each battery cell in the target battery pack according to the battery polarization voltage; a correction unit, configured to perform battery charge correction on the battery cells in the platform area according to the battery cell voltage, to obtain the battery cells to be balanced and target battery charges corresponding to the battery cells to be balanced; an estimating unit, configured to estimate a balancing time of each of the battery cells to be balanced according to the target battery charge; a balancing unit, configured to perform balancing processing on each of the battery cells to be balanced according to the balancing time; Wherein, the correction unit includes: a determination subunit, configured to determine, based on the cell voltages, a platform area battery cell located in the platform area and a non-platform area battery cell located in the non-platform area; and determine a junction point battery charge at a junction point between the platform area and the non-platform area; a correction subunit, configured to correct the initial battery charge of the battery cells in the platform area to the battery charge at the junction point; The summarizing subunit is configured to summarize the junction point battery charges of the battery cells in the platform area and the estimated initial battery charges of the battery cells in the non-platform area to obtain the battery cells to be balanced and the target battery charges corresponding to the battery cells to be balanced.

6. The battery balancing device according to claim 5, wherein: The battery balancing device further includes: A judgment unit, used to judge whether the target battery pack currently has a slow charge request; The charging unit is used to charge the target battery pack according to a preset slow charging current when it is determined that there is a slow charging demand.

7. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the battery balancing method according to any one of claims 1 to 4.

8. A readable storage medium, characterized in that: The readable storage medium stores computer program instructions, and when the computer program instructions are read and executed by a processor, the battery balancing method according to any one of claims 1 to 4 is executed.

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