Battery Heating Method, Device, Equipment, Medium, Product and Vehicle

Abstract

The present application relates to a battery heating method, device, equipment, medium, product and vehicle, and relates to the technical field of battery heating. It solves at least the technical problems that there is a risk of overcurrent in the current when heating the battery, and unexpected torque pulsation occurs in the motor in the related art. The method includes: obtaining a requested current and a requested frequency, where the requested current is a pulsed current when heating the battery, and the requested frequency is used to determine the total duration of the battery heating cycle; determining a charging duty ratio based on the requested current and the requested frequency, where the charging duty ratio is the ratio of the first duration in the battery heating cycle, and the first duration is the duration for the battery to charge the motor; determining the first duration and the second duration based on the requested frequency and the charging duty ratio, where the second duration is the duration for the motor to discharge the battery in the battery heating cycle; within the battery heating cycle, controlling the duration for the battery to charge the motor to be the first duration, and controlling the duration for the motor to discharge the battery to be the second duration.

Description

Technical Field

[0001] The present application relates to the technical field of battery heating, and specifically relates to a battery heating method, device, equipment, medium, product and vehicle. Background Art

[0002] With the rapid development and popularization of electric vehicles, the problem of performance attenuation of power batteries in low-temperature environments has become the main technical problem to be solved. At present, the main technical solution is to heat the power battery. By adopting the method of high-frequency charge and discharge of the power battery, the effect of heating the power battery is achieved based on the internal resistance of the power battery, so that the temperature of the power battery rises to a reasonable range, thereby ensuring the performance of the power battery during charge and discharge.

[0003] In the related art, Patent CN 112977173 B performs Park inverse transformation on the direct-axis voltage request value and the preset quadrature-axis voltage according to the motor rotor position signal to obtain the α-axis voltage vector and the β-axis voltage vector. And a pulse signal with a period of 2 / f is generated according to the switching frequency request value f (the first 1 / f time within one period of this pulse signal is high level and the last 1 / f time is low level). Then, according to the α-axis voltage vector and the β-axis voltage vector, the conduction time of six power switches is calculated, and combined with the switching frequency request value f, an initial pulse width modulation signal for the six power switches is formed. This method realizes the voltage vector excitation process and current freewheeling process of the motor through a pulse signal with a duty cycle of 50% and a frequency of 1 / 2 of the power switch frequency. This will result in the non-adjustability of the time ratio between the voltage vector excitation and freewheeling stages, thereby causing the risk of overcurrent in the voltage vector excitation and the situation of unexpected torque pulsation of the motor.

[0004] In another related art, Patent CN 114789679 B determines the direct-axis feedforward current according to the motor rotor angle and the desired effective value of the pulse heating bus current. Then, the direct-axis feedforward current and the direct-axis actual current effective value are input into the PI adjustment module to determine the direct-axis voltage request value; the preset quadrature-axis target current and the quadrature-axis actual current effective value are input into the PI adjustment module to determine the quadrature-axis voltage request value. Furthermore, after the direct-axis voltage request value and the quadrature-axis voltage request value are converted, they are input into the SVPWM module to output a pulse width modulation signal to control the on and off of the six power switches of the three-phase bridge arm to respond to the pulse heating current demand. This method only discloses determining the pulse width modulation signal through the SVPWM module by combining the parameter of the motor rotor angle. However, it does not specifically explain the specific situation of the determined pulse width modulation signal for the voltage vector excitation and current freewheeling of the motor. This will still pose a risk of overcurrent and the situation of unexpected torque pulsation of the motor. Summary of the Invention

[0005] The present application provides a battery heating method, device, equipment, medium, product and vehicle. The purpose of the present application is to at least solve the technical problems in the related art that when heating a battery, there is a risk of overcurrent in the current and unexpected torque pulsation occurs in the motor.

[0006] To achieve the above object, the technical solution adopted in the present application is as follows:

[0007] According to the first aspect provided by the present application, a battery heating method is provided. The method includes: obtaining a requested current and a requested frequency, where the requested current is a pulsed current when heating the battery, and the requested frequency is used to determine the total duration of a battery heating cycle; determining a charging duty ratio based on the requested current and the requested frequency, where the charging duty ratio is the ratio of a first duration in the battery heating cycle, and the first duration is the duration for the battery to charge the motor; determining the first duration and a second duration based on the requested frequency and the charging duty ratio, where the second duration is the duration for the motor to discharge the battery in the battery heating cycle; and controlling, in the battery heating cycle, the duration for the battery to charge the motor to be the first duration and controlling the duration for the motor to discharge the battery to be the second duration.

[0008] According to the above technical means, the present application can determine the charging duty ratio of the duration for the battery to charge the motor in a battery heating cycle based on the obtained requested current and requested frequency. Since the total duration of a battery heating cycle is determined by the requested frequency, it can be considered that the total duration of the battery heating cycle is fixed. Therefore, the motor charging duration and the motor discharging duration in a battery heating cycle can be determined through the determined charging duty ratio. In this way, the ratio of the motor charging duration in a battery heating cycle can be adjusted based on the charging duty ratio, so as to avoid the risk of overcurrent in the current caused by too long a motor charging duration when heating the battery, and to avoid the occurrence of unexpected torque pulsation in the motor.

[0009] In a possible implementation manner, the above controlling the battery to charge the motor includes: determining a direct-axis voltage corresponding to the motor based on the requested current, the requested frequency and a first preset relationship, where the first preset relationship is used to indicate the corresponding relationship between multiple requested currents, multiple requested frequencies and multiple direct-axis voltages; determining a control signal based on the position information of the rotor included in the motor, the direct-axis voltage and a preset quadrature-axis voltage; and controlling the battery to charge the motor based on the control signal.

[0010] According to the above technical means, the present application can pre-determine a first preset relationship corresponding among current, frequency, and voltage, and the first preset relationship can indicate the corresponding relationship among a plurality of requested currents, a plurality of requested frequencies, and a plurality of direct-axis voltages. That is, given any two of the requested current, requested frequency, and direct-axis voltage, the third parameter can be determined. Thus, during the process of heating the battery, based on the known requested current and requested frequency, the corresponding direct-axis voltage can be determined through the first preset relationship. Furthermore, in combination with the position information of the rotor and the quadrature-axis voltage, the corresponding control signal can be determined to control the battery to charge the motor. In this way, through the preset relationship among the pre-determined current, frequency, and voltage, an accurate direct-axis voltage can be determined, thereby improving the accuracy of the determined control signal.

[0011] In a possible implementation manner, determining a control signal based on the position information of the rotor included in the motor, the direct-axis voltage, and a preset quadrature-axis voltage includes: determining a preset quadrature-axis voltage based on the position information of the rotor, the direct-axis voltage, and a second preset relationship, where the second preset relationship is used to indicate the corresponding relationship among a plurality of position information, a plurality of direct-axis voltages, and a plurality of preset quadrature-axis voltages; performing an inverse Park transformation on the direct-axis voltage and the preset quadrature-axis voltage based on the position information of the rotor to determine a first voltage vector and a second voltage vector; and determining a control signal through a preset modulation algorithm based on the first voltage vector and the second voltage vector.

[0012] According to the above technical means, the present application can pre-determine a second preset relationship corresponding among position information, direct-axis voltage, and preset quadrature-axis voltage, and the second preset relationship can indicate the corresponding relationship among a plurality of position information, a plurality of direct-axis voltages, and a plurality of preset quadrature-axis voltages. That is, given any two of the position information, direct-axis voltage, and preset quadrature-axis voltage, the third parameter can be determined. Thus, based on the known position information and direct-axis voltage, the corresponding preset quadrature-axis voltage can be determined through the second preset relationship. Furthermore, through the inverse Park transformation and the preset modulation algorithm, an accurate control signal can be determined. In this way, through the preset relationship among the pre-determined position information, direct-axis voltage, and preset quadrature-axis voltage, an accurate preset quadrature-axis voltage can be determined to adjust the determined control signal through the preset quadrature-axis voltage, thereby improving the accuracy of the determined control signal.

[0013] In a possible implementation manner, the motor includes a plurality of coil groups, and the first duration includes a first stage; controlling the battery to charge the motor based on the control signal includes: in the first stage, controlling the current flow direction between the battery and the motor based on the control signal to charge the motor, the current flows into the motor through at least one first coil group and flows out of the motor through at least one second coil group, and there is no current in at least one third coil group, and the number of the plurality of coil groups is greater than or equal to 3.

[0014] According to the above technical means, during the process of controlling the battery to charge the motor based on a control signal, it is possible to control that no current passes through at least one phase of the multi-phase motor, while controlling the current to flow in and out through other phases of the multi-phase motor. In this way, when heating the battery, it is not necessary to have current in each phase of the multi-phase motor, thereby improving the diversity of control when heating the battery.

[0015] In a possible implementation manner, the first duration further includes a second stage, in which there is no current between the battery and the motor. The method further includes: when the duration of controlling the battery to charge the motor based on the control signal reaches the first duration and is in the second stage, controlling the motor to discharge the battery.

[0016] According to the above technical means, in this application, when the battery charges the motor, it is necessary to switch to the motor discharging the battery when there is no current between the battery and the motor. That is, when there is no vector excitation for the motor, switch from the battery charging the motor to the motor discharging the battery, so as to avoid the situation of unexpected torque pulsation of the motor.

[0017] In a possible implementation manner, the request frequency, the charging duty ratio, and the preset modulation frequency satisfy a preset condition. The modulation period corresponding to the preset modulation frequency is the period for controlling the current flow direction between the battery and the motor by the control signal. The preset condition is that the duration of the modulation period corresponding to the preset modulation frequency and the first duration are in an integer multiple relationship.

[0018] According to the above technical means, this application can make the request frequency, the charging duty ratio, and the preset modulation frequency satisfy the preset condition, that is, the duration of the modulation period corresponding to the preset modulation frequency and the first duration are in an integer multiple relationship. In this way, when switching from the battery charging the motor to the motor discharging the battery, it can be ensured that there is no vector excitation for the motor, and the situation of unexpected torque pulsation of the motor can be avoided.

[0019] In a possible implementation manner, determining the first duration and the second duration based on the request frequency and the charging duty ratio includes: determining the first duration based on the ratio between the charging duty ratio and the request frequency; determining the second duration based on the ratio between the discharging duty ratio and the request frequency, and the discharging duty ratio is determined based on the charging duty ratio.

[0020] According to the above technical means, the present application can specifically determine, based on the ratio between the charging duty cycle and the request frequency, the first duration for the battery to charge the motor within a battery heating cycle. And determine the discharging duty cycle based on the charging duty cycle, so as to determine, based on the ratio between the discharging duty cycle and the request frequency, the second duration for the motor to discharge the battery within a battery heating cycle. In this way, the duration for charging the motor within a battery heating cycle can be adjusted through the determined charging duty cycle. Thus, the risk of overcurrent caused by too long a charging duration of the motor can be avoided.

[0021] In a possible implementation manner, the determination of the charging duty cycle based on the requested current and the request frequency includes: determining the charging duty cycle from a preset parameter table based on the requested current and the request frequency. The preset parameter table includes multiple groups of parameter values, and each group of parameter values includes the corresponding relationship between the requested current, the request frequency, and the charging duty cycle.

[0022] According to the above technical means, the present application can pre-determine multiple groups of parameter values to obtain a preset parameter table, so as to determine the corresponding relationship between the requested current, the request frequency, and the charging duty cycle. In this way, when the requested current and the request frequency are known, the corresponding charging duty cycle can be determined from the preset parameter table. Thus, through the determined charging duty cycle, the duration for charging the motor within a battery heating cycle can be adjusted, and the risk of overcurrent caused by too long a charging duration of the motor can be avoided.

[0023] According to the second aspect provided by the present application, there is provided a battery heating device, which includes: an acquisition module, a processing module, and a control module; the acquisition module is configured to acquire the requested current and the request frequency, where the requested current is the pulsed current when heating the battery, and the request frequency is used to determine the total duration of the battery heating cycle; the processing module is configured to determine the charging duty cycle based on the requested current and the request frequency, where the charging duty cycle is the ratio of the first duration within the battery heating cycle, and the first duration is the duration for the battery to charge the motor; the processing module is further configured to determine the first duration and the second duration based on the request frequency and the charging duty cycle, where the second duration is the duration for the motor to discharge the battery within the battery heating cycle; the control module is configured to control the duration for the battery to charge the motor to be the first duration and control the duration for the motor to discharge the battery to be the second duration within the battery heating cycle.

[0024] In a possible implementation, the processing module is further configured to determine the direct-axis voltage corresponding to the motor based on the requested current, the requested frequency, and a first preset relationship, where the first preset relationship is used to indicate the corresponding relationship between multiple requested currents, multiple requested frequencies, and multiple direct-axis voltages; the processing module is further configured to determine a control signal based on the position information of the rotor included in the motor, the direct-axis voltage, and a preset quadrature-axis voltage; the control module is specifically configured to control the battery to charge the motor based on the control signal.

[0025] In a possible implementation, the processing module is specifically configured to determine a preset quadrature-axis voltage based on the position information of the rotor, the direct-axis voltage, and a second preset relationship, where the second preset relationship is used to indicate the corresponding relationship between multiple position information, multiple direct-axis voltages, and multiple preset quadrature-axis voltages; the processing module is specifically configured to perform an inverse Park transformation on the direct-axis voltage and the preset quadrature-axis voltage based on the position information of the rotor to determine a first voltage vector and a second voltage vector; the processing module is specifically configured to determine a control signal based on the first voltage vector and the second voltage vector through a preset modulation algorithm.

[0026] In a possible implementation, the motor includes multiple coil groups, and the first time period includes a first stage; the control module is specifically configured to, in the first stage, control the current flow direction between the battery and the motor based on the control signal to charge the motor, the current flows into the motor through at least one first coil group and flows out of the motor through at least one second coil group, and there is no current in at least one third coil group, and the number of the multiple coil groups is greater than or equal to 3.

[0027] In a possible implementation, the first time period further includes a second stage, and there is no current between the battery and the motor in the second stage. The control module is further configured to control the motor to discharge the battery when the duration of controlling the battery to charge the motor based on the control signal reaches the first time period and is in the second stage.

[0028] In a possible implementation, the requested frequency, the charging duty ratio, and a preset modulation frequency satisfy a preset condition. The modulation period corresponding to the preset modulation frequency is the period of controlling the current flow direction between the battery and the motor by the control signal, and the preset condition is that the duration of the modulation period corresponding to the preset modulation frequency and the first time period are in an integer multiple relationship.

[0029] In a possible implementation, the processing module is specifically configured to determine the first time period based on the ratio between the charging duty ratio and the requested frequency; the processing module is specifically configured to determine the second time period based on the ratio between the discharging duty ratio and the requested frequency, and the discharging duty ratio is determined based on the charging duty ratio.

[0030] In a possible implementation, the processing module is specifically configured to determine a charging duty cycle from a preset parameter table based on a requested current and a requested frequency. The preset parameter table includes multiple sets of parameter values, and each set of parameter values includes the corresponding relationship between the requested current, the requested frequency, and the charging duty cycle.

[0031] According to the third aspect provided by the present application, there is provided an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein, the processor is configured to execute the instructions to implement the method according to the first aspect and any one of its possible implementations.

[0032] According to the fourth aspect provided by the present application, there is provided a computer-readable storage medium, when the instructions in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is caused to execute the method according to the first aspect and any one of its possible implementations.

[0033] According to the fifth aspect provided by the present application, there is provided a computer program product, the computer program product includes computer instructions, when the computer instructions run on the electronic device, the electronic device is caused to execute the method according to the first aspect and any one of its possible implementations.

[0034] According to the sixth aspect provided by the present application, there is provided a vehicle, the vehicle includes a battery heating device as described in the second aspect, and the vehicle is used to implement the method according to the first aspect and any one of its possible implementations.

[0035] Therefore, the above technical features of the present application have the following beneficial effects:

[0036] (1) The present application can determine the charging duty cycle of the duration of the battery charging the motor in a battery heating cycle based on the obtained requested current and requested frequency. Since the total duration of a battery heating cycle is determined by the requested frequency, it can be considered that the total duration of the battery heating cycle is fixed. Therefore, the charging duration and the discharging duration of the motor in a battery heating cycle can be determined through the determined charging duty cycle. In this way, the proportion of the charging duration of the motor in a battery heating cycle can be adjusted based on the charging duty cycle, so as to avoid the risk of overcurrent due to too long charging duration of the motor when heating the battery, and avoid the situation of unexpected torque ripple of the motor.

[0037] (2) The present application can pre-determine a first preset relationship corresponding among current, frequency, and voltage. The first preset relationship can indicate the corresponding relationship among a plurality of requested currents, a plurality of requested frequencies, and a plurality of direct-axis voltages. That is, given any two of the parameters of the requested current, the requested frequency, and the direct-axis voltage, the third parameter can be determined. Thus, during the process of heating the battery, based on the known requested current and requested frequency, the corresponding direct-axis voltage can be determined through the first preset relationship. Then, in combination with the position information of the rotor and the quadrature-axis voltage, the corresponding control signal can be determined to control the battery to charge the motor. In this way, through the preset relationship among the pre-determined current, frequency, and voltage, the accurate direct-axis voltage can be determined, thereby improving the accuracy of the determined control signal.

[0038] (3) The present application can pre-determine a second preset relationship corresponding among position information, direct-axis voltage, and preset quadrature-axis voltage. The second preset relationship can indicate the corresponding relationship among a plurality of position information, a plurality of direct-axis voltages, and a plurality of preset quadrature-axis voltages. That is, given any two of the parameters of the position information, the direct-axis voltage, and the preset quadrature-axis voltage, the third parameter can be determined. Thus, based on the known position information and direct-axis voltage, the corresponding preset quadrature-axis voltage can be determined through the second preset relationship. Then, through the Park inverse transformation and the preset modulation algorithm, the accurate control signal can be determined. In this way, through the preset relationship among the pre-determined position information, direct-axis voltage, and preset quadrature-axis voltage, the accurate preset quadrature-axis voltage can be determined to adjust the determined control signal through the preset quadrature-axis voltage, thereby improving the accuracy of the determined control signal.

[0039] (4) During the process of controlling the battery to charge the motor based on the control signal, it is possible to control that no current passes through at least one phase of the multi-phase motor, and control the current to flow in and out through the other phases of the multi-phase motor. In this way, when heating the battery, it is not necessary to have current in each phase of the multi-phase motor, thereby improving the diversity of control when heating the battery.

[0040] (5) The present application needs to switch to the motor discharging the battery when there is no current between the battery and the motor during the battery charging the motor. That is, when there is no vector excitation for the motor, switch from the battery charging the motor to the motor discharging the battery, so as to avoid the situation of unexpected torque pulsation of the motor.

[0041] (6) The present application can make the requested frequency, the charging duty ratio, and the preset modulation frequency satisfy preset conditions, that is, the duration of the modulation period corresponding to the preset modulation frequency has an integer multiple relationship with the first duration. In this way, when switching from the battery charging the motor to the motor discharging the battery, it is ensured that there is no vector excitation for the motor, and the situation of unexpected torque pulsation of the motor is avoided.

[0042] (7) Specifically, this application can determine, based on the ratio between the charging duty cycle and the request frequency, the first duration for the battery to charge the motor within a battery heating cycle. And determine the discharging duty cycle based on the charging duty cycle, so as to determine, based on the ratio between the discharging duty cycle and the request frequency, the second duration for the motor to discharge the battery within a battery heating cycle. In this way, the duration for charging the motor within a battery heating cycle can be adjusted through the determined charging duty cycle. Thus, the risk of overcurrent caused by too long a charging duration of the motor can be avoided.

[0043] (8) This application can pre-determine multiple groups of parameter values to obtain a preset parameter table, thereby determining the corresponding relationship between the requested current, the request frequency, and the charging duty cycle. In this way, when the requested current and the request frequency are known, the corresponding charging duty cycle can be determined from the preset parameter table. Thus, through the determined charging duty cycle, the duration for charging the motor within a battery heating cycle can be adjusted, avoiding the risk of overcurrent caused by too long a charging duration of the motor.

[0044] It should be noted that the technical effects brought by any implementation manner in the second aspect to the sixth aspect can refer to the technical effects brought by the corresponding implementation manner in the first aspect, which will not be elaborated here.

[0045] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application, and do not constitute an improper limitation to this application.

[0047] Figure 1 is a schematic structural diagram of a battery heating system shown according to an exemplary embodiment;

[0048] Figure 2 is a schematic structural diagram of another battery heating system shown according to an exemplary embodiment;

[0049] Figure 3 is a flowchart of a battery heating method shown according to an exemplary embodiment;

[0050] Figure 4 is a flowchart of another battery heating method shown according to an exemplary embodiment;

[0051] Figure 5 is a flowchart of another battery heating method shown according to an exemplary embodiment;

[0052] Figure 6 is a schematic diagram of a control signal shown according to an exemplary embodiment;

[0053] Figure 7 is a schematic diagram of circuit control corresponding to a control signal shown according to an exemplary embodiment;

[0054] Figure 8 is another schematic diagram of circuit control corresponding to a control signal shown according to an exemplary embodiment;

[0055] Figure 9 is a block diagram of a battery heating device shown according to an exemplary embodiment;

[0056] Figure 10 is a block diagram of an electronic device shown according to an exemplary embodiment. Detailed implementation manners

[0057] To enable those of ordinary skill in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0058] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data used can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order different from those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0059] The battery heating method provided by the embodiments of the present application can be applied to a battery heating system. Figure 1 shows a schematic structural diagram of a battery heating system. As Figure 1 shown, the battery heating system 10 includes: a battery 11, a motor 12, and a controller 13.

[0060] The controller 13 can obtain a requested current and a requested frequency. The requested current is a pulsed current when heating the battery 11, and the requested frequency is used to determine the total duration of the battery heating period.

[0061] The controller 13 can also determine a charging duty ratio based on the requested current and the requested frequency. The charging duty ratio is the ratio of a first duration within the battery heating period, and the first duration is the duration for the battery 11 to charge the motor 12.

[0062] The controller 13 can also determine a first duration and a second duration based on the request frequency and the charging duty ratio, where the second duration is the duration during which the motor 12 discharges the battery 11 within the battery heating cycle.

[0063] The controller 13 can also, within the battery heating cycle, control the duration for the battery 11 to charge the motor 12 to be the first duration and control the duration for the motor 12 to discharge the battery 11 to be the second duration.

[0064] In some embodiments, as Figure 2 shown, the controller 13 can specifically be a motor controller, and the motor controller specifically includes a control module and an inverter module. The controller 13 and the motor 12 together form an electric drive system, and the positive and negative high-voltage terminals of the battery 11 are connected to the positive and negative terminals of the high-voltage DC side of the electric drive system. The battery 11 can specifically be connected to the inverter module. The control module, the inverter module, and the motor are connected to each other.

[0065] Optionally, the motor controller can also include a bus capacitor (film capacitor). The motor 12 can be a three-phase synchronous motor, and the stator windings of the motor 12 can be star-connected. The inverter module is designed with three-phase bridge arms corresponding to the number of phases of the motor 12, and each half-bridge should be equipped with a reverse freewheeling diode.

[0066] Optionally, the inverter module can be a power module with three-phase bridge arms, which can include a plurality of power switches, and each power switch is composed of a triode (VT) (also called a switching tube) and a rectifier diode (VD).

[0067] It should be noted that the connections between the battery 11, the control module, the inverter module, and the motor 12 can specifically be high-voltage power supply connections and low-voltage signal connections.

[0068] The battery heating method provided by the embodiments of the present application is used to solve the problems of overcurrent and unexpected torque pulsation caused by the strong correlation between the pulse current frequency and the voltage modulation frequency during the pulse heating of the battery.

[0069] For ease of understanding, the battery heating method provided by the present application will be specifically introduced below with reference to the accompanying drawings.

[0070] Figure 3 is a flowchart of a battery heating method shown according to an exemplary embodiment. As Figure 3 shown, the method includes the following S301 - S304:

[0071] S301. Obtain a request current and a request frequency.

[0072] Among them, the request current is the pulse current when heating the battery, and the request frequency is used to determine the total duration of the battery heating cycle.

[0073] Optionally, when the battery needs to be charged and discharged at a lower temperature, the battery controller may send a requested current and a requested frequency to the motor controller, so that the motor controller determines a corresponding control signal based on the requested current and the requested frequency to control the process of heating the battery.

[0074] It should be noted that the process of heating the battery may include multiple battery heating cycles, and each battery heating cycle includes a motor inductor charging stage and a motor discharging stage. That is, during the entire battery heating process, the motor inductor charging stage and the motor discharging stage are alternately executed multiple times. In this application, an example of a battery heating cycle is used for illustrative purposes.

[0075] S302. Determine a charging duty ratio based on the requested current and the requested frequency.

[0076] Among them, the charging duty ratio is the ratio of the first duration within the battery heating cycle, and the first duration is the duration for the battery to charge the motor.

[0077] Optionally, in the state of pulse heating the battery, the battery heating cycle (i.e., a single cycle of the pulse current) may specifically include: a motor inductor charging stage and a motor discharging stage. The motor inductor charging stage is the process of the battery charging the motor, and the motor discharging stage is the process of the motor discharging the battery.

[0078] In some embodiments, in a battery heating method provided by an embodiment of this application, the above S302 may specifically include: determining a charging duty ratio from a preset parameter table based on the requested current and the requested frequency. The preset parameter table includes multiple groups of parameter values, and each group of parameter values includes the corresponding relationship between the requested current, the requested frequency, and the charging duty ratio.

[0079] Optionally, according to different requested values I of the pulse current magnitude req (i.e., the requested current), different requested values f of the pulse current frequency req (i.e., the requested frequency), and different charging duty ratios, a current-frequency-duty ratio table (i.e., the preset parameter table) may be pre-constructed. Thus, after obtaining the requested current and the requested frequency, the corresponding charging duty ratio D can be determined from the current-frequency-duty ratio table. cmd .

[0080] It should be noted that the current-frequency-duty ratio table includes the charging duty ratios corresponding to different requested currents and different requested frequencies. For example, when the requested current is a and the requested frequency is b, the corresponding charging duty ratio is c; when the requested current is a and the requested frequency is d, the corresponding charging duty ratio is e; when the requested current is f and the requested frequency is g, the corresponding charging duty ratio is h, etc.

[0081] It can be understood that the corresponding charging duty cycle value can be determined in advance through models or experiments under different pulse current size request values ​​and different pulse current frequency request values ​​so that the current will not over-flow when heating the battery and will not produce unexpected torque pulsation.

[0082] In an embodiment of the present application, the present application can predetermine multiple sets of parameter values ​​to obtain a preset parameter table, thereby determining the corresponding relationship between the requested current, the requested frequency, and the charging duty cycle. In this way, when the requested current and the requested frequency are known, the corresponding charging duty cycle can be determined from the preset parameter table. Thus, by determining the charging duty cycle, the duration of charging the motor within a battery heating cycle can be adjusted to avoid the risk of overcurrent caused by excessive motor charging time.

[0083] Optionally, it is also necessary to determine the direct-axis voltage Ud corresponding to the motor based on the requested current and the requested frequency through a predetermined current-frequency-voltage table. cmd The direct-axis voltage is used to apply a DC voltage to the motor during the motor inductance charging phase, and the duration of the motor inductance charging phase in a single battery heating cycle is controlled by the charging duty cycle.

[0084] It should be noted that the current-frequency-voltage table includes direct-axis voltages corresponding to different requested currents and different requested frequencies. For example, when the requested current is a and the requested frequency is b, the corresponding direct-axis voltage is j, when the requested current is a and the requested frequency is d, the corresponding charging duty cycle is k, when the requested current is f and the requested frequency is g, the corresponding charging duty cycle is m, and so on.

[0085] In some embodiments, the requested frequency, charging duty cycle and preset modulation frequency meet preset conditions. The modulation period corresponding to the preset modulation frequency is the period in which the control signal controls the current flow between the battery and the motor. The preset condition is that the duration of the modulation period corresponding to the preset modulation frequency is an integer multiple of the first duration.

[0086] Optionally, the preset condition satisfied by the request frequency, the charging duty cycle and the preset modulation frequency can be expressed by Formula 1, which shows the relationship satisfied by the request frequency, the charging duty cycle and the preset modulation frequency.

[0087]

[0088] Among them, f s Indicates the direct-axis voltage Ud corresponding to the motor controlled by the motor control module cmd The voltage modulation frequency (i.e. the preset modulation frequency), D cmd represents the charging duty cycle, f req Represents the request frequency, n∈N+ It is indicated that n is a positive integer.

[0089] It can be understood that the request frequency, the charging duty cycle, and the preset modulation frequency satisfy the preset conditions to ensure that in the motor inductor charging stage during a battery heating cycle, there are a complete number of excitation cycles (i.e., the voltage modulation cycles determined by the preset modulation frequency), so as to ensure that at the time point of switching from the motor inductor charging stage to the motor discharging stage during a battery heating cycle, the motor is not subjected to vector excitation.

[0090] That is, the relationship between the duration of the modulation cycle corresponding to the preset modulation frequency expressed by Formula 1 and the first duration is an integer multiple relationship, which can enable the motor controller to perform an integer multiple number of voltage vector excitations on the motor during the motor inductor charging stage and avoid the output of incorrect voltage vectors.

[0091] In the embodiments of the present application, the present application can make the request frequency, the charging duty cycle, and the preset modulation frequency satisfy the preset conditions, that is, the relationship between the duration of the modulation cycle corresponding to the preset modulation frequency and the first duration is an integer multiple relationship. In this way, when switching from charging the motor by the battery to discharging the battery by the motor, it is ensured that there is no vector excitation on the motor, thus avoiding the situation of unexpected torque pulsation of the motor.

[0092] S303. Determine a first duration and a second duration based on the request frequency and the charging duty cycle.

[0093] Wherein, the second duration is the duration of the motor discharging the battery during the battery heating cycle.

[0094] In some embodiments, in a battery heating method provided by the embodiments of the present application, the above S303 may specifically include: determining the first duration based on the ratio between the charging duty cycle and the request frequency; and determining the second duration based on the ratio between the discharging duty cycle and the request frequency, and the discharging duty cycle is determined based on the charging duty cycle.

[0095] Optionally, the first duration T1 can be determined based on the ratio between the charging duty cycle and the request frequency through Formula 2 to control the duration of the motor inductor charging stage based on the first duration.

[0096]

[0097] Optionally, since the battery heating cycle includes a motor inductor charging stage and a motor discharging stage, the sum of the charging duty cycle and the discharging duty cycle is 1, and the discharging duty cycle can be determined based on the charging duty cycle. And the second duration T2 is determined based on the ratio between the discharging duty cycle and the request frequency through Formula 3 to control the duration of the motor discharging stage based on the second duration.

[0098]

[0099] In the embodiments of the present application, the present application can specifically determine, based on the ratio between the charging duty cycle and the request frequency, the first duration for the battery to charge the motor within a battery heating cycle. And determine the discharging duty cycle based on the charging duty cycle, so as to determine, based on the ratio between the discharging duty cycle and the request frequency, the second duration for the motor to discharge the battery within a battery heating cycle. In this way, the duration for charging the motor within a battery heating cycle can be adjusted through the determined charging duty cycle. Thereby avoiding the risk of overcurrent due to too long a charging duration of the motor.

[0100] S304. During the battery heating cycle, control the duration for the battery to charge the motor to be the first duration, and control the duration for the motor to discharge the battery to be the second duration.

[0101] Optionally, during the motor inductance charging stage, the battery charges the motor. The motor is excited by a voltage vector and a current is generated on the winding inductance. During the motor discharging stage, all power switches (i.e., switching tubes) are turned off, and the winding inductance of the motor discharges externally through the freewheeling diode of the inverter module, and the winding current decreases, achieving the effect of the motor discharging the battery.

[0102] It should be noted that after completing a battery heating cycle, if the requested current and the request frequency remain unchanged, the next battery heating cycle can be the same as the previous one, and the process of controlling the battery to charge the motor and the process of the motor discharging the battery are realized through the same charging duty cycle, direct-axis voltage, first duration, and second duration. If the requested current and the request frequency change, it is necessary to re-determine the new charging duty cycle, direct-axis voltage, first duration, and second duration based on the above steps.

[0103] In the embodiments of the present application, the present application can determine, based on the obtained requested current and request frequency, the charging duty cycle for the duration of the battery charging the motor within a battery heating cycle. Since the total duration of a battery heating cycle is determined by the request frequency, it can be considered that the total duration of the battery heating cycle is fixed. Therefore, the motor charging duration and the motor discharging duration within a battery heating cycle can be determined through the determined charging duty cycle. In this way, the proportion of the motor charging duration within a battery heating cycle can be adjusted based on the charging duty cycle, thereby avoiding the risk of overcurrent due to too long a charging duration of the motor when heating the battery, and avoiding the situation of unexpected torque ripple of the motor.

[0104] In some embodiments, as Figure 4 shown, in a battery heating method provided by the embodiments of the present application, "controlling the battery to charge the motor" can specifically include S401 - S403:

[0105] S401. Determine the direct-axis voltage corresponding to the motor based on the requested current, requested frequency, and the first preset relationship.

[0106] Wherein, the first preset relationship is used to indicate the corresponding relationship between multiple requested currents, multiple requested frequencies, and multiple direct-axis voltages.

[0107] Optionally, the first preset relationship can be indicated by a current-frequency-voltage table, or can be a pre-determined algorithm (or formula) representing the relationship between the requested current, requested frequency, and direct-axis voltage.

[0108] S402. Determine the control signal based on the position information of the rotor included in the motor, the direct-axis voltage, and the preset quadrature-axis voltage.

[0109] Optionally, the preset quadrature-axis voltage can be set to zero, so as to determine the α-axis voltage vector and β-axis voltage vector corresponding to the motor through Park inverse transformation based on the direct-axis voltage and the preset quadrature-axis voltage, and generate the corresponding control signal through a preset modulation algorithm based on the determined α-axis voltage vector and β-axis voltage vector.

[0110] In some embodiments, as Figure 5 shown, in a battery heating method provided by an embodiment of the present application, the above step S402 may specifically include S501 - S503:

[0111] S501. Determine the preset quadrature-axis voltage based on the position information of the rotor, the direct-axis voltage, and the second preset relationship.

[0112] Wherein, the second preset relationship is used to indicate the corresponding relationship between multiple position information, multiple direct-axis voltages, and multiple preset quadrature-axis voltages.

[0113] Optionally, since the position of the rotor is different (i.e., the position information corresponding to the angle θ of the rotor), it will affect the torque ripple generated by the motor. Therefore, the position of the rotor and the direct-axis voltage can be comprehensively considered to determine a compensation voltage (i.e., the preset quadrature-axis voltage Uq cmd ) to further reduce the influence of the torque ripple generated by the motor.

[0114] Optionally, the preset quadrature-axis voltages corresponding to different angles θ of the rotor and different direct-axis voltages can be determined in advance. Specifically, the corresponding relationship table between the angle, direct-axis voltage, and quadrature-axis voltage can be determined through a model or experiment. Or, the algorithm (or formula) corresponding to the angle, direct-axis voltage, and quadrature-axis voltage of the rotor can be determined in advance.

[0115] Exemplarily, when the angle corresponding to the rotor is p and the direct-axis voltage is q, the corresponding preset quadrature-axis voltage is r; or, when the angle corresponding to the rotor is s and the direct-axis voltage is q, the corresponding preset quadrature-axis voltage is t; or, when the angle corresponding to the rotor is u and the direct-axis voltage is v, the corresponding preset quadrature-axis voltage is w, etc.

[0116] It should be noted that when the angle corresponding to the rotor is some special angles (such as 0 degrees, 60 degrees, 120 degrees, 180 degrees, etc.), based on the position information of the rotor, the direct-axis voltage, and the second preset relationship, the determined preset quadrature-axis voltage can be 0.

[0117] S502. Based on the position information of the rotor, perform Park inverse transformation on the direct-axis voltage and the preset quadrature-axis voltage to determine the first voltage vector and the second voltage vector.

[0118] It can be understood that through Park inverse transformation, based on the position information of the rotor, the d-axis voltage (i.e., the direct-axis voltage) and the q-axis voltage (i.e., the preset quadrature-axis voltage) corresponding to the motor can be transformed into the α-axis voltage vector (i.e., the first voltage vector) and the β-axis voltage vector (i.e., the second voltage vector) corresponding to the motor.

[0119] S503. Based on the first voltage vector and the second voltage vector, determine the control signal through a preset modulation algorithm.

[0120] Optionally, the preset modulation algorithm can be: space vector pulse width modulation (SVPWM) algorithm, discontinuous pulse width modulation (DPWM) algorithm, etc.

[0121] Optionally, the first voltage vector and the second voltage vector can be input into the SVPWM modulation algorithm to generate the control signal corresponding to the power module for voltage vector output. The voltage vector determines the specific number of excitation cycles according to the modulation switching frequency and the duty ratio of the charging stage.

[0122] Exemplarily, such as Figure 6As shown, it is a schematic diagram of a control signal, which shows the control signals for the triodes (VT) included in each power switch during a complete battery heating cycle. For the triodes (VT) included in each power switch, the control signal indicates the on (high level) and off (low level) states of the triodes (VT) in the form of high and low levels. During the motor inductance charging stage in a complete battery heating cycle, there are multiple modulation cycles (cycles determined by a preset modulation frequency). Based on the control signals corresponding to the triodes (VT) included in each power switch within each modulation cycle, the on states of the triodes (VT) included in each power switch are indicated. For example, within a modulation cycle, there are 5 processes. In the first process, the control signal indicates that VT1, VT3, and VT5 are in the off state (i.e., low level), and VT2, VT4, and VT6 are in the on state (i.e., high level). In the second process, the control signal indicates that VT2, VT3, and VT5 are in the off state, and VT1, VT4, and VT6 are in the on state. In the third process, the control signal indicates that VT1, VT3, and VT5 are in the on state, and VT2, VT4, and VT6 are in the off state. In the fourth process, the control signal indicates that VT2, VT3, and VT5 are in the off state, and VT1, VT4, and VT6 are in the on state. In the fifth process, the control signal indicates that VT1, VT3, and VT5 are in the off state, and VT2, VT4, and VT6 are in the on state. And during the motor discharging stage in a complete battery heating cycle, the control signal indicates that the triodes (VT) included in each power switch are all in the off state.

[0123] It should be noted that Figure 6 Only a possible schematic diagram of the control signal is shown. There is no specific limit on the number of modulation cycles included in the motor inductance charging stage in a complete battery heating cycle, which can be determined according to the actual situation and specific parameters. The duration of the modulation cycle can be determined according to the preset modulation frequency, and then combined with the duration of the motor inductance charging stage to determine the number of modulation cycles included in the motor inductance charging stage. There is also no specific limit on the number of processes included in a modulation cycle, which can be determined according to the actual situation and specific parameters.

[0124] In the embodiments of the present application, the present application can pre-determine a second preset relationship corresponding to the position information, the direct-axis voltage, and the preset quadrature-axis voltage, and the second preset relationship can indicate the corresponding relationship among multiple position information, multiple direct-axis voltages, and multiple preset quadrature-axis voltages. That is, given any two of the position information, the direct-axis voltage, and the preset quadrature-axis voltage, the third parameter can be determined. Thus, based on the known position information and the direct-axis voltage, the corresponding preset quadrature-axis voltage can be determined through the second preset relationship. Furthermore, through the Park inverse transformation and the preset modulation algorithm, an accurate control signal can be determined. In this way, through the preset relationship among the pre-determined position information, direct-axis voltage, and preset quadrature-axis voltage, an accurate preset quadrature-axis voltage can be determined to adjust the determined control signal through the preset quadrature-axis voltage, thereby improving the accuracy of the determined control signal.

[0125] S403. Control the battery to charge the motor based on the control signal.

[0126] Optionally, based on the obtained control signal, multiple power switches included in the inverter module can be controlled, thereby realizing the control of the battery to charge the motor.

[0127] Exemplarily, as Figure 7 shown, taking the second process (or the fourth process) among the 5 processes included in any modulation period during the motor inductance charging stage within a battery heating cycle as an example, based on the control signal indicating that VT2, VT3, and VT5 are in the off state and VT1, VT4, and VT6 are in the on state, the on / off states of 6 triodes (VT) are controlled to control the current flow direction, thereby controlling the battery to charge the motor. Specifically, the control module controls VT1, VT4, and VT6 to conduct through a low-voltage signal, applies a specific voltage vector to the motor, generates a corresponding current, and the current of the motor increases to the maximum value at this stage to charge the motor.

[0128] Exemplarily, as Figure 8 shown, taking the motor discharge stage within a battery heating cycle as an example, during the motor discharge stage, based on the control signal indicating that each triode (VT) included in each power switch is in the off state, 6 triodes (VT) are controlled to be in the off state to control the current flow direction, thereby controlling the motor to discharge to the battery. Specifically, the control module controls VT1, VT2, VT3, VT4, VT5, and VT6 to turn off through a low-voltage signal, and due to the freewheeling characteristic of the winding inductance, the current of the motor will complete freewheeling through the freewheeling diodes corresponding to the specific inverter module (i.e., VD2 corresponding to VT2, VD3 corresponding to VT3, and VD5 corresponding to VT5), and the current of the motor decreases to zero at this stage, realizing the motor to discharge to the battery.

[0129] In an embodiment of the present application, the present application can pre-determine a first preset relationship corresponding to current, frequency, and voltage, and the first preset relationship can indicate the corresponding relationship between multiple requested currents, multiple requested frequencies, and multiple direct-axis voltages. That is, given any two of the parameters of the requested current, requested frequency, and direct-axis voltage, the third parameter can be determined. Thus, during the process of heating the battery, based on the known requested current and requested frequency, the corresponding direct-axis voltage can be determined through the first preset relationship. Furthermore, by combining the position information of the rotor and the quadrature-axis voltage, the corresponding control signal can be determined to control the battery to charge the motor. In this way, through the preset relationship between the pre-determined current, frequency, and voltage, the accurate direct-axis voltage can be determined, thereby improving the accuracy of the determined control signal.

[0130] In some embodiments, the motor includes multiple coil groups, and the first time period includes a first stage. In a battery heating method provided by an embodiment of the present application, the above step S403 may specifically include: in the first stage, controlling the current flow direction between the battery and the motor based on the control signal to charge the motor, the current flowing into the motor through at least one first coil group and flowing out of the motor through at least one second coil group, and there is no current in at least one third coil group, and the number of multiple coil groups is greater than or equal to 3.

[0131] It can be understood that no current in at least one third coil group can be understood as: during the process of heating the battery, at least one phase in the motor has no excitation. That is, for a multi-phase motor, during the motor inductance charging stage, at least one phase in the motor can be controlled to have no current flowing through based on the control signal.

[0132] It should be noted that no current in the coil, or no current between the battery and the motor, can be understood as: the circuit between the battery and the motor is in an open state, without generating a vector excitation for the motor, but at this time, the motor may already store electrical energy.

[0133] Exemplarily, for a three-phase motor, based on the control signal, during the motor inductance charging stage, the current can flow into the motor through the first phase and flow out of the motor through the second phase, and no current flows through the third phase. Or, for a four-phase motor, based on the control signal, during the motor inductance charging stage, the current can flow into the motor through the first phase and the second phase and flow out of the motor through the third phase, and no current flows through the fourth phase; or, the current flows into the motor through the first phase and flows out of the motor through the second phase, and no current flows through the third phase and the fourth phase, etc.

[0134] Optionally, the motor can be designed with more than three phases. The number of bridge arms is designed correspondingly based on the driving requirements, and a feasible voltage vector modulation algorithm is selected according to the specific number of phases to achieve the output of the target voltage vector during the charging stage.

[0135] Optionally, the motor can also be an asynchronous motor. When using an asynchronous motor for pulse heating, the direct-axis voltage corresponding to the motor can be directly equivalent to the voltage vector in the direction of phase A in the stator coordinate system, that is, the rotor angle of the motor is regarded as zero during the coordinate transformation process.

[0136] In the embodiment of the present application, during the process of controlling the battery to charge the motor based on the control signal, it is possible to control that no current passes through at least one phase of the multi-phase motor, while controlling the current to flow in and out through other phases of the multi-phase motor. In this way, when heating the battery, it is not necessary to have current in each phase of the multi-phase motor, thereby improving the diversity of control when heating the battery.

[0137] In some embodiments, the first duration further includes a second stage, in which there is no current between the battery and the motor; in a battery heating method provided by an embodiment of the present application, it may further specifically include: when the duration of controlling the battery to charge the motor based on the control signal reaches the first duration and is in the second stage, controlling the motor to discharge the battery.

[0138] It can be understood that by controlling the motor inductance charging stage in a battery heating cycle, including a complete number of excitation cycles, it can be ensured that at the time point of switching from the motor inductance charging stage to the motor discharging stage in a battery heating cycle, the motor is not subjected to vector excitation.

[0139] Additionally, under more general conditions, the number of excitation cycles can also be non-integer, as long as it is ensured that the voltage vector excitation is an integer number of times, that is, when the power module is in the zero vector excitation state under the SVPWM modulation algorithm, it can be switched to the motor discharging process. It can be understood that at the time point of switching from the motor inductance charging stage to the motor discharging stage, as long as the motor is not subjected to vector excitation.

[0140] The embodiment of the present application can achieve the decoupling of the pulse current frequency, the voltage vector modulation frequency, and the time ratio of the motor current charging and discharging stages, reducing the overcurrent risk and torque ripple during the pulse heating process.

[0141] In the embodiment of the present application, when the present application needs to charge the motor with the battery, it can only be switched to the motor discharging the battery when there is no current between the battery and the motor. That is, when there is no vector excitation for the motor, switch from charging the motor with the battery to discharging the battery with the motor, so as to avoid the situation of unexpected torque ripple of the motor.

[0142] The above mainly introduced the solution provided by the embodiments of the present application from the perspective of methods. To implement the above functions, the battery heating device or the electronic device includes the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0143] According to the above method, the embodiments of the present application can exemplarily divide the functional modules of the battery heating device or the electronic device. For example, the battery heating device or the electronic device may include each functional module corresponding to each functional division, or two or more functions may be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. It should be noted that the division of modules in the embodiments of the present application is illustrative, merely a logical functional division, and there may be other division methods in actual implementation.

[0144] Figure 9 is a block diagram of a battery heating device shown according to an exemplary embodiment. Referring to Figure 9 , the battery heating device 900 includes: an acquisition module 901, a processing module 902, and a control module 903.

[0145] The acquisition module 901 is configured to acquire a requested current and a requested frequency, where the requested current is a pulsed current when heating the battery, and the requested frequency is used to determine the total duration of the battery heating period; the processing module 902 is configured to determine a charging duty ratio based on the requested current and the requested frequency, where the charging duty ratio is the ratio of a first duration in the battery heating period, and the first duration is the duration for the battery to charge the motor; the processing module 902 is further configured to determine a first duration and a second duration based on the requested frequency and the charging duty ratio, where the second duration is the duration for the motor to discharge the battery in the battery heating period; the control module 903 is configured to, within the battery heating period, control the duration for the battery to charge the motor to be the first duration, and control the duration for the motor to discharge the battery to be the second duration.

[0146] In a possible implementation, the processing module 902 is further configured to determine the direct-axis voltage corresponding to the motor based on the requested current, the requested frequency, and a first preset relationship, where the first preset relationship is used to indicate the corresponding relationship between multiple requested currents, multiple requested frequencies, and multiple direct-axis voltages; the processing module 902 is further configured to determine a control signal based on the position information of the rotor included in the motor, the direct-axis voltage, and a preset quadrature-axis voltage; the control module 903 is specifically configured to control the battery to charge the motor based on the control signal.

[0147] In a possible implementation, the processing module 902 is specifically configured to determine a preset quadrature-axis voltage based on the position information of the rotor, the direct-axis voltage, and a second preset relationship, where the second preset relationship is used to indicate the corresponding relationship between multiple position information, multiple direct-axis voltages, and multiple preset quadrature-axis voltages; the processing module 902 is specifically configured to perform an inverse Park transformation on the direct-axis voltage and the preset quadrature-axis voltage based on the position information of the rotor to determine a first voltage vector and a second voltage vector; the processing module 902 is specifically configured to determine a control signal based on the first voltage vector and the second voltage vector through a preset modulation algorithm.

[0148] In a possible implementation, the motor includes multiple coil groups, and the first time period includes a first stage; the control module 903 is specifically configured to, in the first stage, control the current flow direction between the battery and the motor based on the control signal to charge the motor, the current flows into the motor through at least one first coil group and flows out of the motor through at least one second coil group, and there is no current in at least one third coil group, and the number of the multiple coil groups is greater than or equal to 3.

[0149] In a possible implementation, the first time period further includes a second stage, and there is no current between the battery and the motor in the second stage. The control module 903 is further configured to control the motor to discharge the battery when the duration of controlling the battery to charge the motor based on the control signal reaches the first time period and is in the second stage.

[0150] In a possible implementation, the requested frequency, the charging duty ratio, and a preset modulation frequency satisfy a preset condition, where the modulation period corresponding to the preset modulation frequency is the period for the control signal to control the current flow direction between the battery and the motor, and the preset condition is that the duration of the modulation period corresponding to the preset modulation frequency and the first time period are in an integer multiple relationship.

[0151] In a possible implementation, the processing module 902 is specifically configured to determine the first time period based on the ratio between the charging duty ratio and the requested frequency; the processing module 902 is specifically configured to determine the second time period based on the ratio between the discharging duty ratio and the requested frequency, and the discharging duty ratio is determined based on the charging duty ratio.

[0152] In a possible implementation, the processing module 902 is specifically configured to determine a charging duty cycle from a preset parameter table based on a requested current and a requested frequency. The preset parameter table includes multiple sets of parameter values, and each set of parameter values includes the correspondence between the requested current, the requested frequency, and the charging duty cycle.

[0153] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0154] Figure 10 is a block diagram of an electronic device shown according to an exemplary embodiment. As Figure 10 shown, the electronic device 1000 includes, but is not limited to: a processor 1001 and a memory 1002.

[0155] Among them, the above-mentioned memory 1002 is used to store the executable instructions of the above-mentioned processor 1001. It can be understood that the above-mentioned processor 1001 is configured to execute instructions to implement the battery heating method in the above embodiments.

[0156] It should be noted that those skilled in the art can understand that Figure 10 the structure of the electronic device shown in Figure 10 does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than

[0157] shown, or combine certain components, or have different component arrangements.

[0158] The processor 1001 is the control center of the electronic device, connecting various parts of the entire electronic device through various interfaces and lines. By running or executing the software programs and / or modules stored in the memory 1002, and invoking the data stored in the memory 1002, the processor 1001 executes various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 1001 may include one or more processing units. Optionally, the processor 1001 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor may not be integrated into the processor 1001 either.

[0159] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1002 including instructions, and the above instructions can be executed by a processor 1001 of an electronic device 1000 to implement the battery heating method in the above embodiment.

[0160] In actual implementation, Figure 9 the functions of the acquisition module 901, the processing module 902, and the control module 903 in Figure 10 can be implemented by the processor 1001 calling a computer program stored in the memory 1002. The specific execution process can refer to the description of the battery heating method part in the above embodiment, which will not be elaborated here.

[0161] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium. For example, the non-transitory computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0162] In an exemplary embodiment, an embodiment of the present application also provides a computer program product including one or more instructions, and the one or more instructions can be executed by a processor 1001 of an electronic device 1000 to complete the battery heating method in the above embodiment.

[0163] It should be noted that when the instructions in the above computer-readable storage medium or the one or more instructions in the computer program product are executed by the processor of the electronic device, each process of the battery heating method embodiment is implemented, and the same technical effects as the above battery heating method can be achieved. To avoid repetition, it will not be elaborated here.

[0164] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0165] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0166] The units described as separate components may or may not be physically separated. The components displayed as units may be one physical unit or multiple physical units, that is, they can be located in one place, or they can be distributed to multiple different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0167] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0168] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions for causing a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods of the various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks or optical discs that can store program codes.

[0169] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A battery heating method, characterized in that: The method comprises: Obtaining a requested current and a requested frequency, wherein the requested current is a pulse current when heating the battery, and the requested frequency is used to determine a total duration of a battery heating cycle; Based on the requested current and the requested frequency, determining a charging duty cycle from a preset parameter table, the charging duty cycle being a proportion of a first duration in the battery heating cycle, the first duration being a duration for the battery to charge the motor, the preset parameter table comprising a plurality of groups of parameter values, each group of parameter values ​​comprising: a correspondence between the requested current, the requested frequency, and the charging duty cycle, and when the battery is heated based on the parameters included in each group of parameter values ​​in the plurality of groups of parameter values, the motor does not generate torque pulsation; Determine the first duration and the second duration based on the request frequency and the charging duty cycle, wherein the second duration is the duration during which the motor discharges the battery during the battery heating cycle; In the battery heating cycle, determining a direct-axis voltage corresponding to the motor based on the requested current, the requested frequency, and a first preset relationship, wherein the first preset relationship is used to indicate a corresponding relationship between a plurality of requested currents, a plurality of requested frequencies, and a plurality of direct-axis voltages; Determining a control signal based on position information of a rotor included in the motor, the direct-axis voltage and a preset quadrature-axis voltage; Based on the control signal, the duration of the battery charging the motor is controlled to be the first duration, and the duration of the motor discharging the battery is controlled to be the second duration.

2. The method according to claim 1, characterized in that The step of determining a control signal based on the position information of the rotor included in the motor, the direct-axis voltage and a preset quadrature-axis voltage comprises: Determining the preset quadrature-axis voltage based on the position information of the rotor, the direct-axis voltage, and a second preset relationship, wherein the second preset relationship is used to indicate a corresponding relationship between a plurality of position information, the plurality of direct-axis voltages, and a plurality of preset quadrature-axis voltages; Based on the position information of the rotor, performing an inverse Park transform on the direct-axis voltage and the preset quadrature-axis voltage to determine a first voltage vector and a second voltage vector; The control signal is determined by a preset modulation algorithm based on the first voltage vector and the second voltage vector.

3. The method according to claim 1, characterized in that The motor includes a plurality of coil groups, and the first duration includes a first stage; The controlling the battery to charge the motor based on the control signal includes: In the first stage, the current flow between the battery and the motor is controlled based on the control signal to charge the motor, the current flows into the motor through at least one first coil group and flows out of the motor through at least one second coil group, there is no current in at least one third coil group, and the number of the multiple coil groups is greater than or equal to 3.

4. The method according to claim 3, characterized in that The first duration also includes a second stage, during which no current exists between the battery and the motor, and the method further includes: When the duration of controlling the battery to charge the motor based on the control signal reaches the first duration and is in the second stage, controlling the motor to discharge the battery.

5. The method according to claim 1, characterized in that The requested frequency, the charging duty cycle and the preset modulation frequency meet the preset conditions. The modulation period corresponding to the preset modulation frequency is the period in which the control signal controls the current flow between the battery and the motor. The preset condition is that the duration of the modulation period corresponding to the preset modulation frequency is an integer multiple of the first duration.

6. The method according to any one of claims 1 to 5, characterized in that The determining the first duration and the second duration based on the request frequency and the charging duty cycle includes: Determining the first duration based on a ratio between the charging duty cycle and the requested frequency; The second duration is determined based on a ratio between a discharge duty cycle and the request frequency, wherein the discharge duty cycle is determined based on the charging duty cycle.

7. The method according to any one of claims 1 to 5, characterized in that The determining the charging duty cycle based on the requested current and the requested frequency includes: Based on the requested current and the requested frequency, the charging duty cycle is determined from a preset parameter table, wherein the preset parameter table includes multiple groups of parameter values, each group of parameter values ​​includes a corresponding relationship between the requested current, the requested frequency, and the charging duty cycle.

8. A battery heating device, characterized in that: The battery heating device comprises: an acquisition module, a processing module and a control module; The acquisition module is used to acquire a requested current and a requested frequency, wherein the requested current is a pulse current when heating the battery, and the requested frequency is used to determine the total duration of a battery heating cycle; The processing module is used to determine a charging duty cycle from a preset parameter table based on the requested current and the requested frequency, the charging duty cycle being a proportion of a first duration in the battery heating cycle, the first duration being a duration for the battery to charge the motor, the preset parameter table comprising a plurality of groups of parameter values, each group of parameter values ​​comprising: a correspondence between the requested current, the requested frequency and the charging duty cycle, and when the battery is heated based on the parameters included in each group of parameter values ​​in the plurality of groups of parameter values, the motor does not generate torque pulsation; The processing module is further used to determine the first duration and the second duration based on the request frequency and the charging duty cycle, wherein the second duration is the duration during which the motor discharges the battery during the battery heating cycle; The processing module is further used to determine, during the battery heating cycle, a direct-axis voltage corresponding to the motor based on the requested current, the requested frequency, and a first preset relationship, wherein the first preset relationship is used to indicate a corresponding relationship between a plurality of requested currents, a plurality of requested frequencies, and a plurality of direct-axis voltages; The processing module is further used to determine a control signal based on position information of a rotor included in the motor, the direct-axis voltage and a preset quadrature-axis voltage; The control module is used to control the battery to charge the motor for the first time period based on the control signal, and to control the motor to discharge the battery for the second time period.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device executes the method as claimed in any one of claims 1 to 7.

11. A computer program product, characterized in that The computer program product comprises computer instructions, and when the computer instructions are executed on an electronic device, the electronic device is caused to execute the method according to any one of claims 1 to 7.

12. A vehicle, characterized in that: The vehicle comprises the battery heating device according to claim 8, and the vehicle is used to implement the method according to any one of claims 1-7.

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