Self-heating circuit, control method of self-heating circuit and vehicle

Abstract

The invention relates to a self-heating circuit, a control method of the self-heating circuit and a vehicle, and relates to the technical field of battery heating, the self-heating circuit comprises a first control module, a second control module, a first battery and a second battery; the first control module and the second control module are used for controlling the first battery to release electricity to the second battery, and the first control module and the second control module are both connected to the first battery and the second battery; and the first current on the first control module and the second current on the second control module are mutually counteracted, so that the ripple current on the heating current flowing into the second battery is reduced. By using the self-heating circuit provided by the invention, the ripple current flowing into the battery can be reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of battery heating, and particularly to a self-heating circuit, a control method of the self-heating circuit, and a vehicle. Background Art

[0002] As a core component of a vehicle power system, the working state of a power battery has an important impact on the reliability and safety of the vehicle. Since the characteristics of the power battery are significantly affected by the ambient temperature, especially in a low-temperature environment, the performance of the power battery will decline significantly. Therefore, during vehicle low-temperature startup, before vehicle low-temperature charging, or during vehicle low-temperature charging, it is necessary to charge the power battery to ensure the performance of the power battery.

[0003] In the related art, when the power battery is in the heating mode, there is a large ripple current in the heating current flowing into the power battery. This ripple current will cause the vehicle to fail to connect during gun charging, and the vehicle cannot heat the power battery while charging the power battery. Summary of the Invention

[0004] To overcome the problems in the related art, the present disclosure provides a self-heating circuit, a control method of the self-heating circuit, and a vehicle to solve the above problems.

[0005] According to a first aspect of an embodiment of the present disclosure, a self-heating circuit is provided, including: a first control module, a second control module, a first battery, and a second battery;

[0006] The first control module and the second control module are configured to control the first battery to release electric energy to the second battery, and both the first control module and the second control module are connected between the first battery and the second battery;

[0007] Wherein, a first current on the first control module and a second current on the second control module cancel each other out to reduce the ripple current on the heating current flowing into the second battery.

[0008] Optionally, the phase difference between a first control signal applied to the first control module and a second control signal applied to the second control module is To make the first current and the second current cancel each other out; n is an odd number, and T is the period of the first control signal and the second control signal.

[0009] Optionally, the first control module includes a first energy storage element, and the second control module includes a second energy storage element;

[0010] There is a first connection point between the first energy storage element and the second energy storage element, a second connection point between the first battery and the second battery, a neutral line connected between the first connection point and the second connection point, and the heating current is the current on the neutral line.

[0011] Optionally, the first control module further includes a first controller; the second control module further includes a second controller;

[0012] The first controller is connected to the first energy storage element and the first battery, and the second controller is connected to the second energy storage element and the second battery;

[0013] Wherein, the electric quantity generated by the first battery is transferred to the first energy storage element through the first controller and transferred to the second energy storage element through the second controller; the electric quantity released by the first energy storage element is transferred to the second battery through the first controller, and the electric quantity released by the second energy storage element is transferred to the second battery through the second controller.

[0014] Optionally, the first energy storage element is a first motor, and the second energy storage element is a second motor.

[0015] According to a second aspect of the embodiments of the present disclosure, there is provided a control method for a self-heating circuit, which is applied to a self-heating circuit. The self-heating circuit includes a first control module, a second control module, a first battery and a second battery; the first control module and the second control module are used to control the first battery to release electric quantity to the second battery, and both the first control module and the second control module are connected to the first battery and the second battery; the method includes:

[0016] Applying a first control signal to the first control module and applying a second control signal to the second control module, so that the first current on the first control module and the second current on the second module cancel each other out, reducing the ripple current on the heating current flowing into the second battery; the phase difference between the first control signal and the second control signal is n is an odd number, and T is the period of the first control signal and the second control signal.

[0017] Optionally, before applying the first control signal to the first control module and applying the second control signal to the second control module, the method further includes:

[0018] Obtaining a first carrier signal and a second carrier signal; wherein, the phase difference between the first carrier signal and the second carrier signal is the same as the phase difference between the first control signal and the second control signal;

[0019] The first control signal is obtained based on the first carrier signal and the fundamental wave signal, and the second control signal is obtained based on the second carrier signal and the fundamental wave signal.

[0020] Optionally, the method further includes:

[0021] For any target control module among the first control module and the second control module, determining a target desired current of the target control module;

[0022] Adjusting the target control signal according to the difference between the target desired current and the target current until the difference is less than a preset value; the target current is any one of the first current and the second current, and the target control signal is any one of the first control signal and the second control signal.

[0023] Optionally, the determining the target desired current of the target control module includes:

[0024] Identifying a desired heating current and a desired heating frequency in the fundamental wave signal;

[0025] Obtaining the target desired current according to the desired heating current and the desired heating frequency.

[0026] According to a third aspect of the embodiments of the present disclosure, there is provided a control device for a self-heating circuit, which is applied to a self-heating circuit. The self-heating circuit includes a first control module, a second control module, a first battery, and a second battery; the first control module and the second control module are used to control the first battery to release electric energy to the second battery, and both the first control module and the second control module are connected between the first battery and the second battery; the device includes:

[0027] An application module, configured to apply a first control signal to the first control module and apply a second control signal to the second control module, so that a first current on the first control module and a second current on the second module cancel each other out, reducing the ripple current on the heating current flowing into the second battery; the phase difference between the first control signal and the second control signal is n is an odd number, and T is the period of the first control signal and the second control signal.

[0028] According to a fourth aspect of the embodiments of the present disclosure, there is provided a vehicle, which is configured with the self-heating circuit provided in the first aspect of the embodiments of the present disclosure, or the vehicle includes a processor and a memory for storing processor-executable instructions, and the processor is configured to execute the control method of the self-heating circuit provided in the second aspect of the embodiments of the present disclosure.

[0029] According to a fifth aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium having computer program instructions stored thereon, and when the program instructions are executed by a processor, the steps of the control method of the self-heating circuit provided in the second aspect of the present disclosure are implemented.

[0030] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

[0031] After the first current on the first control module and the second current on the second control module cancel each other out, the ripple current on the heating current flowing from the first battery into the second battery will be reduced. Therefore, the heating current flowing into the second battery will be more stable, and further the voltage in the second battery will also be more stable. Only when the voltage in the second battery is more stable can a connection be established with the charging pile, and while ensuring battery heating, it can also be charged.

[0032] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0034] Figure 1 is a schematic diagram of a self-heating circuit shown according to an exemplary embodiment.

[0035] Figure 2 is a schematic diagram of a self-heating circuit shown according to an exemplary embodiment.

[0036] Figure 3 is a schematic diagram showing the first battery releasing electric energy to the first energy storage element and the second energy storage element in the self-heating circuit shown according to an exemplary embodiment.

[0037] Figure 4 is a schematic diagram showing the first energy storage element and the second energy storage element releasing electric energy to the second battery in the self-heating circuit shown according to an exemplary embodiment.

[0038] Figure 5 is a schematic diagram showing points A, B, and C in the self-heating circuit shown according to an exemplary embodiment.

[0039] Figure 6 is a schematic diagram of no ripple current and ripple current shown according to an exemplary embodiment.

[0040] Figure 7 is a local current trend chart of points A, B, and C shown according to an exemplary embodiment.

[0041] Figure 8 is the overall current trend chart of point A, point B, and point C shown according to an exemplary embodiment.

[0042] Figure 9 is a schematic diagram showing the energy exchange between a battery and two control modules according to an exemplary embodiment.

[0043] Figure 10 is a flowchart of the steps of a control method for a self-heating circuit shown according to an exemplary embodiment.

[0044] Figure 11 is a schematic diagram of a first carrier signal and a second carrier signal shown according to an exemplary embodiment.

[0045] Figure 12 is a flowchart of the steps of a control method for a self-heating circuit shown according to an exemplary embodiment.

[0046] Figure 13 is a block diagram of a control device for a self-heating circuit shown according to an exemplary embodiment.

[0047] Figure 14 is a block diagram of a vehicle shown according to an exemplary embodiment.

[0048] Figure 15 is a block diagram of a chip system shown according to an exemplary embodiment. Detailed implementation manners

[0049] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0050] It should be noted that all actions of obtaining signals, information, or data in the present disclosure are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where it is located and obtaining the authorization given by the owner of the corresponding device.

[0051] Figure 1 is a block diagram of a self-heating circuit shown according to an exemplary embodiment, as Figure 1As shown, the self-heating circuit is used to enable the first battery 1 and the second battery 2 to alternately release current to each other. It can also be understood that the first battery releases electrical energy to the second battery, and the second battery releases electrical energy to the first battery alternately, so as to achieve self-heating between the first battery 1 and the second battery 2 without additional use of other components. The self-heating circuit includes a first control module, a second control module, the first battery 1 and the second battery 2.

[0052] The first control module and the second control module are used to control the first battery 1 to release electrical energy to the second battery 2. The first battery 1 can be connected in series with the second battery 2. The battery can be a battery pack, a battery group or a single battery, etc. Both the battery pack and the battery group are composed of multiple batteries. The battery can be a power battery such as a lead-acid battery, a lithium-ion battery, or a nickel-metal hydride battery, providing electrical energy for vehicle driving, in-vehicle terminals, etc.

[0053] For the first control module, the first control module is used to receive the electrical energy released by the first battery 1 for storage and release the stored electrical energy to the second battery 2. Please refer to Figure 1 As shown, the first control module includes a first controller 3 and a first energy storage element 5. The first controller 3 is connected to the first energy storage element 5 and the first battery 1. For example, the first end of the first controller 3 is connected to the positive electrode of the first battery 1, the second end of the first controller 3 is connected to the negative electrode of the second battery 2, and the third end of the first controller 3 is connected to the first energy storage element 5; one end of the first energy storage element 5 away from the first controller 3 is connected between the first battery 1 and the second battery 2, for example, connected to the second connection point between the first battery 1 and the second battery 2.

[0054] Among them, the first controller 3 is used to transfer the electrical energy released by the first battery 1 to the first energy storage element 5 and release the electrical energy in the first energy storage element 5 to the second battery 2. The first controller 3 includes a first upper bridge arm and a first lower bridge arm. The first upper bridge arm includes at least one switching tube, and the first lower bridge arm also includes at least one switching tube.

[0055] For example, please refer to Figure 2 As shown, the first upper bridge arm includes switching tubes K11 to K13, the first lower bridge arm includes switching tubes K14 to K16, the switching tube K11 is connected to the switching tube K14, the switching tube K12 is connected to the switching tube K15, and the switching tube K13 is connected to the switching tube K16.

[0056] Among them, the first energy storage element 5 is used to receive the electric quantity transmitted by the first controller 3 for storage and release the stored electric quantity. The first energy storage element 5 can be a first motor, and the first motor includes a first phase line, a second phase line and a third phase line, such as the U phase, the V phase and the W phase. One end of the first phase line in the first motor is connected to the connection point between the switching tube K13 and the switching tube K16, and the other end is connected to the second connection point between the first battery 1 and the second battery 2; One end of the second phase line in the first motor is connected to the connection point between the switching tube K12 and the switching tube K15, and the other end is connected to the second connection point between the first battery 1 and the second battery 2; One end of the third phase line in the first motor is connected to the connection point between the switching tube K11 and the switching tube K14, and the other end is connected to the second connection point between the first battery 1 and the second battery 2.

[0057] For the second control module, the second control module is used to receive the electric quantity released by the first battery 1 for storage and release the stored electric quantity to the second battery 2. Please refer to Figure 1 As shown, the second control module includes a second controller 4 and a second energy storage element 6, and the second controller 4 is connected to the second energy storage element 6 and the second battery 2. For example, the first end of the second controller 4 is connected to the positive electrode of the first battery 1, the second end of the second controller 4 is connected to the negative electrode of the second battery 2, and the third end of the second controller 4 is connected to the second energy storage element 6; One end of the second energy storage element 6 far from the second controller 4 is connected between the first battery 1 and the second battery 2, for example, connected to the second connection point between the first battery 1 and the second battery 2.

[0058] Among them, the second controller 4 is used to transmit the electric quantity released by the first battery 1 to the second energy storage element 6 and release the electric quantity in the second energy storage element 6 to the second battery 2. The second controller 4 includes a second upper bridge arm and a second lower bridge arm. The second upper bridge arm includes at least one switching tube, and the second lower bridge arm includes at least one switching tube.

[0059] For example, please refer to Figure 2 As shown, the second upper bridge arm includes switching tubes K21 to K23, the second lower bridge arm includes switching tubes K24 to K26, the switching tube K21 is connected to the switching tube K24, the switching tube K22 is connected to the switching tube K25, and the switching tube K23 is connected to the switching tube K26.

[0060] Among them, the second energy storage element 6 is used to receive the energy transmitted by the second controller 4 for storage and release the electric energy of the rough farmers. The second energy storage element 6 can be a second motor, and the second motor includes a first phase line, a second phase line, and a third phase line, such as a U phase, a V phase, and a W phase. One end of the first phase line in the second motor is connected to the connection point between the switching tube K23 and the switching tube K26, and the other end is connected to the second connection point between the first battery 1 and the second battery 2; one end of the second phase line in the second motor is connected to the connection point between the switching tube K22 and the switching tube K25, and the other end is connected to the second connection point between the first battery 1 and the second battery 2; one end of the third phase line in the second motor is connected to the connection point between the switching tube K21 and the switching tube K24, and the other end is connected to the second connection point between the first battery 1 and the second battery 2.

[0061] Please refer to Figure 1 As shown, one end of the first energy storage element 5 far from the first controller 3 and one end of the second energy storage element 6 far from the second controller 4 are connected to a common first connection point. The first battery 1 and the second battery 2 are also connected to a common second connection point. The connection line between the first connection point and the second connection point is called the neutral line. The current on this neutral line can be called the bus current, and the voltage can be called the bus voltage. The current on this neutral line is used to transfer to the entire first control module and the second control module, or transfer to the first battery 1 and the second battery 2. The current on this neutral line is also the heating current flowing into the second battery 2 or the first battery 1.

[0062] In the scenario where the first battery 1 releases electric energy to the second battery 2 to heat the second battery 2, the electric energy generated by the first battery 1 is transferred to the first energy storage element 5 through the first controller 3 and transferred to the second energy storage element 6 through the second controller 4; the electric energy released by the first energy storage element 5 is transferred to the second battery 2 through the first controller 3, and the electric energy released by the second energy storage element 6 is transferred to the second battery 2 through the second controller 4. For example, taking the first upper bridge arm including the switching tube K13, the first lower bridge arm including the switching tube K16, the second upper bridge arm including the switching tube K23, and the second lower bridge arm including the switching tube K26 as an example. As Figure 3 shown, first store the electric energy released by the first battery 1 into the first motor and the second motor. The process includes: the electric energy released by the first battery 1 starts from the positive electrode of the first battery 1 and then is divided into two flow paths. The first flow path passes through Figure 3 the switching tube K13, the first phase line of the first motor, and the neutral line in the arrow shown and returns to the negative electrode of the first battery 1, so as to store a part of the electric energy released by the first battery 1 into the first motor; the second flow path passes through Figure 3The switching tube K23 in the indicated arrow, the first phase wire of the second motor, and the neutral wire return to the negative electrode of the first battery 1 to store another part of the power released by the first battery 1 into the second motor.

[0063] As Figure 4 shown, the first motor releases the stored power to the positive electrode of the second battery pack 2 through the neutral wire, and the power then returns from the negative electrode of the second battery pack 2 and the switching tube K16 to the first motor. In this way, the power stored in the first motor is released to the second battery 2; the power stored in the second motor is released to the positive electrode of the second battery pack 2 through the neutral wire, and the power then returns from the negative electrode of the second battery pack 2 and the switching tube 26 to the second motor. In this way, the power stored in the second motor is released to the second battery 2. Combining Figure 3 the discharge diagram of the first battery 1 shown with Figure 4 the charging diagram of the second battery 2 shown realizes the charging and heating of the second battery 2 by the first battery 1. Conversely, using the same or similar principle, the second battery 2 can also charge and heat the first battery 1, which will not be elaborated here.

[0064] There is a first current on the first control module and a second current on the second control module. The first current and the second current cancel each other out, which can reduce the interference ripple current on the heating current flowing into the second battery 2.

[0065] Exemplarily, the first current can be the current at the first motor, the second current can be the current at the second motor, and the heating current flowing into the second battery 2 can be the current on the neutral wire. The current on the neutral wire is equal to the sum of the first current and the second current. Please refer to Figure 4 shown, the first current is Figure 5 the current at point A in Figure 5 and the second current is Figure 5 the current at point B in. The heating current flowing into the second battery 2 can be

[0066] the current at point C in. The current at point C is equal to the sum of the current at point A and the current at point B. Figure 6 Normally, the first current and the second current output by the first motor and the second motor should be smooth current waveforms as shown in the left figure below. However, during the process of heating the battery, different degrees of ripple current will be generated on the current waveforms of the first current and the second current, thus changing from Figure 6 the smooth current waveform in the left figure to Figure 6The current waveform with ripple as shown in the right figure. Then, after the first current with ripple attribute is superimposed on the second current, the ripple current on the heating current flowing into the second battery 2 will be greater, the fluctuation amplitude of the heating current will be larger, and the current waveform of the heating current will no longer be smooth. Similarly, it also presents a sawtooth-shaped ripple current. Then, after the heating current with ripple attribute flows into the second battery 2, the following disadvantages will occur:

[0067] When establishing a connection between the battery and the charging pile, it is required that both parties have a stable voltage. If the ripple current on the heating current flowing into the second battery 2 is large, it will cause the voltage of the battery itself to fluctuate greatly, so that a connection cannot be established with the charging pile, and thus it is impossible to ensure that the battery can be charged while being heated.

[0068] Based on this, the following two solutions can be adopted to reduce the ripple current flowing into the second battery 2:

[0069] Solution A, increasing the inductor. The inductance value or the number of inductors can be increased in a single motor. In this way, after the number of inductors or the inductance value is increased, a greater inhibitory effect on the current can be achieved, and the sudden change of the current output by the motor can be suppressed, thereby reducing the generation of ripple current. However, adding an extra inductor will bring additional costs.

[0070] Solution B: Increase the switching frequency of the control signal applied to the motor controller. Usually, a control signal (Pulse Width Modulation, PWM) is applied to the motor controller. This control signal is a periodic pulse signal. Throughout the cycle, the control signal switches back and forth between a high-level state and a low-level state. When the control signal received by the motor controller is at a high level, the upper bridge arm in the motor controller conducts and the lower bridge arm is cut off. At this time, the current output by the motor continuously increases. When the control signal received by the motor controller is at a low level, the upper bridge arm in the motor controller is cut off and the lower bridge arm conducts. At this time, the current output by the motor continuously decreases, so that the current flowing into the battery changes in a sine or cosine trend. The control signal has the concept of switching frequency. The switching frequency refers to the switching frequency of the conduction and cutoff of the upper and lower bridge arms, and can also be understood as the switching frequency of the back-and-forth switching between the high-level and low-level states in the control signal. Before the switching frequency is increased, the upper bridge arm in the motor controller continuously conducts for 10 us and then switches to the lower bridge arm conducting for 10 us; after the switching frequency is increased, the motor controller continuously conducts for 5 us and then switches to the lower bridge arm conducting for 5 us. During the process of the upper bridge arm conducting for 10 us and the upper bridge arm conducting for 5 us, the current output by the motor continuously increases. However, when the upper bridge arm conducts for 10 us, the motor has more time to increase the current, and the current peak value reached after the increase will be larger; when the upper bridge arm conducts for 5 us, the time for the motor to increase the current is shorter, and the current peak value reached after the increase will be smaller, thus reducing the current peak value and reducing the continuous increase of the ripple current, playing an inhibitory role on the ripple current. However, after this solution increases the switching frequency, it is necessary to frequently control the conduction and cutoff of the upper and lower bridge arms by software, which has a high requirement for the software operation load. Currently, the control unit (Microcontroller Unit, MCU) on the vehicle cannot support this load requirement.

[0071] Based on this, in the self-heating circuit proposed in the present disclosure, the first current on the first control module and the second current on the second control module can cancel each other out to reduce the ripple current on the heating current flowing into the second battery 2. For example, the first ripple current on the first current and the second ripple current on the second current are made to cancel each other out to reduce the ripple current on the heating current flowing into the second battery 2.

[0072] The phase difference between the first current of the first control module and the second current output by the second control module can be made to differ by For example, it is 180°. In this way, the first current trend of the first current output by the first control module is opposite to the second current trend of the second current output by the second control module. The current trends of the two are symmetric, and the first current and the second current at the same moment can be offset from each other, so that the ripple current on the heating current flowing into the second battery 2 after superposition is reduced. For example, please refer to Figure 7 As shown, taking the current at point A as the first current, the current at point B as the second current, and the current at point C as the heating current flowing into the second battery 2 as an example, the current trends of the first current at point A and the second current at point B are opposite, and the phase difference between the two is 180°, so that the first current at point A and the second current at point B can be offset from each other after superposition, reducing the ripple current on the heating current flowing into point C.

[0073] It can be understood that there is a first ripple current on the first current and a ripple current on the second current. What is actually offset after the superposition of the first current and the second current is the first ripple current and the second ripple current. Only in this way will the ripple current on the heating current flowing into the second battery 2 after superposition be reduced, and the smoothness of the current change curve of the heating current will be higher.

[0074] Through the above technical solution, after the first current on the first control module and the second current on the second control module offset each other, the ripple current on the heating current released by the first battery 1 and flowing into the second battery 2 will be reduced. Therefore, the heating current flowing into the second battery 2 will be more stable, making the voltage in the second battery 2 more stable. Only when the voltage in the second battery 2 is more stable can it establish a connection with the charging pile, ensuring battery heating while also being able to be charged. Similarly, the ripple current on the heating current released by the second battery 2 and flowing into the first battery 1 will also be reduced, enabling the charging pile to establish a charging connection with the first battery 1.

[0075] In the first aspect, compared with the above-mentioned inductor solution, it can achieve a large reduction in ripple current without increasing the inductor or the inductance value of the inductor, thereby reducing the equipment cost brought by the additional inductor.

[0076] In the second aspect, during the process of controlling the first current and the second current to offset each other in the present disclosure, there is no need to increase the switching frequency of the control signal applied to the motor controller. The switching frequency can remain in the previous state, so the load requirement for the control unit is relatively low, enabling the control unit on the current vehicle to support the offset of the first current and the second current.

[0077] Moreover, a scheme of energy exchange between a single battery and two control modules is also considered. For example, please refer to Figure 9As shown, the total current output by the battery is distributed to the first control module and the second control module. The first control module and the second control module then use their respective currents to drive the vehicle, thereby consuming part of the current. Although this part of the consumed current will have a certain heating effect on the battery, the value of this part of the current is small, so the heating effect on the battery is very slight.

[0078] In the present disclosure, please refer to Figure 1 As shown, it is a scheme for power exchange between two batteries. The roles played by the first control module and the second control module in the battery self-heating scenario are to transfer power, without kinetic energy output or useless work output, so the power consumption is small. After the total current output by the first battery 1 is distributed to the first control module and the second control module, it will be temporarily stored by the first control module and the second control module. The first control module and the second control module then release the temporarily stored current to the second battery 2, thereby realizing the heating of the second battery 2 by the first battery 1. In this scenario, the first control module and the second control module do not consume power, enabling most of the power of the first battery 1 to flow into the second battery 2, achieving rapid heating of the second battery 2. Conversely, most of the power of the second battery 2 can also flow into the first battery 1, achieving rapid heating of the first battery 1. In the present disclosure, the phase difference between the first current of the first control module and the second current of the second control module is 180°, so that when the first current and the second current cancel each other out, the heating effect on the battery is better.

[0079] In addition, a scheme of energy exchange between two batteries and a single control module is also considered. For example, the first battery 1 releases power to the motor in the control module, and the motor then releases power to the second battery 2 to achieve self-heating between the first battery 1 and the second battery 2. However, in this scheme, on the one hand, a single motor will cause a relatively large ripple current flowing into the second battery 2 because the current output by a single motor cannot be canceled by another current, and then the ripple current generated by the single motor will also be transmitted to the second battery 2. When the ripple current of the second battery 2 is too large, the second battery 2 cannot establish a charging connection with the charging pile; on the other hand, the single motor bears a relatively large overcurrent, which may exceed the overcurrent bearing capacity of the single motor.

[0080] In the present disclosure, it is a scheme for power exchange between two batteries. On the one hand, the first current and the second current output by the two motors will cancel each other out, reducing the ripple current on the heating current transmitted to the second battery 2, enabling the second battery 2 to smoothly establish a charging connection with the charging pile; on the other hand, in the face of the same overcurrent, the two motors can jointly share the overcurrent, making the overcurrent bearing capacity of the two motors stronger.

[0081] Figure 7 WithFigure 8 This is an exemplary embodiment involving the first control module and the second control module in the present disclosure, which is used to interpret an exemplary solution for the cancellation of the first current and the second current.

[0082] The phase difference between the first control signal applied to the first control module and the second control signal applied to the second control module is so that the first current and the second current cancel each other out.

[0083] The first control signal can be a first PWM signal, and the second control signal can be a second PWM signal. The PWM signal is a pulse signal, and the high-level state and the low-level state in this PWM signal will switch back and forth.

[0084] where n is an odd number; T is the single period of the first control signal and the second control signal. The periods of the first control signal and the second control signal are equal, and the phase difference between the first control signal applied to the first control module and the second control signal applied to the second control module is It can indicate an odd multiple of half a cycle between the first control signal and the second control signal. This half cycle can be half a cycle of the first control signal or the second control signal.

[0085] For example, if n is 1, it means that the phase difference between the first control signal and the second control signal is 180°, and the first control signal is half a cycle earlier or later than the second control signal; if it is 3, it means that the phase difference between the first control signal and the second control signal is 540°, which means that the first control signal is 1.5 cycles earlier or later than the second control signal.

[0086] It can be understood that the first control signal is used to control the conduction and cut-off of the first upper bridge arm and the first lower bridge arm in the first control module. When the first upper bridge arm is conducting and the first lower bridge arm is cut off, the first current output by the first motor controlled by the first control module will gradually increase; when the first upper bridge arm is cut off and the first lower bridge arm is conducting, the first current output by the first motor will gradually decrease, so that the current output by the first motor shows a current trend such as sine or cosine. The second control signal is used to control the conduction and cut-off of the second upper bridge arm and the second lower bridge arm in the second control module. When the second upper bridge arm is conducting and the second lower bridge arm is cut off, the second current output by the second motor controlled by the second control module will gradually increase; when the second upper bridge arm is cut off and the second lower bridge arm is conducting, the second current output by the second motor will gradually decrease, so that the current output by the second motor shows a current trend such as sine or cosine.

[0087] When the phase difference between the first control signal and the second control signal is 0, it means that the first control signal and the second control signal are the same. Then, the current trends of the first current output after the first control module executes the first control signal and the second current output after the second control module executes the second current are also the same. At this time, the superposition of the first current and the second current will bring a larger ripple current to the second battery 2.

[0088] When the phase difference between the first control signal and the second control signal is an odd multiple of 180°, the first control signal and the second control signal differ by 180°. Then, the current trends of the first current output after the first control module executes the first control signal and the second current output after the second control module executes the second current are exactly opposite. At this time, the superposition of the first current and the second current will reduce the ripple current brought to the second battery 2.

[0089] In some scenarios, please refer to Figure 7 as shown Figure 7 The current trend chart in Figure 8 is the current trend chart after magnifying and expanding the current trend chart at a certain moment in Figure 7 The time unit in Figure 8 is μs, and the time unit in Figure 8 is ms. Please refer to Figure 8 as shown Figure 7 The three curves from top to bottom in Figure 7 are the current trend charts of the first current (corresponding to the current trend line A in Figure 7 ), the second current (corresponding to the current trend line B in Figure 7 or Figure 8 ), and the heating current flowing into the second battery (corresponding to the current trend line C in

[0090] ). When the phase difference between the first control signal and the second control signal is 180°, when the first current trend is increasing, the second current trend is decreasing; conversely, when the first current trend is decreasing, the second current trend is increasing. In this way, the first current and the second current at each moment can cancel each other out, making the heating current flowing into the second battery 2 finally obtained relatively stable and reducing the ripple current. And, referring to ), it can be seen that when the first current rises to the peak and the second current drops to the valley, the heating current flowing into the second battery 2 after cancellation also drops to the valley; similarly, when the second current rises to the peak and the first current drops to the valley, the heating current flowing into the second battery 2 after cancellation also drops to the valley. When the heating current drops to the valley, it means that the ripple current is reduced more.Through the above technical solution, the phase difference between the first control signal applied to the first control module and the second control signal applied to the second control module can be an odd multiple of 180°. In this way, the phase difference between the first current trend line of the first current output by the first control module executing the first control signal and the second current trend line of the second current output by the second control module executing the second control signal can also reach an odd multiple of 180°. The first current trend line and the second current trend line are in a symmetric and opposite state, so as to realize the superposition and cancellation of the first current and the second current, and reduce the ripple current on the heating current flowing into the second battery 2. It can be understood that reducing the ripple current means that the current trend of the heating current flowing into the second battery 2 is smoother, and the sudden change current or ripple current on the current trend line of the heating current is reduced.

[0091] Figure 10 A control method for a self-heating circuit shown according to an exemplary embodiment. This control method for the self-heating circuit can be used in a self-heating circuit and is executed by a control chip in the self-heating circuit. The control method for the self-heating circuit includes the following steps:

[0092] In step S10, a first control signal is applied to the first control module, and a second control signal is applied to the second control module, so that the first current on the first control module and the second current on the second module cancel each other out, and the ripple current on the heating current flowing into the second battery is reduced.

[0093] Optionally, the first control signal can be applied to the first controller, and the second control signal can be applied to the second controller, so that the first controller outputs a first current after executing the first control signal, and the second controller outputs a second current after executing the second control signal.

[0094] Optionally, a first carrier signal and a second carrier signal can be obtained, the first control signal is obtained according to the first carrier signal and the fundamental wave signal, and the second control signal is obtained according to the second carrier signal and the fundamental wave signal.

[0095] Among them, the fundamental wave signal is the basic frequency signal of the motor operation, which determines the expected heating current of the motor. It is similar to an instruction signal and is used to tell the motor the expected heating current at each moment, so as to charge the first battery or the second battery with the expected heating current. The expected heating current and the expected heating frequency can be known from the fundamental wave signal. The expected heating current is the current at each moment in the fundamental wave signal, and the expected heating frequency is the reciprocal of a single period of the fundamental wave signal. The higher the expected heating frequency, the faster the change rate of the fundamental wave signal and the shorter the time of a single period.

[0096] Among them, the carrier frequency of the carrier signal is higher than the fundamental frequency. The carrier signal is used to modulate the fundamental signal. After comparing the fundamental signal with the carrier signal, a control signal is generated. If the amplitude of the carrier signal is lower than the amplitude of the fundamental signal at a certain moment, the generated control signal is in a high-level state at this moment; if the amplitude of the carrier signal is higher than the amplitude of the fundamental signal, the generated control signal is in a low-level state at this moment.

[0097] For example, the first carrier signal is used to modulate the fundamental signal. After comparing the first carrier signal with the fundamental signal, a first control signal is generated. When the amplitude of the first carrier signal is greater than the amplitude of the fundamental signal, the first control signal is in a high-level state; when the amplitude of the first carrier signal is less than the amplitude of the fundamental signal, the first control signal is in a low-level state.

[0098] Another example, the second carrier signal is used to modulate the fundamental signal. After comparing the second carrier signal with the fundamental signal, a second control signal is generated. When the amplitude of the second carrier signal is greater than the amplitude of the fundamental signal, the second control signal is in a high-level state; when the amplitude of the second carrier signal is less than the amplitude of the fundamental signal, the second control signal is in a low-level state.

[0099] Among them, the phase difference between the first carrier signal and the second carrier signal is equal to the phase difference between the first control signal and the second control signal, and both are odd multiples of 180°. For example, taking the first carrier signal as a triangular wave and the second carrier signal as a triangular wave as an example, please refer to Figure 11 as shown Figure 11 In the figure, the solid line is the first carrier signal, the dashed line is the second carrier signal, and the phase difference between the first carrier signal and the second carrier signal is 180°, which is also half a cycle of the carrier signal.

[0100] Optionally, the first carrier signal can be obtained according to the switching frequency of the first controller controlling the first motor. The calculation formula is as follows:

[0101] f(t)1 = |sin(2*π*f_sw*t)|(1)

[0102] In formula (1), f(t)1 is the first carrier signal; π is a constant; f_sw is the carrier frequency of the first carrier signal, and the switching frequency can be used as the carrier frequency of the first carrier signal; t is the time variable.

[0103] Optionally, the second carrier signal can be obtained by subtracting an odd multiple of the phase difference of T from the first carrier signal. The calculation formula is as follows:

[0104]

[0105] In formula (2), f(t)2 is the second carrier signal; π is a constant; f_sw is the carrier frequency of the second carrier signal, and the switching frequency can be used as the carrier frequency of the second carrier signal; t is a time variable; n is an odd number; T is the period of the first control signal or the second control signal, then represents an odd multiple of half the period of the first control signal or the second control signal.

[0106] Through the above technical solution, the first carrier signal and the second carrier signal with a phase difference that is an odd multiple of 180° can be loaded onto the fundamental wave signal, thereby obtaining the first control signal and the second control signal with a phase difference that is an odd multiple of 180°. Then, the first control signal is applied to the first controller, and the second control signal is applied to the second controller, so that the phase difference between the first current output by the first motor controlled by the first controller and the second current output by the second motor controlled by the second controller is an odd multiple of 180°, and the current trends of the two are opposite, thereby being able to cancel out the ripple current with each other.

[0107] Figure 12 is an exemplary solution proposed according to an exemplary embodiment. It is used to illustrate that while loading the first control signal and the second control signal onto the first control module and the second control module, the first control signal and the second control signal can also be adjusted so that the current output by the motor can reach the desired heating current in the fundamental wave current, including the following steps:

[0108] In step S20, for any target control module among the first control module and the second control module, determine the target desired current of the target control module.

[0109] The target desired current is the current that is expected to be achieved in an ideal state. The target desired current includes the first desired current and the second desired current. The first desired current is the current expected to be output by the first motor; the second desired current is the current expected to be output by the second motor.

[0110] Optionally, the desired heating current and the desired heating frequency in the fundamental wave signal can be identified, and then the target desired current can be obtained based on the desired heating current and the desired heating frequency.

[0111] Exemplarily, the first desired current can be obtained based on the desired heating current and the desired heating frequency, and can be calculated through the following calculation formula:

[0112] X1 = X * Sin(2 * π * Y * t) (3)

[0113] where X1 is the first desired current; X is the desired heating current; Y is the desired heating frequency; t is a time variable.

[0114] It can be understood that Sin(2*π*Y*t) represents a sinusoidal current waveform. When Sin(2*π*Y*t) is multiplied by X, it represents that the amplitude of this current waveform is X. Then the first expected current obtained by formula (3) is a sinusoidal waveform with an amplitude of X and a frequency of Y. Of course, it can also be other waveforms, and the present disclosure places no restrictions on this.

[0115] Exemplarily, the first expected current can be obtained based on the expected heating current and the expected heating frequency.

[0116] X2 = X * Sin(2*π*Y*t) (4)

[0117] Wherein, X2 is the second expected current; X is the expected heating current; Y is the expected heating frequency; t is the time variable.

[0118] It can be understood that Sin(2*π*Y*t) represents a sinusoidal current waveform. When Sin(2*π*Y*t) is multiplied by X, it represents that the amplitude of this current waveform is X. Then the second expected current obtained by formula (4) is a sinusoidal waveform with an amplitude of X and a frequency of Y. Of course, it can also be other waveforms, and the present disclosure places no restrictions on this.

[0119] Optionally, the battery can request the expected heating current and the expected heating frequency according to the working conditions. For example, the maximum heating current corresponding to the remaining battery charge (SOC) and temperature under the current vehicle working conditions can be determined, and then the expected heating current and the expected heating frequency within the range of the maximum heating current can be requested.

[0120] In step S30, according to the difference between the target expected current and the target current, the target control signal is adjusted until the difference is less than a preset value.

[0121] The target current includes the actual first current output by the first motor and the actual second current output by the second motor. The target control signal includes the first control signal and the second control signal.

[0122] Optionally, according to the difference between the first expected current of the first motor and the actual first current, the first control signal can be adjusted until the difference between the actual first current and the first expected current is less than a preset value.

[0123] For example, the duty cycle of the first control signal can be adjusted to make the first current output by the first motor continuously approach the first expected current until the difference between the actual first current and the first expected current is less than a preset value.

[0124] The duty cycle refers to the ratio of the duration of the high level within one cycle of the first control signal to the entire cycle time. If one cycle is 10 ms and the duration of the high level is 7 ms, then the duty cycle is 70%. After increasing the duty cycle, the duration of the high level state in the first control signal will become longer. Since the first upper bridge arm in the first controller conducts and the first lower bridge arm turns off when the first control signal is in the high level state, and at this time the first current output by the first motor will gradually increase. Therefore, after the duration of the high level state in the first control signal becomes longer, the first current can become larger. For example, when the duty cycle of the first control signal is 50%, the first current output by the first motor is 100 A, and when the duty cycle of the first control signal is 60%, the first current output by the first motor can be increased to 110 A. It can be seen that by adjusting the duty cycle of the first control signal, the magnitude of the first current can be adjusted. After continuously adjusting the duty cycle of the first control signal, the first current output by the first motor will continuously approach the first desired current.

[0125] Optionally, the second control signal can be adjusted according to the difference between the second desired current of the second motor and the actual second current until the difference between the actual second current and the second desired current is less than a preset value.

[0126] For example, the duty cycle of the second control signal can be adjusted to make the second current output by the second motor continuously approach the second desired current until the difference between the actual second current and the second desired current is less than a preset value.

[0127] It can be understood that the process of adjusting the duty cycles of the first control signal and the second control signal above is a PID adjustment process, which will not be elaborated here.

[0128] Through the above technical solution, during the process of self-heating by alternately charging and discharging the first battery and the second battery, the duty cycle of the first control signal can be adjusted to make the first current output by the first motor continuously approach the first desired current, and the duty cycle of the second control signal can be adjusted to make the second current output by the second motor continuously approach the second desired current. Then, finally, the heating current flowing into the battery obtained by superimposing the first current and the second current can be closer to the desired heating current in the fundamental wave signal, and the first battery or the second battery can be heated with the desired heating current. And during the process of heating the first battery or the second battery with the desired heating current, the phase difference between the first control signal and the second control signal can also be adjusted to an odd multiple of 180°, so that the first current output by the first motor and the second current output by the second motor can cancel each other out after being superimposed, thereby making the ripple current of the heating current flowing into the second battery smaller.

[0129] Figure 13 is a block diagram of a control device for a self-heating circuit shown according to an exemplary embodiment. Referring to Figure 13 , the control device 1300 of the self-heating circuit includes an application module 1310.

[0130] The application module 1310 is configured to apply a first control signal to the first control module and apply a second control signal to the second control module, so that a first current on the first control module cancels out a second current on the second module, reducing the ripple current on the heating current flowing into the second battery; the phase difference between the first control signal and the second control signal is where n is an odd number.

[0131] Optionally, the control device 1300 of the self-heating circuit further includes:

[0132] An acquisition module, configured to acquire a first carrier signal and a second carrier signal; wherein, the phase difference between the first carrier signal and the second carrier signal is the same as the phase difference between the first control signal and the second control signal;

[0133] A loading module, configured to obtain the first control signal according to the first carrier signal and the fundamental wave signal, and obtain the second control signal according to the second carrier signal and the fundamental wave signal.

[0134] Optionally, the control device 1300 of the self-heating circuit further includes:

[0135] A desired current module, configured to determine a target desired current of any target control module among the first control module and the second control module;

[0136] An adjustment module, configured to adjust the target control signal according to the difference between the target desired current and the target current until the difference is less than a preset value; the target current is any one of the first current and the second current, and the target control signal is any one of the first control signal and the second control signal.

[0137] Optionally, the desired current module is further configured to identify a desired heating current and a desired heating frequency in the fundamental wave signal; and obtain the target desired current according to the desired heating current and the desired heating frequency.

[0138] 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 here.

[0139] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and when the program instructions are executed by a processor, the steps of the control method of the self-heating circuit provided by the present disclosure are implemented.

[0140] Figure 14 FIG. 1400 is a block diagram of a vehicle 1400 shown according to an exemplary embodiment. For example, the vehicle 1400 may be a hybrid vehicle, or a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 1400 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0141] Referring to Figure 14 , the vehicle 1400 may include various subsystems. For example, the infotainment system 1410, the perception system 1420, the decision control system 1430, the drive system 1440, and the computing platform 1450. Among them, the vehicle 1400 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 1400 may be interconnected by wired or wireless means.

[0142] In some embodiments, the infotainment system 1410 may include a communication system, an entertainment system, a navigation system, and the like.

[0143] The perception system 1420 may include several sensors for sensing information about the environment around the vehicle 1400. For example, the perception system 1420 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter wave radar, ultrasonic radar, and a camera device.

[0144] The decision control system 1430 may include a computing system, a vehicle controller, a steering system, an accelerator, and a braking system.

[0145] The drive system 1440 may include components that provide power movement for the vehicle 1400. In one embodiment, the drive system 1440 may include an engine, an energy source, a powertrain, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine can convert the energy provided by the energy source into mechanical energy.

[0146] Some or all functions of the vehicle 1400 are controlled by the computing platform 1450. The computing platform 1450 may include at least one processor 1451 and a memory 1452, and the processor 1451 may execute instructions 1453 stored in the memory 1452.

[0147] The processor 1451 can be any conventional processor, such as a commercially available CPU. The processor can also include, for example, a Graphic Process Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0148] The memory 1452 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk.

[0149] In addition to the instructions 1453, the memory 1452 can also store data, such as road maps, route information, data on the position, direction, speed, etc. of the vehicle. The data stored in the memory 1452 can be used by the computing platform 1450.

[0150] In an embodiment of the present disclosure, the processor 1451 can execute the instructions 1453 to complete all or part of the steps of the above-described control method for the self-heating circuit.

[0151] Optionally, the above-described self-heating circuit can also be configured on the vehicle 1400.

[0152] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program that can be executed by a programmable device. The computer program has a code portion for executing the above-described control method for the self-heating circuit when executed by the programmable device.

[0153] Some embodiments of the present disclosure also provide a chip system, such as Figure 15As shown, the chip system includes at least one processor 1501 and at least one interface circuit 1502. The processor 1501 and the interface circuit 1502 can be interconnected by a line. For example, the interface circuit 1502 can be used to receive signals from other devices (such as the memory of an electronic device). For another example, the interface circuit 1502 can be used to send signals to other devices (such as the processor 1501). Exemplarily, the interface circuit 1502 can read the instructions stored in the memory and send the instructions to the processor 1501. When the instructions are executed by the processor 1501, the control device of the self-heating circuit can execute each step in the above embodiments. Of course, the chip system can also include other discrete devices, and some embodiments of the present disclosure do not specifically limit this.

[0154] In some embodiments of the present disclosure, the interface circuit 1502 can obtain data, program instructions, and / or information, etc. in the internal storage area of the chip system; it can also obtain data, program instructions, and / or information, etc. from outside the chip system.

[0155] Optionally, the chip system can further include a memory, which is used to store necessary computer programs and data.

[0156] Those skilled in the art can also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application can be implemented by electronic hardware, computer software, or a combination of both. Whether such a function is implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art can use various methods to implement the described function for each specific application, but such implementation should not be understood as exceeding the scope protected by the embodiments of the present application.

[0157] In addition, the word "exemplary" is used in this article to mean serving as an example, instance, or illustration. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. Instead, the use of the word exemplary is intended to present concepts in a specific way. As used in this article, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any arrangement in a natural inclusive arrangement. That is, if X applies A; X applies B; or X applies both A and B, then "X applies A or B" is satisfied in any of the foregoing instances. Additionally, unless otherwise specified or clear from the context indicating a singular form, the articles "a" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0158] Although terms such as "first", "second", and "third" may be used herein to describe various components, parts, regions, layers, or sections, these components, parts, regions, layers, or sections are not limited to these terms. Instead, these terms are only used to distinguish one component, part, region, layer, or section from another. Thus, without departing from the teachings of the various examples, the first component, part, region, layer, or section referred to in the examples described herein may also be referred to as the second component, part, region, layer, or section. For example, the first control module may be referred to as the second control module, the first current may be referred to as the second current, the first battery may be referred to as the second battery, the first motor may be referred to as the second motor, etc., and the present disclosure places no limitation thereon. Additionally, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description herein, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0159] It should be understood that, in this document, spatial relative terms, such as "above", "upper", "below", and "lower", are used to describe the relationship between one element shown in the figures and another element. In addition to the orientation depicted in the drawings, such spatial relative terms are also intended to encompass different orientations of the device during use or operation. For example, if the device in the drawings is flipped, an element described as "above" or "upper" relative to another element will then be "below" or "lower" relative to that other element. Thus, depending on the spatial orientation of the device, the term "above" encompasses both the above and below orientations. The device may have other orientations (e.g., rotated 90 degrees or in other orientations), and the spatial relative terms used herein should be interpreted accordingly.

Claims

1. A self-heating circuit, characterized in that, Comprising: A first control module, a second control module, a first battery and a second battery; The first control module and the second control module are used to control the first battery to release electric power to the second battery, and both the first control module and the second control module are connected between the first battery and the second battery; Wherein, a first current on the first control module and a second current on the second control module cancel each other out to reduce the ripple current on the heating current flowing into the second battery.

2. The self-heating circuit according to claim 1, wherein The phase difference between the first control signal applied to the first control module and the second control signal applied to the second control module is so that the first current and the second current cancel each other out; n is an odd number, and T is the period of the first control signal and the second control signal.

3. The self-heating circuit according to claim 1, wherein The first control module includes a first energy storage element, and the second control module includes a second energy storage element; There is a first connection point between the first energy storage element and the second energy storage element, there is a second connection point between the first battery and the second battery, a neutral line is connected between the first connection point and the second connection point, and the heating current is the current on the neutral line.

4. The self-heating circuit according to claim 3, characterized in that The first control module further includes a first controller; the second control module further includes a second controller; The first controller is connected to the first energy storage element and the first battery, and the second controller is connected to the second energy storage element and the second battery; Wherein, the electric power generated by the first battery is transferred to the first energy storage element through the first controller and transferred to the second energy storage element through the second controller; the electric power released by the first energy storage element is transferred to the second battery through the first controller, and the electric power released by the second energy storage element is transferred to the second battery through the second controller.

5. The self-heating circuit according to claim 3 or 4, characterized in that The first energy storage element is a first motor, and the second energy storage element is a second motor.

6. A control method for a self-heating circuit, characterized in that Applied to a self-heating circuit, the self-heating circuit includes a first control module, a second control module, a first battery and a second battery; the first control module and the second control module are used to control the first battery to release electric power to the second battery, and both the first control module and the second control module are connected between the first battery and the second battery; the method includes: Apply a first control signal to the first control module and apply a second control signal to the second control module, so that the first current on the first control module cancels out the second current on the second module, reducing the ripple current on the heating current flowing into the second battery; the phase difference between the first control signal and the second control signal is n is an odd number, and T is the period of the first control signal and the second control signal.

7. The control method of the self-heating circuit according to claim 6, characterized in that Before applying a first control signal to the first control module and applying a second control signal to the second control module, the method further includes: Obtaining a first carrier signal and a second carrier signal; wherein, the phase difference between the first carrier signal and the second carrier signal is the same as the phase difference between the first control signal and the second control signal; Obtaining the first control signal according to the first carrier signal and the fundamental wave signal, and obtaining the second control signal according to the second carrier signal and the fundamental wave signal.

8. The control method of the self-heating circuit according to claim 6, wherein The method further includes: For any target control module among the first control module and the second control module, determining a target desired current of the target control module; Adjusting the target control signal according to the difference between the target desired current and the target current until the difference is less than a preset value; the target current is any one of the first current and the second current, and the target control signal is any one of the first control signal and the second control signal.

9. The control method of the self-heating circuit according to claim 8, characterized in that, Determining the target desired current of the target control module includes: Identifying the desired heating current and the desired heating frequency in the fundamental wave signal; Obtaining the target desired current according to the desired heating current and the desired heating frequency.

10. A control device for a self-heating circuit, characterized in that, Applied to a self-heating circuit, the self-heating circuit includes a first control module, a second control module, a first battery, and a second battery; the first control module and the second control module are used to control the first battery to release electric energy to the second battery, and both the first control module and the second control module are connected between the first battery and the second battery; the device includes: An application module, configured to apply a first control signal to the first control module and apply a second control signal to the second control module, so that a first current on the first control module cancels out a second current on the second module, reducing the ripple current on the heating current flowing into the second battery; the phase difference between the first control signal and the second control signal is n is an odd number, and T is the period of the first control signal and the second control signal.

11. A vehicle, characterized in that, The vehicle is equipped with the self-heating circuit according to any one of claims 1 to 5, or the vehicle includes a processor and a memory for storing processor-executable instructions, and the processor is configured to execute the control method of the self-heating circuit according to any one of claims 6 to 9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 6 to 9.

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