Equalization control method of energy storage lithium battery and computer program product

Abstract

The invention provides an equalization control method of an energy storage lithium battery and a computer program product, and relates to the field of battery equalization control. The equalization control method of the energy storage lithium battery comprises the following steps: acquiring voltage and current of each lithium battery unit in an energy storage battery pack, and estimating SOC of each lithium battery unit according to the voltage and the current; judging whether the energy storage battery pack is in an unbalanced state or not according to the SOC; and if yes, taking the SOC as an inner loop feedback signal, and taking the voltage as an outer loop feedback signal to carry out double-closed-loop control until the unbalanced state of the energy storage battery pack is eliminated. According to the scheme, the change of the SOC is considered while active equalization is carried out, active equalization is reasonably carried out, and the service life of the battery cell is effectively prolonged. PI control shows high robustness in system disturbance, and the influence of the battery voltage and the SOC on the system stability is reduced.

Description

Technical Field

[0001] The present invention relates to the field of energy storage battery control, and in particular to a balanced control method for an energy storage lithium battery and a computer program product. Background Art

[0002] Cell imbalance is one of the core challenges facing energy storage battery packs during use. This problem manifests as significant inconsistencies in voltage, capacity, SOC (State of Charge), or SOH (State of Health) between battery cells. This problem can lead to reduced battery performance, shortened lifespan, and even safety risks.

[0003] The control goal of battery balancing is to uniformize the states of battery cells through energy transfer or consumption, thereby eliminating battery imbalance. Existing battery balancing technologies fall into two categories: passive balancing and active balancing, based on the energy processing method. Passive balancing uses energy-consuming components such as resistors to dissipate the energy of high-voltage cells, making the voltage within the group uniform. This energy is wasted as heat, resulting in low efficiency and the potential for localized temperature rise. It is generally only used in low-cost, small-capacity battery systems. Active balancing redistributes energy through active control. Compared to passive balancing, it reduces unnecessary energy consumption and provides better balancing results, but requires high control precision.

[0004] With the large-scale application of energy storage systems, the importance of active balancing technology for energy storage batteries has gradually increased. However, existing active balancing technologies generally rely on voltage signals, resulting in low control accuracy and poor control effects, which cannot meet the requirements of energy storage systems. Summary of the Invention

[0005] An object of the present invention is to provide a method for controlling a balance of an energy storage lithium battery with better control effect.

[0006] A further object of the present invention is to take into account the cell capacity SOC while performing active balancing, thereby effectively avoiding over-balancing.

[0007] A further object of the present invention is to improve the efficiency of active balancing and effectively utilize stored energy.

[0008] In particular, the present invention provides a method for controlling the equalization of an energy storage lithium battery. The method comprises:

[0009] Collect the voltage and current of each lithium battery cell in the energy storage battery pack, and estimate the SOC of each lithium battery cell based on the voltage and current;

[0010] Determine whether the energy storage battery pack is in an unbalanced state based on SOC;

[0011] If so, double closed-loop control is performed using SOC as the inner-loop feedback signal and voltage as the outer-loop feedback signal until the imbalance of the energy storage battery pack is eliminated.

[0012] Optionally, the steps of double closed-loop control include:

[0013] A first PI controller is used to perform inner-loop control according to the desired SOC and the inner-loop feedback signal, and a second PI controller is used to perform outer-loop control according to the desired voltage and the outer-loop feedback signal, so as to eliminate the imbalance of the energy storage battery pack by adjusting the current of the lithium battery unit.

[0014] Optionally, the first PI controller is configured to follow the control action of the second PI controller if the second PI controller has not reached a saturation state, and to actively perform control if the first PI controller has reached a saturation state.

[0015] Optionally, the first PI controller and the second PI controller are further configured to: optimize the initial setting value of the proportional coefficient and the time constant using an ant colony algorithm.

[0016] Optionally, the step of determining whether the energy storage battery pack is in an unbalanced state according to the SOC includes:

[0017] Calculate the average SOC value of each lithium battery unit;

[0018] Calculate the difference between the SOC of each lithium battery cell and the average value;

[0019] If the absolute value of the difference of any lithium battery cell is greater than or equal to a preset threshold, it is determined that an unbalanced state occurs.

[0020] Optionally, after determining that an imbalance state occurs, the method further includes:

[0021] The switch switching selection controller outputs a switch switching control signal to the multi-way switch switching unit;

[0022] The multi-way switch unit selects the balancing control unit corresponding to the lithium battery unit in the unbalanced state, and performs the double closed-loop control operation.

[0023] Optionally, the process of performing the dual closed-loop control operation by using the balancing control unit further includes:

[0024] According to the voltage and current of the lithium battery unit controlled by the double closed loop, it is judged whether there is abnormal control action.

[0025] If so, the circuit protection unit shuts down the lithium battery unit for protection.

[0026] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, which implements the steps of any of the above-mentioned methods for controlling the balancing of energy storage lithium batteries when executed by a processor.

[0027] According to another aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned balancing control methods for energy storage lithium batteries are implemented.

[0028] According to another aspect of the present invention, a computer device is provided, which includes a memory, a processor and a computer program stored in the memory, and the processor executes the computer program to implement the steps of any of the above-mentioned energy storage lithium battery balancing control methods.

[0029] The balancing control method for energy storage lithium batteries of the present invention utilizes battery voltage and battery capacity as the control basis for dual closed-loop control, taking into account the cell capacity SOC while performing active balancing, effectively avoiding over-balancing. The PI control of the battery voltage is the outer loop of the balancing control, which can achieve rapid and stable active balancing, improve system stability, and increase active balancing efficiency. The PI control of the battery SOC is the inner loop of the balancing control. While performing active balancing, it takes into account the changes in SOC, reasonably performs active balancing, and effectively extends the service life of the battery cells. PI control exhibits high robustness in system disturbances, reducing the impact of battery voltage and SOC on system stability.

[0030] Furthermore, the balancing control method for the energy storage lithium battery of the present invention fully utilizes the advantages of the two balancing strategies, has higher balancing efficiency, and can well improve the inconsistency between battery cells and improve the charge and discharge capacity of the battery.

[0031] Furthermore, the present invention's lithium-ion battery balancing control method applies PI control technology to active balancing, ensuring continuous signal input to the system. Simultaneously, the PI controller enables rapid and stable control of the controlled object (SOC, battery voltage), improving conversion performance and ensuring stable system operation. The dual-closed-loop PI control ensures that while improving balancing efficiency, it also controls the balancing current and reduces the impact of over-balancing on SOC.

[0032] Based on the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will become more aware of the above and other objects, advantages and features of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings:

[0034] Figure 1 1 is a schematic diagram of the architecture of a balancing control system for an energy storage lithium battery according to an embodiment of the present invention;

[0035] Figure 2 is a schematic diagram of a balancing control method for an energy storage lithium battery according to an embodiment of the present invention;

[0036] Figure 3 1 is a control block diagram of a method for controlling a balancing of an energy storage lithium battery according to an embodiment of the present invention;

[0037] Figure 4 This is a flow chart of a control example of a balancing control method for an energy storage lithium battery according to an embodiment of the present invention;

[0038] Figure 5 is a schematic diagram of a computer program product according to one embodiment of the present invention;

[0039] Figure 6 is a schematic diagram of a computer-readable storage medium according to one embodiment of the present invention;

[0040] Figure 7 is a schematic block diagram of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] It should be understood by those skilled in the art that the embodiments described below are only some embodiments of the present invention, rather than all embodiments of the present invention, and that these embodiments are intended to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. Based on the embodiments provided by the present invention, all other embodiments obtained by those skilled in the art without creative effort should still fall within the scope of protection of the present invention.

[0042] Figure 1 FIG2 is a schematic diagram of the architecture of a lithium battery balancing control system according to an embodiment of the present invention. The energy storage battery pack includes multiple lithium battery cells 111, an SOC estimation unit 121, a switch selection controller 122, a multi-way switch switching unit 123, and a circuit protection unit 124.

[0043] Multiple lithium battery cells 111 are connected in parallel and / or in series to achieve capacity expansion and voltage boost, thereby realizing energy storage function. Each lithium battery cell 111 is correspondingly configured with a balancing control unit 112 and a data acquisition unit 113. The data acquisition unit 113 is used to measure the voltage and current of the corresponding lithium battery cell 111. After startup, the balancing control unit 112 can be used to implement the dual closed-loop control in the balancing control method of the energy storage lithium battery of this embodiment. The lithium battery cell 111 can be charged and discharged using the BMS (Battery Management System) and the switching action of the switching device.

[0044] The SOC estimation unit 121 is used to estimate the SOC based on the signal collected by the data acquisition unit 113. Battery SOC, the full name of which is State of Charge, is also called the remaining capacity. It is used to reflect the remaining capacity of the battery, and its numerical value is defined as the ratio of the remaining capacity to the battery capacity. In this embodiment, the SOC estimation unit 121 can use a fusion algorithm based on filtering and state estimation to estimate the SOC, such as using Kalman filtering or extended Kalman filtering to fuse model predictions and measurement values ​​(voltage, current) to obtain the SOC. This method has a fast dynamic response and can correct model parameters (such as internal resistance, capacity attenuation, etc.) online, and is particularly suitable for lithium-ion batteries.

[0045] After determining that an unbalanced state occurs, the switch selection controller 122 can output a switch control signal to the multi-way switch unit 123. The multi-way switch unit 123 selects the balancing control unit 112 corresponding to the unbalanced lithium battery cell 111 and uses the balancing control unit 112 to perform a dual closed-loop control operation.

[0046] During the dual closed-loop control operation performed by the balancing control unit 112, the circuit protection unit 124 determines whether an abnormal control action (e.g., voltage overlimit, current overlimit, overtemperature, etc.) has occurred based on the voltage and current of the lithium battery cells under dual closed-loop control. If an abnormal control action occurs, the circuit protection unit 124 performs a shutdown protection operation, i.e., sets the switch of the lithium battery cell 111 to a protective closed state. Each balancing control unit 112 may be configured with a first PI controller and a second PI controller. A PI controller (Proportional-Integral Controller) includes a proportional component and an integral component. The proportional component generates a control effect proportional to the system error. The integral component integrates the error, accumulating the error. The larger the error, the stronger the control effect, enabling a rapid response to the error, causing the system output to change in a direction that reduces the error. Over time, even if the error is small, the integral term will gradually increase, thereby eliminating the system's steady-state error. The PI controller has a fast response and can effectively eliminate the system's steady-state error, thereby improving the system's control accuracy. This embodiment innovatively proposes the use of dual PI controllers to perform active balancing of lithium batteries.

[0047] This embodiment further provides a method for controlling a balance of an energy storage lithium battery, which uses the above-mentioned balance control system of the energy storage lithium battery to achieve balance control. Figure 2 is a schematic diagram of a balancing control method for an energy storage lithium battery according to an embodiment of the present invention, Figure 3 4 is a control block diagram of a balancing control method for an energy storage lithium battery according to an embodiment of the present invention.

[0048] The energy storage lithium battery balancing control method may generally include:

[0049] Step S201 : collecting the voltage and current of each lithium battery cell in the energy storage battery pack, and estimating the SOC of each lithium battery cell based on the voltage and current.

[0050] Step S202 determines whether the energy storage battery pack is unbalanced based on the SOC. This determination may include: calculating the average SOC of each lithium battery cell; calculating the difference between the SOC of each lithium battery cell and the average; and determining an unbalanced state if the absolute value of the difference for any lithium battery cell is greater than or equal to a preset threshold. Lithium battery cells with an absolute difference greater than or equal to the preset threshold are selected as active balancing control targets.

[0051] After determining that an unbalanced state occurs, the method may further include: the switch switching selection controller outputs a switch switching control signal to the multi-way switch switching unit; the multi-way switch switching unit selects a balancing control unit corresponding to the lithium battery cell in the unbalanced state, and performs a double closed-loop control operation.

[0052] In step S203, if an unbalanced state occurs, dual closed-loop control is performed using the SOC as the inner-loop feedback signal and the voltage as the outer-loop feedback signal until the unbalanced state of the energy storage battery pack is eliminated. The dual closed-loop control includes: using a first PI controller to perform inner-loop control based on the desired SOC and the inner-loop feedback signal, and using a second PI controller to perform outer-loop control based on the desired voltage and the outer-loop feedback signal, so as to eliminate the unbalanced state of the energy storage battery pack by adjusting the current of the lithium battery cell. The process of performing the dual closed-loop control operation using the balancing control unit may also include: judging whether an abnormal control action occurs based on the voltage and current of the lithium battery cell under dual closed-loop control. If so, the circuit protection unit shuts down the lithium battery cell for protection, thereby avoiding failures caused by control failure through redundant protection.

[0053] The method of this embodiment can effectively suppress the influence of the saturation state of the first PI controller on system performance, thereby ensuring the stability and accuracy of control.

[0054] The first and second PI controllers are two controllers for dual closed-loop active balancing control; battery voltage and battery SOC are the primary and secondary control targets, respectively. The balancing control unit acts as an actuator, applying the generated balancing control signal to the battery module. The first PI controller is configured to follow the control actions of the second PI controller unless the second PI controller reaches saturation, and to actively control the first PI controller if saturation is reached. Saturation occurs when the output of the first PI controller reaches its limit and cannot continue to adjust according to the intended control principle.

[0055] The dual-loop active balancing control method ensures consistent cell output voltage while also accounting for the impact of balancing control on battery capacity. Based on the principles of automatic control theory, dual-loop control offers superior dynamic and steady-state performance compared to single-loop control systems. When the outer loop (voltage control loop) is active, the inner loop (SOC control loop) follows. When the outer loop is saturated, the inner loop takes control. The outer loop precisely controls voltage to eliminate deviations; the inner loop also limits current, providing rapid protection against over-balancing, extending battery life.

[0056] I' is the desired balancing current, and I is the actual output balancing current. A large balancing current generates a lot of heat, and heat dissipation may affect the operation of the BMS; at the same time, an excessively large balancing current will affect the life of the battery cell, and the balancing efficiency cannot be improved at the expense of the battery cell capacity (lithium battery cell). A small balancing current has a very low efficiency in balancing the power in large-capacity battery packs with large power differences, and it takes a long time to achieve balancing. The method of this embodiment utilizes dual closed-loop control of voltage and SOC to achieve effective control of the balancing current.

[0057] Figure 4 This is a flow chart of a control example of a method for controlling a balancing of an energy storage lithium battery according to an embodiment of the present invention. The control process includes:

[0058] Step S401, collecting the voltage and current of the lithium battery unit;

[0059] Step S402, estimating the SOC value Sn of each lithium battery cell, where n is the serial number of the lithium battery cell;

[0060] Step S403, calculating the average state of charge SOCave of the energy storage battery;

[0061] Step S404: whether |SOCave-Sn|≥threshold is satisfied;

[0062] Step S405: the switch switching selection controller outputs a switch switching control signal;

[0063] Step S406: The balancing control unit performs a dual closed-loop balancing control operation.

[0064] The first PI controller and the second PI controller can also be configured to optimize the initial setting values ​​of the proportional coefficient kp and the time constant Ti using the ant colony algorithm. The initial setting values ​​of the proportional coefficient kp and the time constant Ti can be obtained using the Ziegler-Nichols method, that is, by gradually increasing the proportional coefficient kp to make the system enter the critical oscillation state, obtaining the critical time period, and then calculating the PID parameters according to the empirical formula. Once the proportional coefficient kp and the time constant Ti of the existing PI control are determined, they remain unchanged throughout the control process, which makes it difficult to meet the tracking of changes in the set value and the suppression of disturbances. As lithium batteries are used, they naturally decay, causing the set value to change. This embodiment optimizes the proportional coefficient kp and the time constant Ti through the ant colony algorithm to obtain a control value suitable for battery balancing and enhance its adaptability. With e as the input of the PI controller and u as the output of the PI control, the objective function of the ant colony optimized PI controller is:

[0065] The steps of using ant colony algorithm to optimize PI controller parameters include:

[0066] Get the proportional coefficient kp0 and time constant Ti0 obtained by initial tuning.

[0067] Set the number of ants m, and define a multi-dimensional array Ipathk with multiple elements (the number of elements can be set, and 10 is used as an example below) for each ant k. The vertical coordinate values ​​of multiple nodes (the number of nodes is the same as the number of elements) that the ant will pass through are stored in the array in sequence.

[0068] Let the time counter t = 0, the number of cycles Nc = 0, set the maximum number of cycles Ncmax and the value of pheromone on each node at the initial moment τ(xi,yi,j,0) = c(i = 1 ~ 10, j = 0 ~ 9), let Δτ(xi,yi,j) = 0, and place all ants at the origin.

[0069] Set variable i = 1. Calculate the probability of these ants moving to each node on the line segment Li. The calculation formula is:

[0070]

[0071] Where α is the information heuristic factor; β is the expected information heuristic factor; η(xi,yi,j,t) is the heuristic function on the node N(xi,yi,j).

[0072] According to these probabilities, a roulette wheel method is used to select a node on the line segment Li for each ant k (k=1~m), and the ant k is moved to the node, and the vertical coordinate value of the node is stored in the i-th element of Ipathk.

[0073] Set i = i + 1. If i ≤ 10, repeat the above calculation of the transfer probability. When i > 10, calculate the PI parameters kpk and Tik corresponding to the path taken by ant k (k = 1 to m), that is, the array Ipathk. The calculation formula is:

[0074]

[0075] According to the objective function and its convergence rules, the objective function kJ and the corresponding convergence value εk corresponding to ant k are calculated respectively, the optimal path in this cycle is recorded, and the corresponding PI parameters are stored in kp* and Ti*.

[0076] Let t+10=t, Nc+1=Nc, and update the pheromone on each node according to the following formula:

[0077] τ(x i ,y i，j ,t+n)=(1-ρ)·τ(t)+Δτ(t),

[0078]

[0079] Among them, ρ is the pheromone evaporation coefficient, and 1 - ρ represents the pheromone residue factor. To prevent the infinite accumulation of pheromone, the value range of ρ is Δτ(t) is the increment of pheromone on node N(xi, yi, j) in this iteration; Δτk(xi, yi, j) is the pheromone left by the k-th ant on node N(xi, yi, j) in this iteration. And all elements in Ipathk (k = 1 to m) are cleared.

[0080] If Nc < Ncmax and the entire ant colony has not converged to the same path or the convergence value ε > the given error, then all ants are placed at the origin again and the variable i = 1 is reset, and the above steps are executed again in a loop. If Nc < Ncmax but the entire ant colony has converged to the same path or ε < the given error, then the optimization calculation ends, and the optimal path and its corresponding optimized kp and Ti are output.

[0081] Through the above PI controller optimization, the robustness and response speed of the control system are improved, and the applicability is better.

[0082] This embodiment also provides a computer program product 80, a computer-readable storage medium 820, and a computer device 830. Figure 5 It is a schematic diagram of a computer program product 80 according to an embodiment of the present invention. Figure 6 It is a schematic diagram of a computer-readable storage medium 820 according to an embodiment of the present invention. Figure 7 It is a schematic block diagram of a computer device 830 according to an embodiment of the present invention.

[0083] The computer program product 80 includes a computer program 811. When the computer program 811 is executed by a processor 831, it implements the steps of any one of the above-mentioned equalization control methods for energy storage lithium batteries. The computer-readable storage medium 820 stores the above computer program 811. When the computer program 811 is executed by a processor 831, it implements the steps of any one of the above embodiments of the equalization control method for energy storage lithium batteries. The computer device 830 may include a memory 832, a processor 831, and a computer program 811 stored in the memory 832 and running on the processor 831.

[0084] The computer program 811 for performing the operations of the present invention may be assembly instructions, instruction set architecture (Instruction Set Architecture, abbreviated as ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, status setting data, configuration data of an integrated circuit, or source code or object code written in any combination of one or more programming languages and procedural programming languages.

[0085] The computer program 811 may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, to perform various aspects of the present invention, electronic circuits, such as programmable logic circuits, field programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), may execute computer-readable program instructions by utilizing state information of the computer-readable program instructions to personalize the electronic circuits.

[0086] In the description of this embodiment, the computer program product 80 is a related product including the computer program 811 .

[0087] For the purposes of the description of this embodiment, computer-readable storage medium 820 is a tangible device capable of retaining and storing computer program 811, and can be any device that can contain, store, communicate, propagate, or transmit program 811 for use with or in conjunction with an instruction execution system, device, or apparatus. More specific examples (a non-exhaustive list) of computer-readable storage medium 820 include the following: a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, and any suitable combination of the foregoing.

[0088] At this point, those skilled in the art will recognize that, although a number of exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications consistent with the principles of the present invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.

Claims

1. A method for controlling the balance of an energy storage lithium battery, characterized in that include: Collecting the voltage and current of each lithium battery cell in the energy storage battery pack, and estimating the SOC of each lithium battery cell based on the voltage and current; Determining whether the energy storage battery pack is in an unbalanced state according to the SOC; If so, a double closed-loop control is performed using the SOC as an inner-loop feedback signal and the voltage as an outer-loop feedback signal until the unbalanced state of the energy storage battery pack is eliminated.

2. The method for controlling the balance of an energy storage lithium battery according to claim 1, wherein: The steps of the double closed-loop control include: A first PI controller is used to perform inner-loop control according to the desired SOC and the inner-loop feedback signal, and a second PI controller is used to perform outer-loop control according to the desired voltage and the outer-loop feedback signal, so as to eliminate the unbalanced state of the energy storage battery pack by adjusting the current of the lithium battery unit.

3. The method for controlling the balance of an energy storage lithium battery according to claim 2, wherein: The first PI controller is configured to follow the control action of the second PI controller if the second PI controller has not reached a saturation state, and to actively perform control if the first PI controller reaches a saturation state.

4. The method for controlling the balance of an energy storage lithium battery according to claim 2, wherein: The first PI controller and the second PI controller are further configured to optimize initial setting values ​​of a proportional coefficient and a time constant using an ant colony algorithm.

5. The method for controlling the balance of an energy storage lithium battery according to claim 1, wherein: The step of determining whether the energy storage battery pack is in an unbalanced state according to the SOC includes: Calculating an average value of the SOC of each of the lithium battery cells; Calculating the difference between the SOC of each of the lithium battery cells and the average value; If the absolute value of the difference of any of the lithium battery cells is greater than or equal to a preset threshold, it is determined that an unbalanced state occurs.

6. The method for controlling the equalization of an energy storage lithium battery according to claim 5, wherein: After determining that the imbalance state occurs, the method further includes: The switch switching selection controller outputs a switch switching control signal to the multi-way switch switching unit; The multi-way switch unit selects the balancing control unit corresponding to the lithium battery unit in the unbalanced state, and uses the balancing control unit to perform the dual closed-loop control operation.

7. The method for controlling the equalization of an energy storage lithium battery according to claim 6, wherein: The process of using the balancing control unit to perform the dual closed-loop control operation also includes: Determine whether abnormal control action occurs based on the voltage and current of the lithium battery unit controlled by the double closed loop. If so, the circuit protection unit shuts down the lithium battery unit for protection.

8. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the balancing control method for the energy storage lithium battery according to any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that When the computer program is executed by a processor, the steps of the balancing control method for the energy storage lithium battery according to any one of claims 1 to 7 are implemented.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory, wherein: The processor executes the computer program to implement the steps of the balancing control method for the energy storage lithium battery according to any one of claims 1 to 8.

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