Multi-source parallel power system for self-reconfigurable carrier equipment and fastest balanced energy management method

Abstract

The present invention provides a multi-source parallel power system for self-reconfigurable carrier equipment and a balanced energy management method, which belongs to the technical field of vehicle power system energy management. The multi-source parallel power system for self-reconfigurable carrier equipment of the present invention has the characteristics of multi-branch common bus, and the branches are expandable, and each branch corresponds to a reconstructed cell unit power source. The system realizes the interaction of energy between units on the basis of the mechanical connection of the reconstructed cell units. According to the mission requirements of the carrier unit, the number of branches can be expanded, the cell unit power can be superimposed, and the power upper limit of the carrier equipment can be increased. In addition, the fastest balanced energy management method of the present invention can comprehensively manage and dispatch any number of power sources in real time, adjust the input / output power of each power source in real time, and realize the rapid balance of SoC between power sources with different electric quantities according to the charging and discharging characteristics of the power source, thereby improving the equipment endurance, mission execution capability and power source service life.

Description

Technical Field

[0001] The present invention relates to a power system and an energy management method, and in particular to a multi-source parallel power system of self-reconfigurable transport equipment and a balanced energy management method, belonging to the technical field of vehicle power system energy management. Background Art

[0002] Self-reconfigurable vehicles, capable of autonomous reconfiguration, assembly, and disassembly, are expected to become future killer weapons. Due to the complexity of the land environment, the development of self-reconfigurable ground vehicles is extremely challenging and a recognized global challenge. Even more revolutionary, self-reconfiguration technology will make self-reconfigurable large-scale land-based equipment a reality. Large-scale land-based equipment, including airport runways, missile / rocket launchers, and electromagnetic guns / laser weapons, are strategically important for maintaining national security. Their reconnaissance and counter-reconnaissance, destruction and counter-destruction capabilities are crucial for winning wars. Once breakthroughs in self-reconfiguration technology are achieved, large-scale land-based equipment will be composed of reconfigurable cells, capable of self-reconfiguration, self-assembly, self-disassembly, and self-concealment. "Small units become larger, gaining greater capabilities; breaking down the whole into smaller units for dispersed mobility and concealment," making them virtually undetectable and indestructible, forging cutting-edge weapons such as self-reconfigurable aircraft take-off and landing platforms, self-reconfigurable missile / rocket launchers, and self-reconfigurable electromagnetic guns / laser weapons.

[0003] After the mechanical system of large-scale land-based equipment is reconstructed, how to reconstruct the energy and further formulate proper energy management methods to reasonably distribute and schedule the energy among the power sources of each reconstructed cell unit is the key to ensuring that self-reconstructing ground vehicles can maximize their capabilities. Summary of the Invention

[0004] In view of this, the present invention proposes a pure electric multi-source parallel power system to address the energy reconstruction problem of self-reconfigurable transport equipment. The system is formed by the fusion of the power sources of the respective reconstruction units. The power system has a multi-branch common bus architecture, and the branches are expandable.

[0005] A multi-source parallel power system for self-reconfigurable vehicles, wherein the self-reconfigurable vehicles are composed of a plurality of self-reconfigurable units; each reconfigurable unit is internally provided with a power source, a bus, and a bidirectional power conversion module;

[0006] The power source inside each reconstruction unit is connected to the busbar through the bidirectional power conversion module; a unified interface is provided at both ends of the busbar. When the busbars of multiple self-reconfiguration units are connected in series through the unified interface to form a common busbar, their internal power sources are connected in parallel to the common busbar through the bidirectional power conversion module, forming a multi-source parallel power system with a multi-branch common busbar architecture.

[0007] As a preferred embodiment of the present invention, the multi-source parallel power system further comprises an expandable power source as a mission module mounted on the self-reconfigurable unit chassis;

[0008] A bidirectional power conversion module is provided inside the expandable power source. When the expandable power source is installed on the self-reconfiguration unit chassis as a task module, the expandable power source is connected to the bus inside the self-reconfiguration unit through an external interface connected to the bidirectional power conversion module, and serves as the power source of the power system.

[0009] In addition, the present invention provides a method for the fastest balanced energy management of self-reconfigurable carrier equipment for the proposed multi-source parallel power system of self-reconfigurable carrier equipment, which can realize the comprehensive energy management and scheduling among any number of power sources of the self-reconfigurable carrier equipment, so that the self-reconfigurable carrier equipment can actively balance the SoC (battery charge state) of each power source during the mission execution, ensuring that large-scale land-based equipment can achieve the maximum output capacity of the multi-branch common bus power system.

[0010] A method for the fastest balanced energy management of a power system of a self-reconfigurable vehicle, wherein when performing the fastest balanced energy management on the power system, the output surplus power or input surplus power of each power source is first calculated; if the power source is in an output state, the output surplus power is defined as the difference between the current maximum output power of the power source and the expected output power of the cell unit where the power source is located; if the power source is in an input state, the input surplus power is defined as the difference between the current maximum input power of the power source and the expected input power of the cell unit where the power source is located;

[0011] Then, the target power of each power source is solved under the constraints of output surplus power or input surplus power and energy conservation constraints.

[0012] As a preferred embodiment of the present invention, the calculation method of the output residual power is:

[0013] When the i-th power source in the power system is in the output state, its output residual power at time t is P Bi,DS (t):

[0014] P Bi,DS (t)=max{(P Bi,max (t)-P Mi (t)),0} (1)

[0015] In formula (1): P Bi,max (t) represents the maximum output power of the i-th power source at time t; P Mi (t) represents the power consumed / recovered by the internal load of the self-reconfiguration unit where the i-th power source is located at the current moment;

[0016] Among them, P Bi,max (t) is expressed as a function of the current SoC of the power source, that is:

[0017] PBi,max (t) = f 2i (SoC Bi (t)) (2)

[0018] In formula (2), SoC Bi (t) represents the SoC of the i-th power source at time t, f 2i Indicates the maximum discharge capacity of the i-th power source under different SoC conditions, obtained through the battery efficiency map or battery electrochemical model;

[0019] In the above calculation process, the output is defined as positive and the input is defined as negative; the consumed power is defined as positive and the recovered power is defined as negative.

[0020] As a preferred embodiment of the present invention, the calculation method of the input residual power is:

[0021] When the i-th power source in the power system is in the input state, its input residual power at time t is P Bi,CS (t):

[0022] P Bi,CS (t)=min{(P Bi,min (t)-P Mi (t)),0} (3)

[0023] In formula (3), P Bi,min (t) represents the maximum input power of the i-th power source at time t; P Mi (t) represents the power consumed / recovered by the internal load of the self-reconfiguration unit where the i-th power source is located at the current moment;

[0024] Among them, P Bi,min (t) is expressed as a function of the current SoC of the power source, that is:

[0025] P Bi,min (t) = f 1i (SoC Bi (t)) (4)

[0026] In formula (4), SoC Bi (t) represents the SoC of the i-th power source at time t, f 1i Indicates the maximum charging capacity of the i-th power source under different SoC conditions, obtained through the battery efficiency map or battery electrochemical model;

[0027] In the above calculation process, the output is defined as positive and the input is defined as negative; the consumed power is defined as positive and the recovered power is defined as negative.

[0028] As a preferred embodiment of the present invention, the target power of each power source is calculated as follows:

[0029] Define the mean SoC of each power source at time t as the energy management target, that is:

[0030]

[0031] In formula (5), SoC des (t) represents the mean SoC of each power source at time t; SoC Bi (t) represents the SoC of the i-th power source at time t, n is the number of power sources in the power system;

[0032] The target power P of the bidirectional power conversion module corresponding to the i-th power source at time t DCi,des (t) is:

[0033] P DCi,des (t) = ΔSoC Bi (t)·P DC,base (t) (6)

[0034] Where: ΔSoC Bi (t) = SoC Bi (t)-SoC des (t) (7)

[0035] In formula (6), ΔSoC Bi (t) represents the deviation between the SoC of the i-th power source at time t and the mean SoC of all power sources at that time, P DC,base (t) represents the joint reference power at time t; energy delivered to the bus is defined as positive, and energy absorbed from the bus is defined as negative;

[0036] The independent reference power P of the i-th power source at time t DCi,base (t) is:

[0037]

[0038] The expression of the joint reference power at time t is:

[0039] P DC,base (t) = min{P DC,max (t),min{|P DCi,base (t)|}} (9)

[0040] In formula (8), P Bi,DS (t) represents the output residual power of the i-th power source at time t when it is in the output state; P Bi,CS (t) represents the input residual power of the i-th power source at time t when it is in the input state;

[0041] In formula (9), P DC,max (t) represents the power limit of the bidirectional power conversion module, min{|PDCi,base (t)|} refers to the minimum value of the independent reference power of n power sources;

[0042] Substituting the combined reference power at time t calculated by equation (9) into the above equation (6), the target power of the bidirectional power conversion module corresponding to the i-th power source at time t can be obtained.

[0043] Beneficial effects:

[0044] (1) The multi-source parallel power system of the self-reconfigurable carrier equipment of the present invention has the characteristics of multiple branches sharing a busbar, and the branches are expandable. Each branch corresponds to a reconstructed cell unit power source. The system realizes the energy interaction between units on the basis of the mechanical connection of the reconstructed cell units. According to the mission requirements of the carrier unit, the number of branches can be expanded, the cell unit power can be superimposed, and the power upper limit of the carrier equipment can be increased.

[0045] (2) The fastest balanced energy management method of the present invention can comprehensively manage and dispatch any number of power sources in real time, adjust the input / output power of each power source in real time, and realize fast SoC balancing between power sources with different power levels according to the charging and discharging characteristics of the power sources, thereby improving the equipment's endurance, task execution capability, and power source service life.

[0046] (3) The present invention's fastest balanced energy management method manages the input power or output power of each bidirectional power conversion module, achieving reasonable distribution and scheduling of the output energy of each power source, and completing the comprehensive management of the self-reconfigurable vehicle power system. Under the premise of meeting the normal energy requirements of the equipment to perform the mission and satisfying the input power or output power constraints of each power source, each power source SoC is achieved in the shortest possible time, thereby improving the equipment's mission execution capability and the service life of the power source. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a schematic diagram of the multi-source parallel power system of the self-reconfigurable carrier equipment;

[0048] Figure 2 Schematic diagram of the fastest balanced energy management method. DETAILED DESCRIPTION

[0049] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0050] Example 1:

[0051] This embodiment provides a multi-branch common busbar, a multi-source parallel power system for self-reconfigurable transport equipment with expandable branches. The autonomous reconstruction of the self-reconfigurable transport equipment (such as large land-based equipment) is not only a reconstruction of the mechanical system, but also a fusion and disintegration of the power sources of each reconstruction unit. Through the autonomous reconstruction of the self-reconfigurable unit, each power source together constitutes the power system of the self-reconfigurable transport equipment.

[0052] The self-reconfigurable carrier equipment is formed by combining multiple self-reconfigurable units, with each self-reconfigurable unit being a cell unit; different numbers of cell units can form different forms of land-based equipment.

[0053] Figure 1 The basic composition and topological structure of the self-reconfigurable vehicle power system are demonstrated. The self-reconfigurable vehicle is fully electric-driven, and its power system is composed of a reconstructed combination of power sources of multiple cell units. The power sources of different cell units are connected in parallel to the same bus through a bidirectional power conversion module, forming a multi-source parallel power system with a multi-branch common bus architecture.

[0054] Specifically: The multi-source parallel power system includes multiple power sources connected in parallel to the same bus. In addition to the power source inside the cell unit (i.e., the power source on the chassis), the power source in the power system also includes an expandable power source installed on the cell unit chassis as a mission module.

[0055] The self-reconfigurable vehicle power system is formed as follows: each cell unit is equipped with a busbar and a bidirectional power conversion module. In addition to supplying power to the internal load of the cell unit (such as the motor controller used to control the drive motor group), its internal power source is also connected to the busbar through the bidirectional power conversion module; a unified interface is provided at both ends of the busbar. When the busbars of multiple cell units are connected in series through the unified interface to form a common busbar, their internal power sources are connected in parallel to the common busbar through the bidirectional power conversion module.

[0056] A bidirectional power conversion module is also provided inside the expandable power source. When the expandable power source is installed on the cell unit chassis as a task module, the expandable power source can be connected to the bus inside the cell unit through the external interface connected to the bidirectional power conversion module, and serve as the power source of the power system.

[0057] The multi-source parallel power system's branches are reconfigurable (each cell's power source is a branch), meaning any number of branch power sources can be expanded on the system busbar to increase the equipment's achievable power and energy limits. And because each cell has its own internal busbar, expansion simply requires connecting the cell's busbar in series with the power system's busbar.

[0058] After the busbars of multiple cell units are connected in series to form a multi-source parallel power system, energy can flow bidirectionally within each cell unit and between each cell unit. The flow of energy within each cell unit includes: the energy entering the cell unit through the bidirectional power conversion module (i.e., input power) can supply power to the load inside the cell unit or charge the power source inside the cell unit; the energy of the power source inside the cell unit can be output to the busbar through the bidirectional power conversion module, and supply power to the external load through the busbar (i.e., output power); in addition, in this example, the load inside the cell unit (taking the drive motor group as an example) can recover braking energy when braking, so the energy between the power source inside the cell unit-the motor controller-the drive motor group is also a bidirectional flow. The flow of energy between each cell unit includes: the power sources of each cell unit connected in parallel on the busbar can exchange energy through the busbar.

[0059] Example 2:

[0060] After the power sources of the self-reconfigurable vehicle are autonomously combined to form a multi-source parallel power system, there may be differences in the power source SoC, terminal voltage and other states of each cell unit. If the power sources of each branch are not comprehensively managed, the energy output of the self-reconfigurable vehicle will be subject to the power source with the lowest SoC, which greatly reduces the mission execution capability of the self-reconfigurable vehicle; at the same time, due to the differences in the SoC of each power source, if each power source outputs energy without distribution, over-discharge is very likely to occur, shortening the service life.

[0061] Based on this, this embodiment provides a fastest balanced energy management method for a multi-source parallel power system. The core idea is to ensure the health of each power source by allocating and scheduling energy to each power source of the self-reconfigurable vehicle equipment, thereby ensuring that the self-reconfigurable vehicle equipment power system as a whole has maximum output capacity.

[0062] In a multi-source parallel power system, energy flows between each power source and the busbar. This balanced energy management method manages the input and output power of each bidirectional power conversion module, enabling the rational allocation and scheduling of each power source's output energy, thus completing the comprehensive management of the self-reconfigurable vehicle power system. While meeting the normal energy requirements of the equipment's mission and satisfying the input and output power constraints of each power source, it enables each power source's SoC to reach a balanced state in the shortest possible time, thereby improving the equipment's mission execution capability and the power source's service life.

[0063] like Figure 2 As shown, this method determines the input power or output power of each bidirectional power conversion module based on the current SoC of each power source, the expected power of each cell unit, and several constraints, thereby realizing power distribution and energy management among the power sources of the self-reconfigurable carrier equipment.

[0064] The core of this method consists of a residual power solution layer and a joint reference power solution layer. The residual power solution layer aims to obtain the maximum output capacity (i.e., output residual power) or the maximum input capacity (input residual power) that each power source of the self-reconfigurable vehicle can currently use for energy scheduling. The joint reference power solution layer aims to solve for the target power of each power source to ensure the fastest overall energy balance among all power sources.

[0065] The residual power solution layer works as follows: It calculates the output residual power or input residual power of the bidirectional power conversion modules in each power source. Each power source in the multi-source parallel power system of a self-reconfigurable vehicle has different maximum input or output capabilities due to different SoCs. Furthermore, each cell in the self-reconfigurable vehicle requires different driving or braking forces, resulting in different expected input or output powers. Consequently, each power source has different power available for comprehensive scheduling.

[0066] If the power source is in the output state, the difference between the current maximum output power of the power source and the expected output power of the cell unit where the power source is located is defined as the output surplus power; if the power source is in the input state, the difference between the current maximum input power of the power source and the expected input power of the cell unit where the power source is located is defined as the input surplus power; the maximum output power or maximum input power allowed by the bidirectional power conversion module at the current moment is used to characterize the real-time maximum balancing capability of the power source.

[0067] In the following calculation process, output is defined as positive, input is defined as negative; power consumption is defined as positive, and power recovery is defined as negative.

[0068] The calculation method for the remaining power output by the power source in the output state is:

[0069] Let the i-th power source in the power system be in the output state, and its output residual power at time t is P Bi,DS (t), then:

[0070] P Bi,DS (t)=max{(P Bi,max (t)-P Mi (t)),0} (1)

[0071] In formula (1): P Bi,max (t) represents the maximum output power of the i-th power source at time t; P Mi (t) represents the power consumed / recovered by the internal load (such as the drive motor group) of the i-th cell unit (the i-th cell unit corresponds to the cell unit where the i-th power source is located) at the current moment.

[0072] Among them, P Bi,max(t) can be expressed as a function of the current SoC of the power source, that is:

[0073] P Bi,max (t) = f 2i (SoC Bi (t)) (2)

[0074] In formula (2), SoC Bi (t) represents the SoC of the i-th power source at time t, f 2i It represents the maximum discharge capacity of the i-th power source under different SoC conditions, which can be obtained through the battery efficiency map or battery electrochemical model.

[0075] As above, the calculation method for the residual power input of the power source in the input state is:

[0076] Let the i-th power source in the power system be in the input state, and its input residual power at time t is P Bi,CS (t), then:

[0077] P Bi,CS (t)=min{(P Bi,min (t)-P Mi (t)),0} (3)

[0078] In formula (3), P Bi,min (t) represents the maximum input power of the i-th power source at time t; P Mi (t) represents the power consumed / recovered by the internal load (such as the drive motor group) of the i-th cell unit (the i-th cell unit corresponds to the cell unit where the i-th power source is located) at the current moment.

[0079] Among them, P Bi,min (t) is expressed as a function of the current SoC of the power source, that is:

[0080] P Bi,min (t) = f 1i (SoC Bi (t)) (4)

[0081] In formula (4), SoC Bi (t) represents the SoC of the i-th power source at time t, f 1i It represents the maximum charging capacity of the i-th power source under different SoC conditions, which can be obtained through the battery efficiency map or battery electrochemical model.

[0082] The principle behind the joint reference power solution layer is that the output power or input power of each cell's bidirectional power conversion module must not only satisfy the residual power constraint but also the energy conservation constraint. This means that the sum of the powers at each branch access point in the power system is zero, so the power delivered by each bidirectional power conversion module must be proportional. The joint power solution layer aims to determine the target power for each bidirectional power conversion module, ensuring that all power sources in the power system achieve maximum output or input capacity while simultaneously satisfying the input power (or output power) limit and the busbar energy conservation constraint, achieving the fastest balancing of each power source's SoC.

[0083] Define the mean SoC of each power source at the current moment (i.e., time t) as the energy management target (i.e., expected SoC), that is:

[0084]

[0085] In formula (5), SoC des (t) represents the mean SoC of each power source at time t; SoC Bi (t) represents the SoC of the i-th power source at time t, and n is the number of power sources in the power system.

[0086] Define the target power P of the bidirectional power conversion module corresponding to the i-th power source at time t DCi,des (t) is:

[0087] P DCi,des (t) = ΔSoC Bi (t)·P DC,base (t) (6)

[0088] Where: ΔSoC Bi (t) = SoC Bi (t)-SoC des (t) (7)

[0089] In formula (6), ΔSoC Bi (t) represents the deviation between the SoC of the i-th power source at time t and the mean SoC of all power sources at that time. The sum of the SoC deviations of all power sources in the power system at time t is 0. DC,base (t) represents the joint reference power at time t. Energy delivered to the bus is defined as positive, and energy absorbed from the bus is defined as negative. The target power of the bidirectional power conversion module corresponding to the i-th power source is expressed as the product of the SoC deviation and the joint reference power. Therefore, the P of all power sources in the power system is DCi,des The sum of (t) is also 0, satisfying the busbar energy conservation constraint.

[0090] The output residual power P of the bidirectional power conversion module is obtained based on the residual power layer. Bi,DS(t) or input residual power P Bi,CS (t) and the SoC deviation of each power source calculated by combining equations (5) and (7), define the independent reference power P of the bidirectional power conversion module corresponding to the i-th power source at time t DCi,base (t) are as follows:

[0091]

[0092] To ensure that the output power or input power of all power sources does not exceed the limit and all bidirectional power conversion modules operate within the allowable power range, the joint reference power expression at time t is defined as:

[0093] P DC,base (t) = min{P DC,max (t),min{|P DCi,base (t)|}} (9)

[0094] In formula (9), P DC,max (t) represents the power limit of the bidirectional power conversion module (in this example, all bidirectional power conversion modules have the same power limit), min{|P DCi,base (t)|} refers to the minimum value of the independent reference power of n power sources.

[0095] Substituting the combined reference power at time t calculated by equation (9) into the above equation (6), the target power of the bidirectional power conversion module corresponding to the i-th power source at time t can be obtained.

[0096] Within each time step, the above energy management method updates the remaining power and the joint reference power according to the changes in the power demand of the cell unit and the changes in the power source SoC, and adjusts the target power size and transmission direction of each bidirectional power conversion module in real time to ensure the fastest overall energy balance speed of each power source of the self-reconfigurable carrier equipment.

[0097] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-source parallel power system for self-reconfigurable transport equipment, characterized by: The self-reconfigurable vehicle is composed of multiple self-reconfigurable units; each reconfigurable unit is equipped with a power source, a bus and a bidirectional power conversion module. The power sources inside each reconfiguration unit are connected to the busbar via the bidirectional power conversion module. A unified interface is provided at both ends of the busbar. When the busbars of multiple self-reconfiguration units are connected in series via the unified interface to form a common busbar, their internal power sources are connected in parallel to the common busbar via the bidirectional power conversion module, forming a multi-source parallel power system with a multi-branch common busbar architecture. The power sources of the respective reconfiguration units connected in parallel on the busbar can exchange energy through the busbar. When performing the fastest balanced energy management on the power system, the output surplus power or input surplus power of each power source is first solved; if the power source is in the output state, the difference between the current maximum output power of the power source and the expected output power of the cell unit where the power source is located is defined as the output surplus power; if the power source is in the input state, the difference between the current maximum input power of the power source and the expected input power of the cell unit where the power source is located is defined as the input surplus power; Then, the target power of each power source is solved under the constraints of output surplus power or input surplus power and energy conservation constraints.

2. The multi-source parallel power system for self-reconfigurable vehicle equipment according to claim 1, characterized in that: Also included is an expandable power source mounted on the self-reconfigurable unit chassis as a mission module; A bidirectional power conversion module is provided inside the expandable power source. When the expandable power source is installed on the self-reconfiguration unit chassis as a task module, the expandable power source is connected to the bus inside the self-reconfiguration unit through an external interface connected to the bidirectional power conversion module, and serves as the power source of the power system.

3. The multi-source parallel power system for self-reconfigurable vehicle equipment according to claim 1, characterized in that: The calculation method of the output residual power is: When the i-th power source in the power system is in the output state, its output residual power at time t is P Bi,DS (t): P Bi,DS (t)=max{(P Bi,max (t)-P Mi (t)),0} (1) In formula (1): P Bi,max (t) represents the maximum output power of the i-th power source at time t; P Mi (t) represents the power consumed / recovered by the internal load of the self-reconfiguration unit where the i-th power source is located at the current moment; Among them, P Bi,max (t) is expressed as a function of the current SoC of the power source, that is: P Bi,max (t)=f 2i (SoC Bi (t)) (2) In formula (2), SoC Bi (t) represents the SoC of the i-th power source at time t, f 2i Indicates the maximum discharge capacity of the i-th power source under different SoC conditions, obtained through the battery efficiency map or battery electrochemical model; In the above calculation process, the output is defined as positive and the input is defined as negative; the consumed power is defined as positive and the recovered power is defined as negative.

4. The multi-source parallel power system for self-reconfigurable vehicle equipment according to claim 1, characterized in that: The calculation method of the input residual power is: When the i-th power source in the power system is in the input state, its input residual power at time t is P Bi,CS (t): P Bi,CS (t)=min{(P Bi,min (t)-P Mi (t)),0} (3) In formula (3), P Bi,min (t) represents the maximum input power of the i-th power source at time t; P Mi (t) represents the power consumed / recovered by the internal load of the self-reconfiguration unit where the i-th power source is located at the current moment; Among them, P Bi,min (t) is expressed as a function of the current SoC of the power source, that is: P Bi,min (t)=f 1i (SoC Bi (t)) (4) In formula (4), SoC Bi (t) represents the SoC of the i-th power source at time t, f 1i Indicates the maximum charging capacity of the i-th power source under different SoC conditions, obtained through the battery efficiency map or battery electrochemical model; In the above calculation process, the output is defined as positive and the input is defined as negative; the consumed power is defined as positive and the recovered power is defined as negative.

5. The multi-source parallel power system for self-reconfigurable vehicle equipment according to claim 1, characterized in that: The calculation method of the target power of each power source is: Define the mean SoC of each power source at time t as the energy management target, that is: In formula (5), SoC des (t) represents the mean SoC of each power source at time t; SoC Bi (t) represents the SoC of the i-th power source at time t, n is the number of power sources in the power system; The target power P of the bidirectional power conversion module corresponding to the i-th power source at time t DCi,des (t) is: P DCi,des (t)=ΔSoC Bi (t)·P DC,base (t) (6) Where: ΔSoC Bi (t) = SoC Bi (t)-SoC des (t)(7) In formula (6), ΔSoC Bi (t) represents the deviation between the SoC of the i-th power source at time t and the mean SoC of all power sources at that time, P DC,base (t) represents the joint reference power at time t; energy delivered to the bus is defined as positive, and energy absorbed from the bus is defined as negative; The independent reference power P of the i-th power source at time t DCi,base (t) is: The expression of the joint reference power at time t is: P DC,base (t)=min{P DC,max (t),min{|P DCi,base (t)|}} (9) In formula (8), P Bi,DS (t) represents the output residual power of the i-th power source at time t when it is in the output state; P Bi,CS (t) represents the input residual power of the i-th power source at time t when it is in the input state; In formula (9), P DC,max (t) represents the power limit of the bidirectional power conversion module, min{|P DCi,base (t)|} refers to the minimum value of the independent reference power of n power sources; Substituting the combined reference power at time t calculated by equation (9) into the above equation (6), the target power of the bidirectional power conversion module corresponding to the i-th power source at time t can be obtained.

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