A high-efficiency lithium battery monorail crane locomotive and its battery management system

Abstract

The present invention is a high-efficiency lithium battery monorail locomotive and its battery management system. The monorail locomotive includes a driving unit, a battery unit and a carrying trolley. The carrying trolley is used to carry goods. The battery unit is used to output power to the driving unit, and the driving unit is used to drive the locomotive to move. The battery unit includes a battery management system, a supercapacitor and a battery pack composed of a plurality of single cells. The battery management system is used to obtain the minimum state of charge difference ∆SOC between each single cell in the battery pack. min , State of charge SOC of each single cell n , the maximum state of charge SOC of each single battery max and the minimum state of charge SOC in each single cell min The supercapacitor and battery pack are charged and discharged by the battery management system. The battery management system is used to manage the charging and discharging of the battery pack and supercapacitor. During the charging and discharging process, the supercapacitor plays a buffering role to reduce the fluctuation of the charging and discharging current and voltage.

Description

Technical Field

[0001] The present invention relates to the field of mining transportation, and in particular to a high-energy-efficiency lithium battery monorail crane locomotive and a battery management system thereof. Background Art

[0002] In recent years, the production scale and mechanized production level of my country's coal industry have been greatly improved. In order to adapt to the characteristics of multiple underground transportation links and complex tunnel environment, the promotion of efficient auxiliary transportation equipment is an important link in the development of my country's coal industry at this stage. As an important auxiliary transportation method for high production and efficiency underground, the monorail crane locomotive has the advantages of small machine section, high utilization rate of tunnel section space, and convenient loading and unloading.

[0003] At present, the power systems used in monorail cranes in major coal mines in my country mainly include diesel engine power systems and battery power systems. Traditional diesel engine monorail cranes have problems such as high noise, serious exhaust gas pollution and high cost, while lead-acid batteries have problems such as heavy metal pollution, large size, heavy weight and frequent charging. In view of the limited space underground and high requirements for battery life, it is necessary to improve the previous explosion-proof lead-acid batteries. Lithium batteries have high energy density, long cycle life, simple maintenance and are environmentally friendly. With the maturity of lithium-ion battery technology, lithium-ion battery power supplies that meet the requirements of underground explosion-proof technology can be developed.

[0004] The working conditions of monorail crane locomotives underground are complex, there are many slopes and bends in the tunnels, and the geological conditions are complex. The monorail crane locomotives operate under high-power charging and discharging conditions, the charging and discharging current and voltage fluctuate greatly, the capacity decays too quickly, and the lithium-ion batteries are large in size and have low energy density. The monorail crane locomotives consume a lot of energy when overloaded. It is necessary to develop a high-efficiency monorail crane locomotive operation mode to improve energy utilization. Summary of the invention

[0005] In order to solve the problems existing in the above-mentioned prior art, the present invention provides a high-efficiency lithium battery monorail crane locomotive, including a driving unit, a battery unit and a carrying trolley, the carrying trolley is used to carry goods, the battery unit is used to output power to the driving unit, and the driving unit is used to drive the locomotive to move; the battery unit includes a battery management system, a supercapacitor and a battery pack composed of a plurality of single cells, and the battery management system is used to obtain the minimum state of charge difference ∆SOC between each single cell in the battery pack min , State of charge SOC of each single battery n , the maximum state of charge SOC of each single battery max and the minimum state of charge SOC in each single cell min , n is the battery number, that is, the state of charge of each single battery is recorded as SOC 1… SOC n; The charging and discharging of supercapacitors and battery packs are controlled by the battery management system.

[0006] Furthermore, the battery unit also includes a voltage sensor, a current sensor and an alarm device; the voltage sensor is used to monitor the voltage of the single cell, the current sensor is used to monitor the current of the single cell, and the alarm device is used to issue an alarm when the single cell is overcharged or over-discharged.

[0007] Furthermore, the battery unit also includes a temperature sensor and a heater; the temperature sensor is used to monitor the temperature of the single battery; when the average temperature value T is lower than the minimum starting temperature T min When , the heater heats the single battery, wherein the average temperature value T is the average temperature of all single batteries.

[0008] Furthermore, it also includes a control module, a speed sensor, a weight sensor, a laser radar sensor and a positioning device; the speed sensor is used to monitor the running speed of the monorail crane locomotive, the weight sensor is used to monitor the weight carried by the load-bearing trolley; the laser radar sensor is used to monitor the road conditions in front of the monorail crane locomotive and the inclination of the suspension track; the positioning device is used to monitor the position of the monorail crane locomotive; the data of the speed sensor, the weight sensor, the laser radar sensor and the positioning device are transmitted to the control module, and the control module is used to analyze the next stage of the monorail crane locomotive power P req .

[0009] Furthermore, the driving unit includes a synchronous reluctance motor, a driving wheel, a hydraulic brake unit and a pressure sensor; the driving wheel is driven by the synchronous reluctance motor, and the pressure sensor is arranged on the hydraulic brake unit to monitor the braking pressure of the hydraulic brake unit, and the hydraulic brake unit is used to clamp the suspension rail to achieve braking; the data of the pressure sensor is transmitted to the control module, and the synchronous reluctance motor and the hydraulic brake unit are controlled by the control module.

[0010] The present invention also provides a battery management system for a high-efficiency lithium battery monorail crane locomotive, which is applied to the monorail crane locomotive as described above. The battery management system includes a battery balancing unit. When the battery balancing unit performs balancing management, the following steps are included:

[0011] S1. According to the current size and direction of the battery pack, determine whether the battery pack is in a charging state or a discharging state; obtain the minimum state of charge difference ∆SOC of each single cell in the battery pack. min .

[0012] S2. When the battery pack is in the charging state, the single cells are charged and balanced. The battery balancing unit first obtains the state of charge SOC of each single cell. n And the maximum state of charge SOC max , when |SOC n -SOCmax ∣>∆SOC min When the corresponding single cell needs to be charged, the battery balancing unit charges the single cell to be charged through the supercapacitor until the corresponding |SOC n -SOC max ∣≤∆SOC min , stop balancing.

[0013] When the battery pack is in a discharging state, the single cells are discharged and balanced. The battery balancing unit first obtains the state of charge (SOC) of each single cell. n The minimum state of charge SOC of each single battery min , when |SOC n -SOC min ∣>∆SOC min When the corresponding single cell needs to be discharged, the battery balancing unit discharges the single cell to be discharged through the supercapacitor until the corresponding |SOC n -SOC min ∣≤∆SOC min , stop balancing.

[0014] Furthermore, the battery management system also includes a voltage sensor, a current sensor, an alarm device and an overcharge or over-discharge protection unit; when the charging voltage of a single cell is higher than the maximum allowable voltage or the charging current of a single cell is higher than the maximum allowable current, the overcharge or over-discharge protection unit controls the single cell to stop charging; when the discharge voltage of a single cell is lower than the minimum allowable voltage or the discharge current of a single cell is lower than the minimum allowable current, the overcharge or over-discharge protection unit controls the single cell to stop discharging; when the overcharge or over-discharge protection unit fails, the alarm device is activated to sound an alarm.

[0015] Furthermore, the battery management system also includes a temperature sensor, a heater and a thermal management and protection system; before the monorail locomotive is started, the thermal management and protection system detects the temperature of the single battery and compares the average temperature value T of the temperature sensor at the single battery with the minimum starting temperature T min For comparison, if T ≥ T min , the monorail locomotive starts normally; if T<T min The thermal management and protection system turns on the heater to heat the single battery until T≥T min .

[0016] When the battery pack is running or charging, compare the average temperature value T of the temperature sensor at the single battery with the maximum allowable temperature T max For comparison, when T ≥ T max When T<T max .

[0017] Furthermore, it also includes a control module, a speed sensor, a weight sensor, a lidar sensor and a positioning device; the transportation mode of the battery management system includes a high energy consumption mode and an operation mode:

[0018] At time t=k, the speed sensor is used to obtain the current monorail locomotive running speed V k When the laser radar sensor detects a turnout or curve, or the positioning device detects a preset route node, the laser radar sensor, V k The running speed V predicted by the positioning device at time t=k+1 k+1 , the required power P for the next stage is obtained through the speed sensor, load weight and the inclination of the front track req According to P req Select the working mode of the monorail crane locomotive. req >P0, the transport mode is set to high energy consumption mode; when 0<P req When ≤P0, the transport mode is set to the operating mode; P0 is the preset demand power boundary value.

[0019] SOC is the remaining battery power. L is the average SOC of the single cells in the battery pack, SOC Lsub SOC is the battery pack state of charge L The lower limit of SOC Lup SOC is the battery pack state of charge L The upper limit value, SOC Csub SOC is the state of charge of the supercapacitor C The lower limit of SOC Cup SOC is the state of charge of the supercapacitor C The upper limit value of .

[0020] In high energy consumption mode, the battery pack and supercapacitor jointly output power. L <SOC Lsub When SOC C <SOC Csub When the supercapacitor power energy is exhausted, the control module controls the alarm device to issue a warning.

[0021] In the operation mode, the battery pack is first driven alone. L <SOC Lsub When SOC C <SOC Csub When the supercapacitor power energy is exhausted, the control module controls the alarm device to issue a warning.

[0022] Furthermore, the drive unit includes a synchronous reluctance motor, a drive wheel, a hydraulic brake unit and a pressure sensor; the battery management system also includes a braking recovery mode, and the braking recovery mode includes a smooth working condition braking and a complex working condition braking:

[0023] Smooth working condition braking includes: sending a braking signal during braking, controlling the synchronous reluctance motor to generate negative torque to achieve braking and energy recovery.

[0024] Complex working condition braking includes: the laser radar sensor scans the road conditions in front of the monorail locomotive, the control module collects and processes the laser radar sensor information, and when it detects the presence of a damper, foreign objects or personnel in front of the monorail locomotive, the battery pack and supercapacitor stop outputting power to the synchronous reluctance motor. The control module calculates the expected braking distance and the recovered potential energy and kinetic energy according to the current speed of the monorail locomotive, the weight of the monorail locomotive and the slope angle, thereby calculating the torque required for braking and realizing the distribution of hydraulic and motor reverse braking. The distribution method is as follows:

[0025] The pressure sensor is installed on the hydraulic brake unit. The brake pressure of the hydraulic brake unit is calculated and controlled by the pressure sensor sensing value. The residual braking force is achieved by controlling the synchronous reluctance motor to generate negative torque to achieve braking and energy recovery. The energy generated by the reverse reluctance motor is converted into electrical energy, firstly reverse charging the battery pack. When the SOC L >SOC Lup When SOC C >SOC Cup When the battery is fully charged, the excess energy is consumed by discharging.

[0026] The present invention designs a battery management system for underground monorail crane locomotives, which realizes lithium battery energy balance management and underground safety protection functions by dynamically monitoring the working status and temperature changes of the battery pack; by controlling the energy output and braking energy recovery of the battery pack and supercapacitor under different operating modes, the optimal performance of the monorail crane locomotive operation is achieved and the battery life is extended, thereby improving the transportation efficiency of the underground monorail crane locomotive. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a schematic diagram of the high energy efficiency lithium battery monorail crane locomotive of the present invention.

[0029] Figure 2It is a schematic diagram of the battery management system in the present invention.

[0030] Figure 3 It is a schematic diagram of the control module in the present invention.

[0031] Figure 4 It is a schematic diagram of the driving and braking process in the present invention.

[0032] In the figure: 1. Cockpit; 2. Drive unit; 3. Battery unit; 4. Carrying trolley; 5. Supercapacitor; 6. Single cell; 7. Battery pack; 8. Voltage sensor; 9. Current sensor; 10. Alarm device; 11. Temperature sensor; 12. Heater; 13. Speed ​​sensor; 14. Weight sensor; 15. LiDAR sensor; 16. Positioning device; 17. Synchronous reluctance motor; 18. Driving wheel; 19. Hydraulic brake unit; 20. Pressure sensor. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Embodiment 1:

[0035] like Figure 1 As shown, a high-efficiency lithium battery monorail crane locomotive of this embodiment moves using a suspension track, and includes a cab 1, a drive unit 2, a battery unit 3 and a carrying trolley 4.

[0036] The battery unit 3 includes a battery management system, a supercapacitor 5 and a battery pack 7 composed of a plurality of single cells 6, preferably a lithium battery pack; the battery management system obtains the minimum state of charge difference ∆SOC between the single cells 6 of the battery pack 7 min , each single cell 6 state of charge SOC n , the maximum state of charge SOC of each single battery 6 max and the minimum state of charge SOC of each single battery 6 min , wherein the super capacitor 5 and the battery pack 7 are charged and discharged under the control of a battery management system.

[0037] The battery management system is used to manage the charging and discharging of the battery pack 7 and the super capacitor 5. During the charging and discharging process, the super capacitor 5 plays a buffering role to reduce the fluctuation of the charging and discharging current and voltage.

[0038] The battery unit 3 of this embodiment further includes a voltage sensor 8, a current sensor 9 and an alarm device 10. The voltage sensor 8 and the current sensor 9 are used to monitor the voltage and current of the single battery 6, and the alarm device 10 is used to issue an alarm when the single battery 6 is overcharged or over-discharged.

[0039] The battery unit 3 of this embodiment further includes a temperature sensor 11 and a heater 12. In this embodiment, a PTC heater 12 is preferably used. The temperature sensor 11 is used to monitor the temperature of the single battery 6. When the average temperature value T of the single battery 6 is lower than the minimum starting temperature T min When the temperature of the battery is too low, the heater 12 heats the single battery 6 to prevent the efficiency from being affected by the low temperature of the battery.

[0040] Preferably, it also includes a control module, a speed sensor 13, a weight sensor 14, a laser radar sensor 15 and a positioning device 16. The speed sensor 13 is used to monitor the running speed of the monorail crane; the weight sensor 14 is used to monitor the weight carried by the load-bearing trolley 4; the laser radar sensor 15 is used to monitor the road conditions in front of the monorail crane and the inclination of the suspension track; the positioning device 16 is used to monitor the position of the monorail crane; the data of the speed sensor 13, the weight sensor 14, the laser radar sensor 15 and the positioning device 16 are transmitted to the control module, and the control module is used to analyze the next stage of the monorail crane The required power P req .

[0041] Preferably, the drive unit 2 includes a synchronous reluctance motor 17, a drive wheel 18, a hydraulic brake unit 19 and a pressure sensor 20; the drive wheel 18 is driven by the synchronous reluctance motor 17, and the pressure sensor 20 is arranged on the hydraulic brake unit 19 to monitor the braking pressure of the hydraulic brake unit 19, and the hydraulic brake unit 19 is used to clamp the suspension rail to achieve braking; the data of the pressure sensor 20 is transmitted to the control module, and the synchronous reluctance motor 17 and the hydraulic brake unit 19 are controlled by the control module. When braking, you can choose to use the synchronous reluctance motor 17 for braking, or add the hydraulic brake unit 19 for braking.

[0042] Embodiment 2:

[0043] The battery management system of this embodiment is applied to the monorail crane locomotive in the above embodiment. Figure 2 , the battery management system includes a battery balancing unit, including the following steps:

[0044] S1. According to the current size and direction of the battery pack 7, determine whether the battery pack 7 is in a charging state or a discharging state; obtain the minimum state of charge difference ∆SOC of each single battery 6 in the battery pack 7 min .

[0045] S2. When the battery pack 7 is in a charging state, the single cells 6 are charged and balanced. The battery balancing unit first obtains the state of charge SOC of each single cell 6. n And the maximum state of charge SOC max , when |SOC n -SOC max ∣>∆SOC min , that is, the corresponding single battery 6 needs to be charged. At this time, the battery balancing unit charges the single battery 6 that needs to be charged through the supercapacitor 5 until the corresponding |SOC n -SOC max ∣≤∆SOC min , stop balancing.

[0046] When the battery pack 7 is in a discharging state, the single cells 6 are discharged and balanced. The battery balancing unit first obtains the state of charge SOC of each single cell 6. n The minimum state of charge SOC of each single battery 6 min , when |SOC n -SOC min ∣>∆SOC min , that is, the corresponding single cell 6 needs to be discharged. At this time, the battery balancing unit discharges the single cell 6 that needs to be discharged through the supercapacitor 5 until the corresponding |SOC n -SOC min ∣≤∆SOC min , stop balancing.

[0047] Preferably, the battery management system also includes a voltage sensor 8, a current sensor 9, an alarm device 10 and an overcharge or over-discharge protection unit. When the charging voltage of the single cell 6 is higher than the maximum allowable voltage or the charging current of the single cell 6 is higher than the maximum allowable current, the single cell 6 is controlled to stop charging; when the discharge voltage of the single cell 6 is lower than the minimum allowable voltage or the discharge current of the single cell 6 is lower than the minimum allowable current, the single cell 6 is controlled to stop discharging. When the overcharge or over-discharge protection unit fails, the alarm device 10 is activated.

[0048] Preferably, the battery management system also includes a temperature sensor 11, a heater 12 and a thermal management and protection system. Before the monorail locomotive is started, the thermal management and protection system detects the temperature of the single battery 6 and compares the average temperature value T of the temperature sensor 11 of the single battery 6 with the minimum starting temperature T min For comparison, if T ≥ T min , the monorail locomotive starts normally; if T<T min The thermal management and protection system turns on the heater 12 to heat the single battery 6 until T ≥ T min .

[0049] When the battery pack 7 is in operation or charging, the average temperature value T of the temperature sensor 11 of the single battery 6 is compared with the maximum allowable temperature T max For comparison, T ≥ T max When T<T max .

[0050] Preferably, see Figure 3 The monorail crane locomotive includes a control module, a speed sensor 13, a weight sensor 14, a laser radar sensor 15 and a positioning device 16; when the monorail crane locomotive is on a heavy load and uphill track, the power required is large, and a high energy consumption mode is selected; when the monorail crane locomotive is unloaded or running on a horizontal track, or the power required is normal, an operating mode is selected, including:

[0051] At time t=k, the current monorail locomotive running speed V is obtained through the speed sensor 13. k When the laser radar sensor 15 detects a turnout or a curve, or when the positioning device 16 detects a preset route node, the laser radar sensor 15, V k The running speed V predicted by the positioning device 16 at time t=k+1 k+1 , the required power P for the next stage is obtained through the speed sensor 13, the load weight and the inclination of the front track req According to P req Select the working mode of the monorail crane locomotive and set the required power threshold value to P0. req >P0, the transport mode is set to high energy consumption mode; when 0<P req When ≤P0, the transport mode is set to the operation mode; the k moment is any moment when the monorail crane is running, and the k+1 moment is a moment of one measurement unit after the k moment. The specific measurement unit can be selected according to actual needs.

[0052] SOC is the remaining battery capacity. L is the average SOC of the single cells 6 in the battery pack 7, SOC Lsub The state of charge SOC of the battery pack 7 L The lower limit of SOC Lup SOC of battery pack 7 L The upper limit value, SOC Csub SOC for supercapacitor 5 C The lower limit of SOC Cup SOC of supercapacitor 5 C The upper limit value of .

[0053] See also Figure 4 In high energy consumption mode, the battery pack 7 and the super capacitor 5 jointly output power. When SOCL <SOC Lsub When SOC C <SOC Csub When the power energy of the supercapacitor 5 is exhausted, the control module controls the alarm device 10 to issue an early warning; of course, in the high energy consumption mode, the high temperature protection of the single battery 6 is not considered.

[0054] In the operation mode, the battery pack 7 is first driven alone, and when the SOC L <SOC Lsub When SOC C <SOC Csub When the power energy of the super capacitor 5 is exhausted, the control module controls the alarm device 10 to issue an early warning.

[0055] Preferably, the driving unit 2 includes a synchronous reluctance motor 17, a driving wheel 18, a hydraulic brake unit 19 and a pressure sensor 20, and also includes a braking recovery mode set for the monorail crane locomotive, and the braking recovery mode includes smooth working condition braking and complex working condition braking.

[0056] The stable working condition braking is when the monorail crane locomotive is running steadily on the horizontal track. The monorail crane locomotive can slow down slowly, send a braking signal during braking, and control the synchronous reluctance motor 17 to generate negative torque to achieve braking and energy recovery.

[0057] In the case of complex braking conditions such as downhill, curve or emergency braking, the laser radar sensor 15 scans the road conditions in front of the monorail locomotive, and the control module collects and processes the information of the laser radar sensor 15. When the presence of a damper, foreign objects or personnel in front of the monorail locomotive is detected, the battery pack 7 and the supercapacitor 5 stop outputting to the synchronous reluctance motor 17. The control module calculates the expected braking distance and the recovered potential energy and kinetic energy according to the current speed of the monorail locomotive, the weight of the monorail locomotive and the slope inclination, thereby calculating the torque required for braking and realizing the distribution of hydraulic and motor reverse braking. The distribution method is as follows:

[0058] The pressure sensor 20 is installed on the hydraulic brake unit 19, and the control unit calculates and controls the brake pressure of the hydraulic brake unit 19 through the sensed value of the pressure sensor 20. The residual braking force is achieved by controlling the synchronous reluctance motor 17 to generate negative torque to achieve braking and energy recovery. This energy recovery method has less friction and wear on the brake shoe on the hydraulic brake unit 19 and can effectively recover excess kinetic energy or potential energy during downhill braking.

[0059] The energy generated by the reverse rotation of the synchronous reluctance motor 17 is converted into electrical energy, which is first reversely charged to the battery pack 7 via the inverter. L >SOC LupWhen SOC is 0, the battery pack 7 stops charging, and the remaining energy is used to charge the super capacitor 5 through the DC / DC converter. C >SOC Cup When the load is discharged, the excess energy is consumed.

[0060] After the battery management system determines that the operating mode is a high-energy consumption mode, it reallocates the power output of the battery pack 7 and the supercapacitor 5, thereby controlling the locomotive running speed to avoid instantaneous large fluctuations in the power of the battery pack 7; fuzzy control based on the fruit fly optimization algorithm is used to allocate the power output of the composite power supply.

[0061] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A battery management system for a high-efficiency lithium battery monorail crane locomotive, applied to the high-efficiency lithium battery monorail crane locomotive, the locomotive comprising a driving unit (2), a battery unit (3) and a carrying trolley (4), the carrying trolley (4) being used to carry goods, the battery unit (3) being used to output power to the driving unit (2), the driving unit (2) being used to drive the locomotive to move; the battery unit (3) comprising a battery management system, a supercapacitor (5) and a battery pack (7) consisting of a plurality of single cells (6), the battery management system being used to obtain a minimum state of charge difference ∆SOC between each single cell (6) in the battery pack (7) min 、State of charge SOC of each single cell (6) n , the maximum state of charge SOC of each single battery (6) max and the minimum state of charge SOC of each single cell (6) min , the supercapacitor (5) and the battery pack (7) are charged and discharged by a battery management system, n is the battery number, and is characterized in that, The battery management system comprises a battery balancing unit. When the battery balancing unit performs balancing management, the following steps are included: S1, judging whether the battery pack (7) is in a charging state or a discharging state according to the current magnitude and direction of the battery pack (7); obtaining the minimum state of charge difference ∆SOC of each single battery (6) in the battery pack (7) min ; S2. When the battery pack (7) is in a charging state, the single cells (6) are charged and balanced. The battery balancing unit first obtains the state of charge SOC of each single cell (6). n And the maximum state of charge SOC max , when |SOC n -SOC max ∣>∆SOC min When the corresponding single battery (6) needs to be charged, the battery balancing unit charges the single battery (6) to be charged through the supercapacitor (5) until the corresponding |SOC n -SOC max ∣≤∆SOC min , stop balancing; when the battery pack (7) is in a discharging state, discharge balancing is performed on the single cells (6), and the battery balancing unit first obtains the state of charge SOC of each single cell (6) n and the minimum state of charge SOC in each single battery (6) min , when |SOC n -SOC min ∣>∆SOC min , that is, the corresponding single cell (6) needs to be discharged. At this time, the battery balancing unit discharges the single cell (6) to be discharged through the supercapacitor (5) until the corresponding |SOC n -SOC min ∣≤∆SOC min , stop balancing.

2. The battery management system for a high-efficiency lithium battery monorail crane locomotive according to claim 1 is characterized in that: The battery management system further comprises a voltage sensor (8), a current sensor (9), an alarm device (10) and an overcharge or over-discharge protection unit; when the charging voltage of the single cell (6) is higher than the maximum allowable voltage or the charging current of the single cell (6) is higher than the maximum allowable current, the overcharge or over-discharge protection unit controls the single cell (6) to stop charging; when the discharge voltage of the single cell (6) is lower than the minimum allowable voltage or the discharge current of the single cell (6) is lower than the minimum allowable current, the overcharge or over-discharge protection unit controls the single cell (6) to stop discharging; when the overcharge or over-discharge protection unit fails, the alarm device (10) is activated to sound an alarm.

3. The battery management system for a high-efficiency lithium battery monorail crane locomotive according to claim 1, characterized in that: The battery management system also includes a temperature sensor (11), a heater (12) and a thermal management and protection system. Before the monorail locomotive is started, the thermal management and protection system detects the temperature of the single battery (6) and compares the average temperature value T of the temperature sensor (11) at the single battery (6) with the minimum starting temperature T. min For comparison, if T ≥ T min , the monorail locomotive starts normally; if T<T min The thermal management and protection system turns on the heater (12) to heat the single battery (6) until T ≥ T min When the battery pack (7) is in operation or charging, the average temperature value T of the temperature sensor at the single battery (6) is compared with the maximum allowable temperature T max For comparison, when T ≥ T max When T < T max .

4. The battery management system for a high-efficiency lithium battery monorail crane locomotive according to claim 1, characterized in that: It also includes a control module, a speed sensor (13), a weight sensor (14), a laser radar sensor (15) and a positioning device (16); the transportation mode of the battery management system includes a high energy consumption mode and an operation mode: at time t=k, the speed sensor (13) is used to obtain the current monorail crane locomotive running speed V k When the laser radar sensor (15) detects a turnout or a curve, or when the positioning device (16) detects a preset route node, the laser radar sensor (15), V k The running speed V predicted by the positioning device (16) at time t=k+1 k+1 , the required power P for the next stage is obtained through the speed sensor (13), the load weight and the inclination of the front track req According to P req Select the working mode of the monorail crane locomotive. req >P0, the transport mode is set to high energy consumption mode; when 0<P req ≤P0, the transport mode is set to the operating mode; P0 is the preset required power threshold; SOC is the remaining battery power, SOC L is the average SOC of the single cells (6) in the battery pack (7), SOC Lsub SOC is the battery pack state of charge L The lower limit of SOC Lup SOC is the battery pack state of charge L The upper limit value, SOC Csub SOC is the state of charge of the supercapacitor C The lower limit of SOC Cup SOC is the state of charge of the supercapacitor C The upper limit value; in the high energy consumption mode, the battery pack (7) and the super capacitor (5) jointly output power. When SOC L <SOC Lsub When SOC C <SOC Csub When the power energy of the supercapacitor (5) is exhausted, the control module controls the alarm device (10) to issue an early warning. In the operation mode, the battery pack (7) is first driven alone. When the SOC L <SOC Lsub When SOC C <SOC Csub When the power energy of the supercapacitor (5) is exhausted, the control module controls the alarm device (10) to issue an early warning.

5. The battery management system for a high-efficiency lithium battery monorail crane locomotive according to claim 4, characterized in that: The drive unit (2) includes a synchronous reluctance motor (17), a drive wheel (18), a hydraulic brake unit (19) and a pressure sensor (20); the battery management system also includes a braking recovery mode, and the braking recovery mode includes a stable working condition braking and a complex working condition braking: the stable working condition braking includes: sending a braking signal during braking, controlling the synchronous reluctance motor (17) to generate a negative torque to achieve braking and energy recovery; the complex working condition braking includes: a laser radar sensor (15) scans the road conditions in front of the monorail crane, and the control module collects and processes the information of the laser radar sensor (15). When a foreign object or a person is detected in front of the monorail crane, the battery pack (7) and the supercapacitor (5) stop moving in the same direction. The synchronous reluctance motor (17) outputs electric power, and the control module calculates the expected braking distance and the recovered potential energy and kinetic energy according to the current speed of the monorail locomotive, the weight of the monorail locomotive and the slope inclination, thereby calculating the torque required for braking and realizing the distribution of hydraulic and motor reverse braking. The distribution method is as follows: the pressure sensor (20) is installed on the hydraulic brake unit (19), and the brake pressure of the hydraulic brake unit (19) is calculated and controlled by the sensed value of the pressure sensor (20); the residual braking force is achieved by controlling the synchronous reluctance motor (17) to generate negative torque to achieve braking and energy recovery; the energy generated by the reverse rotation of the synchronous reluctance motor (17) is converted into electrical energy, and firstly reversely charges the battery pack (7), and when the SOC L >SOC Lup When SOC C >SOC Cup When the battery is fully charged, the excess energy is consumed by discharging.

6. The battery management system for a high-efficiency lithium battery monorail crane locomotive according to claim 1, characterized in that: The battery unit (3) further comprises a voltage sensor (8), a current sensor (9) and an alarm device (10); the voltage sensor (8) is used to monitor the voltage of the single battery (6), the current sensor (9) is used to monitor the current of the single battery (6), and the alarm device (10) is used to issue an alarm when the single battery (6) is overcharged or over-discharged.

7. The battery management system for a high-efficiency lithium battery monorail crane locomotive according to claim 1, characterized in that: The battery unit (3) further comprises a temperature sensor (11) and a heater (12); the temperature sensor (11) is used to monitor the temperature of the single battery (6); when the average temperature value T is lower than the minimum starting temperature T min When , the heater (12) heats the single battery (6), wherein the average temperature value T is the average temperature of all the single batteries (6).

8. The battery management system for a high-efficiency lithium battery monorail crane locomotive according to claim 1, characterized in that: The invention also includes a control module, a speed sensor (13), a weight sensor (14), a laser radar sensor (15) and a positioning device (16); the speed sensor (13) is used to monitor the running speed of the monorail locomotive, the weight sensor (14) is used to monitor the weight carried by the load-bearing trolley (4); the laser radar sensor (15) is used to monitor the road conditions in front of the monorail locomotive and the inclination of the suspension track; the positioning device (16) is used to monitor the position of the monorail locomotive; the data of the speed sensor (13), the weight sensor (14), the laser radar sensor (15) and the positioning device (16) are transmitted to the control module, and the control module is used to analyze the power P required by the monorail locomotive in the next stage. req .

9. The battery management system for a high-efficiency lithium battery monorail crane locomotive according to claim 8, characterized in that: The drive unit (2) comprises a synchronous reluctance motor (17), a drive wheel (18), a hydraulic brake unit (19) and a pressure sensor (20); the drive wheel (18) is driven by the synchronous reluctance motor (17); the pressure sensor (20) is arranged on the hydraulic brake unit (19) and is used to monitor the brake pressure of the hydraulic brake unit (19); the hydraulic brake unit (19) is used to clamp the suspension track to achieve braking; data from the pressure sensor (20) is transmitted to a control module, and the synchronous reluctance motor (17) and the hydraulic brake unit (19) are controlled by the control module.

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