Power management system

Abstract

The invention relates to the technical field of unmanned ships, and discloses a power management system which is used for managing power supply operation states of a battery pack cabinet, a generator set cabinet, a main thruster set cabinet, a side thruster set cabinet and a daily power supply cabinet of an unmanned ship connected with a common direct current bus of the unmanned ship. The power management system comprises a battery pack cabinet power module, a generator set cabinet power module, a main push unit cabinet power module, a side push unit cabinet power module, a daily power supply cabinet power module, a main controller and a slave controller, and the battery pack cabinet power module is used for controlling pre-charging of a battery pack based on an operation instruction and controlling the battery pack to start or stop; and the generator set cabinet power module is used for distributing the power of the generator set based on the operation instruction and controlling the generator set to start or stop. The power management system has the characteristic of high integration level, can adjust power distribution according to different working conditions of the unmanned ship, controls starting and stopping of different devices, and is high in compatibility and flexibility and high in reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned ships, and in particular to a power management system. Background Art

[0002] The Power Management System (PMS) can centrally dispatch, manage and control the ship's electrical energy, and is one of the core control parts of the integrated power system ship. Especially with the development of modern ships, the stability of the power system and the post-fault processing methods are becoming more complex, the requirements for centralized management of the ship's electrical energy are higher, and the functions that the power management system needs to complete are also more complex. Most of the existing power management systems for electric propulsion ships use an integrated module PMS, which has certain advantages in reverse power protection, communication network, parameter modification, and operating speed. However, the price is slightly higher, and the advantage in subsequent maintenance costs is not high.

[0003] The power management system of conventional powered ships does not detect the action of the unit circuit breaker, and lacks measures to limit the propulsion load in emergency situations. When the unit or line fault causes the circuit breaker to trip suddenly, the system power margin drops significantly, and the unit may even be overloaded. If the propulsion power is not reduced quickly, it may cause the network unit to overload and shut down or the network unit circuit breaker to trip, causing serious accidents. In the process of increasing the unit, if there is no power limit, it is also easy to cause system overload. Summary of the invention

[0004] In view of this, the present invention provides a power management system to solve the problem of poor flexibility of the existing unmanned ship power management system.

[0005] The present invention provides a power management system, which is used to manage the power supply operation status of the battery cabinet, generator cabinet, main pusher cabinet, side pusher cabinet and daily power supply cabinet of an unmanned ship connected to the common DC bus of the unmanned ship. The power management system includes: a battery cabinet power module, a generator cabinet power module, a main pusher cabinet power module, a side pusher cabinet power module, a daily power supply cabinet power module, a master controller and a slave controller, wherein the master controller is connected to the slave controller, the master controller is used to output control instructions to the slave controller based on the on-site operation instructions; the slave controller is used to output control instructions to the battery cabinet power module, the generator cabinet power module, the main pusher cabinet power module, the side pusher cabinet power module, the daily power supply cabinet power module, the master controller and the slave controller respectively based on the control instructions. The power module, thruster cabinet power module and daily power supply cabinet power module output corresponding operation instructions; the battery cabinet power module is used to control the pre-charging of the battery pack based on the operation instructions, and control the start or shutdown of the battery pack; the generator cabinet power module is used to distribute the power of the generator set based on the operation instructions, and control the start or shutdown of the generator set; the main thruster cabinet power module is used to adjust the speed and direction of the main thruster based on the operation instructions; the thruster cabinet power module is used to adjust the speed and direction of the thruster based on the operation instructions; the daily power supply cabinet power module is used to switch the working mode of the daily power supply cabinet based on the operation instructions, and supply power to the daily load connected to the daily power supply cabinet.

[0006] The power management system provided by the present invention is a discrete module, which has strong advantages in load distribution, automatic control of generator sets, overload inquiry, compatibility, etc., strong compatibility and high flexibility. The power management system has the characteristics of high integration and small size, which greatly simplifies the design of hardware circuits, reduces the size of power supplies, simplifies wiring, shortens the development cycle, and improves the safety and reliability of the system.

[0007] In an optional embodiment, the battery cabinet also includes: a main circuit breaker and a BMS system, wherein the main circuit breaker is connected in series between the common DC bus and the battery pack, the BMS system is connected to the battery pack and the battery cabinet power module, and the battery cabinet power module controls the process of battery pack startup, including: when the battery pack needs to be started, the battery cabinet power module determines whether the battery pack outputs a standby signal and a fault signal based on the operation instruction; when there is a standby signal and no fault signal, the battery cabinet power module controls the main circuit breaker to disconnect and then controls the battery pack to pre-charge; when the battery cabinet power module determines that the pre-charging is completed, it controls the main circuit breaker to close so that the battery pack is connected to the common DC bus network; the battery cabinet power module controls the BMS system based on the operation instruction to adjust the charging current of the battery pack to the maximum charging current limit, or adjusts the discharge current of the battery pack to the maximum discharge current limit.

[0008] In an optional embodiment, the process of the battery cabinet power module controlling the battery pack shutdown includes: when the battery pack shutdown is required, the battery cabinet power module controls the BMS system to adjust the charging current of the battery pack to 0, or adjusts the discharge current of the battery pack to 0 based on the operation instruction; after controlling the DC decoupling of the battery pack, the main circuit breaker is controlled to disconnect.

[0009] In an optional embodiment, the battery cabinet also includes: a pre-charging contactor and a pre-charging resistor, the pre-charging contactor and the pre-charging resistor are connected in series and then connected in parallel with the main circuit breaker; the battery cabinet power module controls the battery pack pre-charging process, including: when the battery pack needs to be pre-charged, the battery cabinet power module controls the main circuit breaker to disconnect and the pre-charging contactor to close based on the operating instructions, so that the common DC bus charges the pre-charging resistor; when the battery cabinet power module determines that the pre-charging is completed based on the voltage of the common DC bus, it controls the main circuit breaker to close and the pre-charging contactor to disconnect.

[0010] In an optional embodiment, the generator cabinet also includes: an input circuit breaker connected in series between the common DC bus and the generator set, and the generator cabinet power module controls the process of starting the generator set, including: when the generator set needs to start, the generator cabinet power module determines whether the generator set outputs a standby signal and a fault signal based on the operation instruction; when there is a standby signal and no fault signal, the generator cabinet power module controls the generator set to start and adjusts the speed of the generator set to a preset speed, and then controls the input circuit breaker to close; when the generator cabinet power module determines that the generator set meets the parallel connection requirements, it controls the output current of the generator set to increase to the maximum current limit value, and then the generator set performs DC parallel connection.

[0011] In an optional embodiment, the process of the generator cabinet power module controlling the generator set shutdown includes: when the generator set needs to shut down, the generator cabinet power module controls the output current of the generator set to be reduced to 0 based on the operation instruction; after controlling the DC decoupling of the generator set, the input circuit breaker is controlled to be disconnected.

[0012] In an optional embodiment, when the power module of the daily power supply cabinet determines that the daily power cabinet has lost power, the power module of the daily power supply cabinet communicates with the power module of the generator cabinet through the slave controller, so that the power module of the generator cabinet controls the generator set in the standby state to start, and after the generator set pre-charges the common DC bus excitation, the power module of the daily power supply cabinet restarts the daily power cabinet.

[0013] In an optional embodiment, the unmanned ship also includes a shore power cabinet connected to the common DC bus of the unmanned ship, and the power management system also includes: a shore power cabinet power module, and the shore power cabinet power module is used to control the shore power supply to power the battery pack and daily loads based on the operating instructions of the slave controller.

[0014] In an optional embodiment, the battery cabinet includes: an automatic mode and a manual mode. The shore power cabinet power module controls the shore power supply to supply power to the battery pack based on the operation instruction, including: the battery cabinet power module uses the smaller value of the maximum allowable operating current of the battery pack fed back by the BMS system and the safety current reference value of the battery pack as the charging current or the discharging current; when the battery cabinet is in the automatic mode, the safety current reference value of the battery pack is: ; When the battery cabinet is in manual mode, the safety current reference value of the battery cabinet is: ; Among them, I Charge_Ref1 is the safe current reference value of the battery pack in automatic mode; I Charge_Ref2 is the safe current reference value of the battery pack in manual mode; P is the output power of the shore power supply; U max is the maximum operating voltage of the battery pack.

[0015] In an optional embodiment, the power management system also includes: a switch and multiple processors, wherein one end of one of the processors receives control instructions, and the other end is connected to the switch and outputs operation instructions; one end of each of the remaining processors is connected to the switch and receives operation instructions, and the other end of each processor is respectively connected to one of the battery cabinet power module, the generator cabinet power module, the main thrust cabinet power module, the side thrust cabinet power module, and the daily power supply cabinet power module; the host and each processor are networked through the switch.

[0016] In the power management system provided by the present invention, the host is directly connected to the switch, and the data of the switch port is sent to the terminal. The host is located in a star node of the network, and the networking is flexible. The devices connected to the node can be centrally managed to avoid the workstation with problems affecting the normal operation of the entire network. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 is a composition diagram of an unmanned ship power supply system according to an embodiment of the present invention; Figure 2 is a composition diagram of a power management system according to an embodiment of the present invention; Figure 3 is a composition diagram of another power management system according to an embodiment of the present invention; Figure 4 is a flowchart of battery pack startup according to an embodiment of the present invention; Figure 5 is a flowchart of battery pack shutdown according to an embodiment of the present invention; Figure 6 is a flow chart of starting a generator set according to an embodiment of the present invention; Figure 7 is a flow chart of a generator set shutdown according to an embodiment of the present invention; Figure 8 is a composition diagram of another power management system according to an embodiment of the present invention; Fig. 9 is a schematic diagram of energy direction during charging and discharging of a lithium battery pack according to an embodiment of the present invention during normal navigation of a ship; Fig.10 is a schematic diagram of energy direction during shore power charging and discharging of a lithium battery pack according to an embodiment of the present invention; Fig.11 is a diagram showing the composition of another power management system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0020] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0021] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can also be the internal connection of two components, it can be a wireless connection, or it can be a wired connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0023] Figure 1 In the power supply system of unmanned ships, it is generally divided into the supply side and the consumption side. The supply side includes two generators and two sets of lithium iron phosphate battery packs, which are connected to the DC bus through a centralized DC bus frequency conversion control distribution system to drive two main propulsion motors and a bow thruster motor. The speed of the propulsion motor is controlled by the inverter, and the rudder is turned by the steering motor. At the same time, two redundant daily transformers are used to provide high-quality daily AC power for the ship's daily loads. The supply side also includes a simpler lithium battery pack charging and discharging circuit and a shore power access unit, which provide power to the left and right sides when the ship is moored. Shore power can be used to charge the lithium battery packs of the entire ship and provide power for daily loads.

[0024] Figure 1 The consumption devices in the ship, such as the main propulsion motor, bow thruster motor, bilge pump, fan, refrigerator socket, lighting fixtures and connectors, navigation equipment, etc., can be regarded as consumption devices on the consumption side. Before the unmanned ship electric propulsion system is officially put into operation, the DC bus of the unmanned ship electric propulsion system needs to be pre-charged to activate all power modules. The pre-charging sources are lithium battery DC pre-charging, generator excitation pre-charging, and shore power pre-charging. PMS is the control core of the power supply system. It monitors and coordinates the work of each generator set and lithium battery pack according to the power demand, and can also alarm and handle faults of the power supply system to ensure the safety of the ship.

[0025] This embodiment provides a power management system for Figure 1The unmanned ship power supply system shown, the power management system is used to manage the power supply operation status of the battery cabinet, generator cabinet, main thruster cabinet, side thruster cabinet and daily power supply cabinet of the unmanned ship connected to the common DC bus of the unmanned ship. The battery cabinet, generator cabinet, main thruster cabinet, side thruster cabinet and daily power supply cabinet in this embodiment are all existing control cabinets on the unmanned ship, and their internal structures are no longer repeated. Among them, the battery cabinet is connected to the battery pack to control the charging and discharging process of the battery pack, the generator cabinet is connected to the generator set to adjust the operating status of the generator set, the main thruster cabinet is connected to multiple main propulsion motors, the side thruster cabinet is connected to the bow thruster motor, the main thruster cabinet and the side thruster cabinet are used to control the operating status of the main propulsion motor and the bow thruster motor respectively, and the daily power supply cabinet is connected to the daily transformer and the daily load to manage the power distribution of the daily load. This embodiment is a power management system that is highly efficient and can operate under an electric propulsion system based on DC networking technology and is responsible for the comprehensive coordination of the entire ship. On the basis of a conventional ship power management system, corresponding functions are added and interface parameters are adjusted to make it suitable for DC networking electric propulsion unmanned ships.

[0026] Figure 2 In the embodiment, the power management system includes: a battery cabinet power module 3, a generator cabinet power module 4, a main push cabinet power module 5, a side push cabinet power module 6, a daily power cabinet power module 7, a master controller 1 and a slave controller 2, wherein the master controller 1 is connected to the slave controller 2, the master controller 1 is used to output control instructions to the slave controller 2 based on the on-site operation instructions; the slave controller 2 is used to output corresponding operation instructions to the battery cabinet power module 3, the generator cabinet power module 4, the main push cabinet power module 5, the side push cabinet power module 6 and the daily power cabinet power module 7 respectively based on the control instructions.

[0027] Figure 2 Among them, the battery cabinet power module 3 is used to control the pre-charging of the battery pack based on the operating instructions, and control the start or shutdown of the battery pack; the generator cabinet power module 4 is used to allocate the power of the generator set based on the operating instructions, and control the start or shutdown of the generator set; the main propeller cabinet power module 5 is used to adjust the speed and direction of the main propeller set based on the operating instructions; the side thruster cabinet power module 6 is used to adjust the speed and direction of the side thruster set based on the operating instructions; the daily power supply cabinet power module 7 is used to switch the working mode of the daily power supply cabinet based on the operating instructions, and supply power to the daily load connected to the daily power supply cabinet.

[0028] Optionally, Figure 2The PMS power management system is the core control system of the entire unmanned ship power generation system and unmanned ship power station, including the following functions: (1) DC bus pre-charging; (2) lithium battery pack control mode selection; (3) lithium battery pack charging, discharging and shutdown; (4) lithium battery pack power distribution; (5) generator set control mode selection; (6) generator set start and shutdown; (7) generator set power distribution; (8) shore power start; (9) power station control mode selection; (10) daily power station start and stop (smooth switching); (11) power failure start, etc.

[0029] Specifically, Figure 2 In the system, when the DC bus frequency conversion control power distribution system is running, all the above cabinets are connected through a common DC bus, and the PMS power management system manages the control, monitoring, configuration and other operations of the operating status of all power systems (such as units, battery power stations), propulsion equipment, daily loads, shore power, etc. The PMS power management system consists of a master controller 1 and a slave controller 2 to form a central control system, which is networked through industrial real-time Ethernet. The PMS power management system conducts human-machine information interaction through the touch screen located in the left and right control cabinets of the unmanned ship. The master controller 1 is a programmable logic controller, and each system has an independent sub-control system. The slave controller 2 is used to integrate the various functional modules together, and through the master controller 1 integration, a PMS power management system with strong functions, easy maintenance and low price is formed.

[0030] Specifically, Figure 2 In the process, the control contents of each device system are written into a program and input into the slave controller 2, and the slave controller 2 will adjust the power of each device according to the input program contents.

[0031] For example, in combination Figure 1 Unmanned ship power supply system, such as Figure 3 As shown, the power management system of this embodiment is provided with a master controller 1, two groups of slave controllers (i.e., slave controller #21 and slave controller #22), two battery cabinet power modules (i.e., battery cabinet power module #31 and battery cabinet power module #32), two generator cabinet power modules (i.e., generator cabinet power module #41 and generator cabinet power module #42), two main push unit cabinet power modules (i.e., main push unit cabinet power module #51 and main push unit cabinet power module #52), side push unit cabinet power module #61, and two daily power supply cabinet power modules (i.e., daily power supply cabinet power module #71 and daily power supply cabinet power module #72). The master controller, the slave controller and each power module are connected and communicated through Ethernet.

[0032] The power management system provided in this embodiment is a discrete module, which has strong advantages in load distribution, automatic control of generator sets, overload inquiry, compatibility, etc., and has strong compatibility and high flexibility. The power management system has the characteristics of high integration and small size, which greatly simplifies the design of hardware circuits, reduces the size of power supplies, simplifies wiring, shortens the development cycle, and improves the safety and reliability of the system.

[0033] In some optional embodiments, the battery cabinet further includes: a main circuit breaker and a BMS system, wherein the main circuit breaker is connected in series between the common DC bus and the battery pack, the BMS system is connected to the battery pack and the battery cabinet power module, and the battery cabinet power module controls the process of starting the battery pack, including: (1) When the battery pack needs to be started, the battery cabinet power module determines whether the battery pack outputs a standby signal and a fault signal based on the operation instruction.

[0034] (2) When there is a standby signal and no fault signal, the power module of the battery cabinet controls the main circuit breaker to disconnect and then controls the pre-charging of the battery pack.

[0035] (3) When the power module of the battery cabinet determines that the pre-charging is completed, the main circuit breaker is controlled to close so that the battery pack is connected to the public DC bus network.

[0036] (4) The power module of the battery cabinet controls the BMS system to adjust the charging current of the battery pack to the maximum charging current limit, or adjust the discharging current of the battery pack to the maximum discharging current limit based on the operating instructions.

[0037] Specifically, the unmanned ship uses multiple lithium battery packs. When the lithium battery pack needs to be started, the battery pack cabinet power module follows the following Figure 4 The logical process shown: 1) Initialization judgment, identifying whether the lithium battery pack is faulty, whether it has a standby signal, and whether the lithium battery pack and the chopper module connected to the lithium battery pack are faulty.

[0038] 2) If any device fails, the lithium battery pack will be shut down; if there are no faults, the lithium battery pack pre-charge will be started, and the main circuit breaker will be closed after the pre-charge is completed.

[0039] 3) Send a start command to the chopper module, so that the lithium battery pack starts to connect to the public DC bus network. At this time, the current limit value of the chopper module is 0, that is, although the networking is completed, the lithium battery pack does not provide any energy to the DC bus, nor does it absorb energy from the DC bus.

[0040] 4) According to the "charge" or "discharge" command sent by the main controller, the current limit value of the lithium battery pack is gradually increased to the maximum charge and discharge current limit value, and the parallel parameters set between the grid-connected chopper modules automatically and smoothly realize the power distribution of the grid-connected lithium battery pack, completing the entire grid-connected process.

[0041] This embodiment uses a DC networking electric propulsion method to make the grid connection process simpler. AC networking has three-phase power cables, and the generators connected to the grid must meet multiple stringent grid connection conditions such as phase sequence, frequency, voltage, and phase. However, DC networking has only two cables, one positive and one negative, and only needs to meet the voltage equality to be put into the grid, which is simpler than the AC networking process.

[0042] In some optional implementations, the process of the battery cabinet power module controlling the battery pack shutdown includes: (1) When the battery pack needs to be shut down, the power module of the battery pack cabinet controls the BMS system based on the operation instructions to adjust the charging current of the battery pack to 0, or adjust the discharge current of the battery pack to 0.

[0043] (2) After the battery pack is decoupled from the DC, the main circuit breaker is disconnected.

[0044] Specifically, the unmanned ship uses multiple lithium battery packs. When the lithium battery pack needs to be shut down, the battery cabinet power module follows the following Figure 5 The logical process shown: 1) Gradually reduce the current limit value of the chopper module to 0, that is, gradually limit the current output of the lithium battery pack and transfer the load to other lithium battery packs.

[0045] 2) The chopper module is controlled to stop working, so that the lithium battery pack starts DC decoupling.

[0046] 3) Disconnect the main circuit breaker to complete the shutdown process.

[0047] Specifically, for the power distribution between different lithium battery packs, when the unmanned ship power station is a pure electric ship powered by the battery pack, the inverter connected to the battery pack and the battery cabinet power module should ensure that the common DC bus voltage is constant, and the battery pack's inverter controls the common DC bus voltage with a 3% droop characteristic to ensure that the DC voltage range is within the set bus voltage range, that is, when the DC voltage is less than the minimum value of the set interval, the lithium battery pack outputs the rated current; when the DC voltage is greater than the maximum value of the set interval, the lithium battery pack outputs 0 power, and when the DC voltage range is within the set interval, the output power of the lithium battery pack changes linearly, thereby ensuring the power distribution between different lithium battery packs.

[0048] In some optional embodiments, the battery cabinet further includes: a pre-charging contactor and a pre-charging resistor, wherein the pre-charging contactor and the pre-charging resistor are connected in series and then connected in parallel with the main circuit breaker; the battery cabinet power module controls the process of pre-charging the battery pack, including: (1) When the battery pack needs to be pre-charged, the power module of the battery cabinet controls the main circuit breaker to open and the pre-charging contactor to close based on the operation instruction, so that the common DC bus charges the pre-charging resistor.

[0049] (2) When the power module of the battery cabinet determines that the pre-charging is completed based on the voltage of the common DC bus, the main circuit breaker is controlled to close and the pre-charging contactor is disconnected.

[0050] Specifically, each battery management system BMS controls the DC pre-charging of the corresponding battery pack. In the battery monitoring unit (BMU) operation mode, there is a pre-charging circuit next to the circuit breaker of each lithium battery pack, which is mainly composed of a pre-charging contactor and a pre-charging resistor. The battery management system BMS is connected to the lithium battery pack. When the BMU is running, it first performs a BMS self-check and performs self-diagnosis during the protection function, including: various relay fault diagnosis, temperature sensor diagnosis, thermal management diagnosis, charging diagnosis, and prohibiting startup or shutdown processing according to the corresponding fault.

[0051] Specifically, when starting the battery pack, before the main circuit breaker of each battery pack is closed, the bypass pre-charging circuit will be automatically closed to pre-charge the DC bus. The pre-charging resistor is mainly used for current limiting. When the bus voltage is extremely low, the current charged from the lithium battery is limited by the resistor. The pre-charging contactor is used to control the pre-charging circuit. The pre-charging circuit starts when the contactor is closed, otherwise the pre-charging circuit stops. The pre-charging circuit breaker is in the normally closed state and plays a role in short-circuit protection.

[0052] Specifically, due to Figure 1 There are 2 lithium battery packs in total, so there are 2 lithium battery pre-charging circuits, located in each chopper cabinet. The battery cabinet power module controls the battery management system BMS to control the lithium battery pack pre-charging process as follows: 1) Control the pre-charging contactor to close, and the public DC bus is charged through the lithium battery through the pre-charging resistor. After the pre-charging is completed, the DC bus voltage is generally slightly lower than the lithium battery voltage, that is, about 350V.

[0053] 2) Set the voltage judgment threshold to 330V and determine whether the pre-charging is completed by detecting the DC bus voltage value.

[0054] 3) If the pre-charging is completed, the main circuit breaker automatically closes, the pre-charging contactor is controlled to disconnect, and the DC / DC chopper power module starts to output pulses. At this time, the DC bus voltage will be between 680~700V (depending on the load and droop characteristics).

[0055] In some optional embodiments, the generator cabinet further includes: an input circuit breaker connected in series between the common DC bus and the generator set, and the generator cabinet power module controls the process of starting the generator set, including: (1) When the generator set needs to be started, the generator set cabinet power module determines whether the generator set outputs a standby signal and a fault signal based on the operation instruction.

[0056] (2) When there is a standby signal and no fault signal, the generator cabinet power module controls the generator set to start and adjusts the speed of the generator set to the preset speed, and then controls the input circuit breaker to close.

[0057] (3) When the generator cabinet power module determines that the generator set meets the parallel connection requirements, it controls the output current of the generator set to increase to the maximum current limit value, and then the generator set performs DC parallel connection.

[0058] Specifically, the unmanned ship uses multiple generator sets. When the generator set needs to be started, the generator set cabinet power module follows the following Figure 6 The logical process shown: 1) Initialize the judgment to identify whether the generator is faulty, whether it has a standby signal, and whether the generator and generator cabinet power module are not faulty.

[0059] 2) Start the generator, that is, send a remote start command to the generator to adjust the generator to a suitable speed. When the generator's electronic speed governor makes the generator speed reach 1500rpm, the generator's starting process is completed.

[0060] 3) Close the input circuit breaker of the generator cabinet; 4) If the generator set meets the parallel connection requirements, the main controller sends a start command to the generator cabinet power module, so that the generator set starts DC parallel connection. At this time, the current limit value of the generator cabinet power module is 0, that is, although the parallel connection is completed, the generator set does not provide any energy to the public DC bus.

[0061] 5) Gradually increase the current limit value to the maximum value, and automatically and smoothly realize the power distribution of the generator sets on the grid by setting the parallel parameters between the power modules of the generator cabinets on the grid, so that the load is transferred from other units to this unit, completing the entire parallel process.

[0062] The generator of this embodiment can adjust the speed according to different load conditions to ensure that the system works on the optimal energy consumption curve, thereby improving the efficiency of the overall system and reducing energy consumption and emissions. Compared with traditional AC system networking technology, the overall efficiency of the system of this embodiment can be improved by 10% or even higher.

[0063] In some optional implementations, the process of the generator cabinet power module controlling the generator set to shut down includes: (1) When the generator set needs to be shut down, the generator set cabinet power module controls the output current of the generator set to be reduced to 0 based on the operation instruction.

[0064] (2) After the DC power of the generator set is disconnected, the input circuit breaker is controlled to be disconnected.

[0065] Specifically, the unmanned ship uses multiple generator sets. When the generator set needs to be shut down, the generator set cabinet power module follows the following Figure 7 The logical process shown: 1) Gradually reduce the current limit value of the power module to 0, that is, gradually limit the current output of the generator set and transfer the load to other generator sets.

[0066] 2) Control the power module to stop working, so that the generator set starts DC decoupling.

[0067] 3) Disconnect the input circuit breaker.

[0068] 4) Send a remote control shutdown command to the generator side box to make the generator stop automatically and complete the shutdown process.

[0069] Specifically, the generator cabinet power module is also used to distribute the power of each generator set. In the traditional AC networking system, the active power distribution of the power station relies on the PMS to send instructions to the speed regulator of the generator, and the active power distribution is achieved by fine-tuning the speed of the generator set. The reactive power distribution of the power station is achieved by sending instructions to the voltage regulator of the generator by the PMS. In contrast, there is no concept of reactive power distribution in the DC networking system, and the active power distribution and load transfer are not directly related to the speed, that is, two units with completely different speeds can still achieve very good power distribution.

[0070] Exemplarily, the distribution and regulation of active power is completed by the power module on the generator side built into the unmanned ship electric propulsion system. The power module control on the generator side ensures the constant DC bus voltage and makes the DC bus voltage have a 3% droop characteristic, that is, to ensure that the DC voltage range is between 700V and 720V. When the DC voltage is less than 700V, the generator set outputs full load; when the DC voltage is greater than 720V, the generator set outputs 0 power, and when the DC voltage range is between 700V and 720V, the generator set output power changes linearly. In this way, the power distribution between different generator sets can be guaranteed. Since the droop of the DC voltage is related to the power of the generator set, in order to make all generator sets reach the same utilization rate, the power distribution difference should not be higher than 5% of the rated power of the unit.

[0071] For example, the generator set control mode in this embodiment has three control modes: manual mode, semi-automatic mode and automatic mode: (1) In manual mode, the generator side box needs to be set to remote control mode, and the "manual / semi-automatic" selection switch on the door of the generator cabinet is switched to "manual". The operator operates the generator set through the "start" and "stop" buttons on the door of the generator cabinet.

[0072] When the "Start" button is pressed, the sub-controller of the generator cabinet sends a remote start command to the generator, and sends a reference speed to the generator side box through the PMS, for example, setting the machine speed to the rated 1500rpm. When the slave controller determines that the generator speed has reached the rated speed, it outputs a start command to the generator cabinet power module, and the generator cabinet power module begins to output pulses and controls the common DC bus voltage. After the generator set is connected to the grid, the generator set will automatically distribute power with other generator sets on the grid according to the set DC voltage droop curve.

[0073] When the "Stop" button is pressed, the slave controller of the generator cabinet sends a stop command to the power module of the generator cabinet, and outputs a remote control stop command to the generator set to shut down the set.

[0074] (2) In semi-automatic mode, the control box next to the generator needs to be set to remote control mode, and the "manual / semi-automatic" selection switch on the generator cabinet door is switched to "semi-automatic". The operator operates the unit through the virtual buttons on the touch screen of the generator control cabinet. The semi-automatic mode has similar functions to the manual mode and can also realize the complete control logic of the generator set. The main difference is that the start and stop commands of the generator set come from the touch screen of the generator control cabinet.

[0075] (3) In automatic mode, the control box next to the generator needs to be set to remote control mode, and the "manual / semi-automatic" selection switch on the door of the generator cabinet is set to "semi-automatic". The "automatic / semi-automatic" selection switch on the touch screen of the generator set control cabinet is switched to "automatic", and the operator operates the unit through instructions from the shore. The automatic mode has similar functions to the manual mode and can also realize the complete control logic of the generator set. The main difference is that the start and stop instructions of the generator set come from the shore.

[0076] Specifically, the generator excitation pre-charging is that each generator is equipped with a set of permanent magnet exciter. When the generator rotates to the rated speed of 1500rpm, the excitation winding will induce a no-load reverse electromotive force of 400V. This voltage can be rectified into DC through a full-bridge diode rectifier module to pre-charge the DC bus. Figure 1 There are two generator sets in total, so this embodiment has two excitation pre-charging circuits in total, which are respectively located in two generator cabinets.

[0077] In some optional embodiments, when the power module of the daily power supply cabinet determines that the daily power cabinet has lost power, the power module of the daily power supply cabinet communicates with the power module of the generator cabinet through the slave controller, so that the power module of the generator cabinet controls the generator set in the standby state to start, and after the generator set pre-charges the common DC bus excitation, the power module of the daily power supply cabinet restarts the daily power cabinet.

[0078] Specifically, the electric propulsion system of the unmanned ship requires the daily power station to provide daily load power for the ship (AC380V load, AC220V load). Black ship startup mainly refers to the startup of a faulty black ship. When a fault occurs, the daily power station is lost and the entire unmanned ship loses power. In order to achieve automatic faulty black ship startup, the following settings are required: 1) Confirm that the 24V power supply of the charging and discharging board is normal.

[0079] 2) Set the daily power cabinet to automatic mode.

[0080] 3) Set the daily distribution board to automatic mode.

[0081] The power-off starting follows the following process: PMS attempts to start the generator set in the standby state, and at the same time pre-charges the DC bus through the generator excitation pre-charging group, and completes the operation of the power module until the DC bus voltage reaches about 700V~720V, and then automatically starts the daily power supply to supply power to the entire ship.

[0082] Specifically, the power module of the daily power supply cabinet generates a three-phase AC PWM voltage, outputs 380V / 50Hz daily power supply for the ship, supplies power to the air conditioner on board, and then supplies power to other daily loads on board through the 380V / 220V daily transformer. The startup of the daily power station has two control modes: manual mode and automatic mode, which are controlled by the "manual / automatic" switch on the daily power distribution panel.

[0083] (1) In automatic mode, the port side daily power supply of the unmanned ship will automatically start according to the DC bus voltage. If the port side daily power supply fails, the starboard side daily power supply will start as a backup power supply within 10 seconds. The PMS automatically detects whether the DC voltage meets the requirements. If it meets the requirements, the port side daily power supply module will be automatically started. If the startup fails, the starboard side daily power supply module will be immediately started. Regardless of whether the port side daily power supply module or the starboard side daily power supply module is currently running, as long as one of the modules fails, the other module will automatically start immediately to ensure the power supply continuity of the daily power station. The operation of the two daily power supply modules is interlocked through the hard contacts of the circuit breaker feedback. This ensures that when one daily power supply module is in operation mode, the other daily power supply module cannot operate.

[0084] In automatic mode, when the port side daily power supply cabinet in operation fails, the daily power supply cabinet power module failure operation process is as follows: 1) Control the port side daily power supply cabinet to stop supplying power.

[0085] 2) Output "Port side daily distribution board main circuit breaker opening command", the distribution board automatically disconnects the port side daily distribution board main circuit breaker.

[0086] 3) Control the starboard daily power supply cabinet to automatically start and output the "starboard daily power distribution board main circuit breaker closing command".

[0087] 4) The daily switchboard automatically closes the starboard daily switchboard main circuit breaker, and the daily switchboard resumes power supply.

[0088] Taking the port side as an example, when the hybrid power system S-Hybrid-R of the unmanned ship determines that all conditions are met, S-Hybrid-R controls the port side daily power supply cabinet to start automatically, and outputs the "port side daily distribution board main circuit breaker closing command", and the daily distribution board automatically closes the port side daily distribution board main circuit breaker. If the startup fails, the starboard side daily power supply module is immediately started, and the daily distribution board is energized to ensure the power supply continuity of the ship's power station.

[0089] (2) In manual mode, the operator can start and stop the port and starboard daily power supplies on the daily power distribution board. The two daily power supplies are in a state of one in use and one in standby, that is, they are interlocked and parallel operation is not allowed. Taking the port side as an example, the initial startup operation process of the manual mode is as follows: 1) Manually close the daily main tie switch (usually normally closed).

[0090] 2) Operate the daily power distribution board and start the S-Hybrid-R port daily power cabinet by pressing the “port daily power cabinet start” button. After the S-Hybrid-R port daily power cabinet is started, the S-Hybrid-R port daily power cabinet outputs the “port daily power distribution board main circuit breaker closing command”.

[0091] 3) Close the main circuit breaker of the port service switchboard to energize the service switchboard.

[0092] When the engine needs to be stopped in manual mode, taking the port side as an example, the operation process is as follows: 1) Operate the daily service switchboard and manually disconnect the main circuit breaker of the port daily service switchboard.

[0093] 2) The port side daily power cabinet of S-Hybrid-R is stopped by the “Stop” button on the distribution board, and the daily power cabinet of the unmanned ship electric propulsion system stops supplying power, causing the daily distribution board to stop supplying power.

[0094] In manual mode, when a fault occurs on the port side daily power supply cabinet in operation, taking the port side as an example, the port side daily power supply cabinet stops supplying power and outputs the "port side daily power distribution board main circuit breaker opening command" to automatically disconnect the port side daily power distribution board main circuit breaker. The operator restores the starboard side daily power distribution operation process as follows: 1) Start the starboard daily power cabinet of the unmanned ship electric propulsion system by pressing the "starboard daily power cabinet start" button on the distribution board. After the starboard daily power cabinet of the unmanned ship electric propulsion system is started, the starboard daily power cabinet of the unmanned ship electric propulsion system gives the "starboard daily distribution board main circuit breaker closing command".

[0095] 2) The operator manually closed the main circuit breaker of the starboard day service switchboard on the day service switchboard, and the day service switchboard resumed power supply.

[0096] In some optional embodiments, the unmanned ship further includes a shore power supply cabinet connected to the public DC bus of the unmanned ship, such as Figure 8 As shown, the power management system further includes: a shore power cabinet power module 8, which is used to control the shore power supply to supply power to the battery pack and daily loads based on the operation instructions of the slave controller #22.

[0097] Specifically, the shore power pre-charging uses the AC shore power supply on the port side of the unmanned ship power management system. In the case of a cold start of the unmanned ship, the shore power pre-charging is particularly important. The shore power pre-charging is similar to the generator excitation pre-charging logic mentioned above, and will not be repeated here.

[0098] In some optional embodiments, the battery cabinet includes: an automatic mode and a manual mode, and the shore power cabinet power module controls the shore power supply to supply power to the battery pack based on the operation instruction, including: the battery cabinet power module uses the smaller value of the maximum allowable operating current of the battery pack fed back by the BMS system and the safety current reference value of the battery pack as the charging current or the discharging current; when the battery cabinet is in the automatic mode, the safety current reference value of the battery pack is: (1) When the battery cabinet is in manual mode, the safety current reference value of the battery cabinet is: (2) Among them, I Charge_Ref1 is the safe current reference value of the battery pack in automatic mode, in A; I Charge_Ref2 is the safe current reference value of the battery pack in manual mode; P is the output power of the shore power supply, in KW; U max is the maximum operating voltage of the battery pack, in V; 1000 is the conversion factor from kW to W.

[0099] Specifically, refer to Figure 1 The control mode of the lithium battery pack has two control modes: automatic mode and manual mode. When the "automatic" mode on the door of the battery pack control cabinet is selected, the lithium battery is automatically pre-charged and then the circuit breaker connected to the lithium battery is closed, and then the chopper module is started to charge or discharge the battery. If shore power access is detected, the power management system automatically allows the charged lithium battery pack to charge at the same time, and the system automatically determines to stop charging. When the shore power disappears, the lithium battery pack automatically switches to discharge mode. The shore power output power allows the two chopper cabinets to charge at the same time, and the voltage of the battery pack is based on the maximum operating voltage U maxCalculation, at this time, the safety current reference value of the battery pack is calculated by the above formula (1). Specifically, for the safety of charging and discharging, the battery's BMS system will give a maximum allowable charging current based on the current temperature, voltage and other factors of the battery. At this time, the charging safety reference value is compared with the maximum allowable charging current value fed back by the BMS, and the smaller value of the two is taken as the final reference charging current value for charging. During discharge, the chopper module works in the constant voltage control mode, that is, the DC voltage is kept constant. In order to realize the parallel connection between lithium battery packs, it is necessary to set a droop characteristic of about 3% to ensure that the DC voltage range is between 680V and 700V. That is, by default, when the DC voltage is less than 680V, ​​the lithium battery pack outputs full load; when the DC voltage is greater than 700V, the lithium battery pack outputs 0 power; when the DC voltage range is between 680 and 700V, the output power of the lithium battery pack changes linearly. This can ensure that: the power distribution difference between the chopper modules on the left and right sides is not higher than 5% of the rated power. At the same time, the PMS will limit the reference discharge current according to the maximum allowable discharge current of the battery BMS.

[0100] Specifically, when the battery is detected to be full or empty, the chopper module automatically shuts down, but does not disconnect the lithium battery circuit breaker. If the "manual" mode is selected, you can manually select "charge start" or "discharge start" on the chopper cabinet door. During manual charging, the shore power supply outputs power and retains a 10% margin to charge the two chopper cabinets at the same time. The voltage of the battery pack is based on the maximum operating voltage U max Calculation, at this time the safety current reference value of the battery pack is calculated by the above formula (2). Specifically, for the safety of charging and discharging, the battery's BMS system will give a maximum allowable charging current based on the current temperature, voltage and other factors of the battery. At this time, the charging safety reference value is compared with the maximum allowable charging current value fed back by the BMS, and the smaller value of the two is taken as the final reference charging current value for charging. During manual discharge, it is similar to the automatic mode, but the main controller will limit the reference discharge current according to the maximum allowable discharge current of the battery BMS. When it is detected that the battery pack is full or empty, the chopper module automatically shuts down and disconnects the main circuit breaker of the battery pack. Fig. 9 This is a schematic diagram of the energy direction of the lithium battery pack during the charging and discharging process of the ship during normal navigation. Fig.10 Schematic diagram of the energy direction of lithium battery packs during shore power charging and discharging.

[0101] Specifically, in this embodiment, the power management system of the unmanned ship operates according to the logic of generator as the main and battery pack as the auxiliary. When the unmanned ship is away from the port, the power management system is switched to lithium battery mode by human operation on the shore; when the unmanned ship leaves the port, the power management system is switched to generator mode by human operation on the shore, and the system allows the generator and lithium battery to supply power at the same time for a short time. If the generator and lithium battery are running at the same time, the generator is used first. Through the drooping control method, it is ensured that the control voltage range of the generator set is always higher than the DC voltage range of the battery pack. By adopting a hybrid power system of generators and lithium batteries, the stable and reliable generators and the fast starting and large current characteristics of lithium battery stacks can be comprehensively utilized. Different power equipment can be enabled according to different working conditions during ship operation to achieve the purpose of improving efficiency and saving energy and reducing emissions.

[0102] This embodiment adopts a hybrid power system of a diesel generator and a lithium battery, which can comprehensively utilize the stable and reliable characteristics of the generator and the fast starting and large current of the lithium battery stack. Different power equipment can be activated according to different working conditions during ship operation to achieve the purpose of improving efficiency and saving energy and reducing emissions.

[0103] In some optional embodiments, such as Fig.11 As shown, the power management system also includes: a switch 9 and multiple processors CPU, one end of one processor CPU receives control instructions, and the other end is connected to the switch 9 and outputs operation instructions; one end of each of the remaining processor CPUs is connected to the switch 9 and receives operation instructions, and the other end of each processor CPU is respectively connected to one of the battery cabinet power module, the generator cabinet power module, the main propulsion cabinet power module, the side thruster cabinet power module, and the daily power supply cabinet power module; the host (i.e., the ship base) and each processor CPU are networked through the switch 9.

[0104] Specifically, Fig.11 In the embodiment, the switch 9 has a software system for connecting to the network, realizing out-of-band management network ports, and managing all devices separately. The switch has a software system for connecting to the network, which can break the conflict domain and divide the broadcast domain, realize out-of-band management network ports, and manage all devices separately. It is connected to an external debugging computer and a touch screen for desktop operation. The RS232 / 485 communication module uses the RS232 / 485 communication serial port to convert data, connect with the remote server device, and transmit data, which greatly saves the user's cost and manpower; this embodiment also includes a touch screen 10, a monitoring alarm system 11, a port propulsion remote control system control box, a starboard propulsion remote control system control box, and a DP control system.

[0105] refer to Fig.11, the master controller 1 is a ship-based HUB, each slave controller is a HUB, and the HUB is a multi-port repeater. When the HUB is the central device, even if a line in the network fails, it does not affect the work of other lines. It belongs to the first layer of OSI physical layer equipment, and plays the role of synchronization, amplification and shaping for data transmission. In this embodiment, in a switched network, the HUB is directly connected to the switch to send the data of the switch port to the desktop. The use of the HUB is flexible in networking. The switch is a star node in the network, and the workstations connected to the node are centrally managed to prevent the failed workstation from affecting the normal operation of the entire network.

[0106] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A power management system, characterized in that: The power management system is used to manage the power supply operation status of the battery cabinet, generator cabinet, main propulsion cabinet, side thruster cabinet and daily power supply cabinet of the unmanned ship connected to the public DC bus of the unmanned ship. The power management system includes: battery cabinet power module, generator cabinet power module, main propulsion cabinet power module, side thruster cabinet power module, daily power supply cabinet power module, master controller and slave controller, wherein: The master controller is connected to the slave controller, and the master controller is used to output control instructions to the slave controller based on the on-site operation instructions; The slave controller is used to output corresponding operation instructions to the battery cabinet power module, the generator cabinet power module, the main thrust cabinet power module, the side thrust cabinet power module and the daily power cabinet power module based on the control instruction; The battery cabinet power module is used to control the pre-charging of the battery pack based on the operation instruction, and to control the start or stop of the battery pack; The generator cabinet power module is used to distribute the power of the generator set based on the operation instruction and control the start or stop of the generator set; The main propulsion unit cabinet power module is used to adjust the speed and direction of the main propulsion unit based on the operation instruction; The thruster cabinet power module is used to adjust the speed and direction of the thruster based on the operation instruction; The power module of the daily power supply cabinet is used to switch the working mode of the daily power supply cabinet based on the operation instruction to supply power to the daily load connected to the daily power supply cabinet.

2. The power management system according to claim 1, characterized in that: The battery cabinet further includes: a main circuit breaker and a BMS system, wherein the main circuit breaker is connected in series between the common DC bus and the battery pack, the BMS system is connected to the battery pack and the battery cabinet power module, and the battery cabinet power module controls the process of starting the battery pack, including: When the battery pack needs to be started, the battery pack cabinet power module determines whether the battery pack outputs a standby signal and a fault signal based on the operation instruction; When there is a standby signal and no fault signal, the battery cabinet power module controls the main circuit breaker to disconnect and then controls the battery pack to be pre-charged; When the power module of the battery cabinet determines that pre-charging is completed, the main circuit breaker is controlled to close so that the battery pack is connected to the common DC bus network; The battery cabinet power module controls the BMS system to adjust the charging current of the battery pack to a maximum charging current limit, or adjusts the discharging current of the battery pack to a maximum discharging current limit based on the operation instruction.

3. The power management system according to claim 2, characterized in that: The process of the battery cabinet power module controlling the battery pack to shut down includes: When the battery pack needs to be shut down, the battery pack cabinet power module controls the BMS system to adjust the charging current of the battery pack to 0, or adjusts the discharging current of the battery pack to 0 based on the operation instruction; After controlling the battery pack to be DC disconnected, the main circuit breaker is controlled to be disconnected.

4. The power management system according to claim 2, characterized in that: The battery cabinet further includes: a pre-charging contactor and a pre-charging resistor, wherein the pre-charging contactor is connected in series with the pre-charging resistor and then connected in parallel with the main circuit breaker; the battery cabinet power module controls the process of pre-charging the battery pack, including: When the battery pack needs to be pre-charged, the battery cabinet power module controls the main circuit breaker to be disconnected and the pre-charging contactor to be closed based on the operation instruction, so that the common DC bus charges the pre-charging resistor; When the battery cabinet power module determines that the pre-charging is completed based on the voltage of the common DC bus, the main circuit breaker is controlled to be closed and the pre-charging contactor is controlled to be opened.

5. The power management system according to claim 1, characterized in that: The generator cabinet further includes: an input circuit breaker connected in series between the common DC bus and the generator set. The process of the generator cabinet power module controlling the generator set startup includes: When the generator set needs to be started, the generator set cabinet power module determines whether the generator set outputs a standby signal and a fault signal based on the operation instruction; When there is a standby signal and no fault signal, the generator cabinet power module controls the generator set to start and adjusts the speed of the generator set to a preset speed, and then controls the input circuit breaker to close; When the generator cabinet power module determines that the generator set meets the parallel connection requirement, the generator set is controlled to increase the output current of the generator set to the maximum current limit value, and then the generator set is parallel connected with DC.

6. The power management system according to claim 5, characterized in that: The process of the generator cabinet power module controlling the generator set to shut down includes: When the generator set needs to be shut down, the generator set cabinet power module controls the output current of the generator set to be reduced to 0 based on the operation instruction; After controlling the DC disconnection of the generator set, the input circuit breaker is controlled to be disconnected.

7. The power management system according to claim 1, characterized in that: When the power module of the daily power supply cabinet determines that the daily power cabinet has lost power, the power module of the daily power supply cabinet communicates with the power module of the generator cabinet through the slave controller, so that the power module of the generator cabinet controls the generator set in the standby state to start, and after the generator set pre-charges the common DC bus excitation, the power module of the daily power supply cabinet restarts the daily power cabinet.

8. The power management system according to claim 2, characterized in that: The unmanned ship also includes a shore power supply cabinet connected to the public DC bus of the unmanned ship, and the power management system also includes: a shore power supply cabinet power module, The power module of the shore power supply cabinet is used to control the shore power supply to supply power to the battery pack and daily loads based on the operation instructions of the slave controller.

9. The power management system according to claim 8, characterized in that: The battery cabinet includes: an automatic mode and a manual mode. The shore power cabinet power module controls the shore power supply to supply power to the battery pack based on the operation instruction, including: The battery cabinet power module uses the smaller value of the maximum allowable operating current of the battery pack fed back by the BMS system and the safety current reference value of the battery pack as the charging current or discharging current; When the battery cabinet is in automatic mode, the safety current reference value of the battery pack is: ； When the battery cabinet is in manual mode, the safety current reference value of the battery cabinet is: ； Among them, I Charge_Ref1 is the safe current reference value of the battery pack in automatic mode; I Charge_Ref2 is the safe current reference value of the battery pack in manual mode; P is the output power of the shore power supply; U max is the maximum operating voltage of the battery pack; 1000 is the conversion factor.

10. The power management system according to claim 1, characterized in that: Also includes: A switch and multiple processors, wherein: One end of the processor receives the control instruction, and the other end is connected to the switch and outputs the operation instruction; One end of each of the remaining processors is connected to the switch and receives the operation instruction, and the other end of each of the processors is respectively connected to one of the battery cabinet power module, the generator cabinet power module, the main thrust cabinet power module, the side thrust cabinet power module, and the daily power cabinet power module; The host and each of the processors are networked through the switch.

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