Energy storage device and temperature control method and temperature control device thereof

Abstract

The invention relates to a temperature control method for an energy storage device, and the method comprises the steps: obtaining the cell temperature of each cell monomer in each battery module, and obtaining the minimum cell temperature and the average value of the minimum cell temperatures in each battery module; obtaining a target temperature according to the target charging and discharging power and the current charge state of the energy storage device; and obtaining a heating driving signal of each heating module according to each minimum battery cell temperature, the average value of the minimum battery cell temperatures and the target temperature. According to the temperature control method provided by the embodiment of the invention, the minimum cell temperature average value is introduced, and each heating module is independently controlled based on the minimum cell temperature and the target temperature; according to the method, the requirement for overhigh heating power caused only based on the overlarge temperature difference between the minimum battery cell temperature and the target temperature is reduced, the temperature rise efficiency of the system is guaranteed, meanwhile, the temperature rise difference between the battery cell monomers is reduced, energy waste in the heating process is reduced, and the power consumption of the system is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of power electronics, and particularly relates to a temperature control method and system of an energy storage device, a temperature control device of an energy storage device, an energy storage device, and a computer program product. BACKGROUND

[0002] Due to the limitation of the capacity and output power of a single energy storage battery pack, the energy storage battery pack cannot meet the power supply demand of a large load, and therefore a plurality of battery packs need to be connected in series to form a large energy storage battery system. The allowable charge and discharge power of the energy storage battery system is strongly related to the current temperature of the system, and therefore the charge and discharge power of the energy storage battery system can be adjusted by regulating the temperature of the system. Based on this, a heating module such as a heating film is usually introduced, and when the energy storage system operates at a low temperature, the battery is heated to a certain temperature by controlling the heating film to ensure that the battery is in a good charge and discharge temperature range. However, for the control of the heating film of the energy storage system, the commonly used heating control strategy has the problems of high power consumption and large temperature rise difference. SUMMARY The present application aims to provide a temperature control method and system of an energy storage device, a temperature control device of an energy storage device, an energy storage device, and a computer program product, and aims to solve the problem of high power consumption and large temperature rise difference of the commonly used heating control strategy in the related art.

[0003] In a first aspect, the present application provides a temperature control method of an energy storage device, the energy storage device comprising a plurality of battery modules, each battery module being provided with a heating module, each battery module comprising a plurality of battery monomers, and the temperature control method comprising: obtaining the battery monomer temperature of each battery monomer in each battery module; obtaining the minimum battery monomer temperature of each battery module and the average value of the minimum battery monomer temperature of each battery module according to the battery monomer temperature of each battery monomer in each battery module; obtaining a target temperature according to the target charge and discharge power and the current state of charge of the energy storage device; calculating the heating drive signal of each heating module according to each minimum battery monomer temperature, the average value of the minimum battery monomer temperature, and the target temperature.

[0004] In one of the embodiments, the calculation of the heating drive signal of each heating module according to each minimum battery monomer temperature, the average value of the minimum battery monomer temperature, and the target temperature comprises: obtaining a temperature common mode error value according to the target temperature and the average value of the minimum battery monomer temperature; obtaining a temperature differential mode error value according to the minimum battery monomer temperature in the first battery module and the average value of the minimum battery monomer temperature; According to the temperature common-mode error value and the temperature differential-mode error value, a bias operation is performed to obtain a target heating power of a heating module of the first battery module; According to the target heating power of the heating module of the first battery module, a heating drive signal thereof is obtained. The first battery module is any one of a plurality of battery modules.

[0005] In one embodiment, the bias operation performed according to the temperature common-mode error value and the temperature differential-mode error value to obtain the target heating power of the heating module of the first battery module includes: According to the temperature common-mode error value, a proportional integral operation is performed to obtain a first power; According to the temperature differential-mode error value, a proportional integral operation is performed to obtain a second power; According to the first power and the second power, the target heating power of the heating module of the first battery module is obtained.

[0006] In one embodiment, the heating drive signal obtained according to the target heating power of the heating module of the first battery module includes: The supply voltage and internal resistance of the heating module of the first battery module are obtained; According to the target heating power, supply voltage and internal resistance of the heating module of the first battery module, a duty cycle is calculated; According to the duty cycle, a heating drive signal of the heating module of the first battery module is generated.

[0007] In one embodiment, the target temperature obtained according to the target charge-discharge power and the current state of charge of the energy storage device includes: According to the target charge-discharge power and the current state of charge, the target temperature is obtained based on a mapping relationship of the target charge-discharge power, the current state of charge and the target temperature of the energy storage device.

[0008] In a second aspect, the embodiments of the present application further provide a temperature control device of an energy storage device, the energy storage device including a plurality of battery modules, each of the battery modules being provided with a heating module, each of the battery modules including a plurality of battery cells, and the temperature control device including: An obtaining module is configured to obtain the battery cell temperature of each battery cell in each battery module; An operation module is configured to obtain the minimum battery cell temperature in each battery module and the average value of the minimum battery cell temperature of each battery module according to the battery cell temperature of each battery cell in each battery module; A reading module is configured to obtain a target temperature according to the target charge-discharge power and the current state of charge of the energy storage device; The control module is configured to calculate a heating driving signal of each of the heating modules according to the minimum cell temperature, the minimum cell temperature average and the target temperature.

[0009] In one embodiment, the control module comprises: A common mode operation unit configured to obtain a temperature common mode error value according to the target temperature and the minimum cell temperature average; A difference mode operation unit configured to obtain a temperature difference mode error value according to the minimum cell temperature in the first battery module and the minimum cell temperature average; A deviation operation unit configured to obtain a target heating power of the heating module of the first battery module according to the temperature common mode error value and the temperature difference mode error value respectively by deviation operation; A driving generation unit configured to obtain a heating driving signal of the heating module of the first battery module according to the target heating power of the heating module of the first battery module; The first battery module is any one of a plurality of battery modules.

[0010] In one embodiment, the deviation operation unit comprises: A first PI controller configured to obtain a first power by proportional integral operation according to the temperature common mode error value; A second PI controller configured to obtain a second power by proportional integral operation according to the temperature difference mode error value; An adder configured to obtain the target heating power of the heating module of the first battery module according to the first power and the second power.

[0011] In a third aspect, the embodiments of the present application further provide a storage device, comprising a plurality of battery modules, a memory, a processor and a computer program stored in the memory and executable on the processor, each of the battery modules is provided with a heating module, each of the battery modules comprises a plurality of cell monomers, the processor is connected with each of the battery modules and each of the heating modules, and the processor implements the steps of the temperature control method of the storage device when executing the computer program.

[0012] In a fourth aspect, the embodiments of the present application further provide a computer program product, which, when executed on a computer, causes the computer to perform the steps in each of the method embodiments.

[0013] Compared with the related art, the beneficial effects of the energy storage device temperature control method of the embodiments of the present application are as follows: the energy storage device temperature control method of the embodiments of the present application obtains the cell temperature of each cell monomer in each battery module, obtains the minimum cell temperature and the minimum cell temperature average value in each battery module, obtains the target temperature according to the target charge-discharge power and the current state of charge of the energy storage device, and obtains the heating drive signal of each heating module according to the minimum cell temperature, the minimum cell temperature average value and the target temperature. The energy storage device temperature control method of the embodiments of the present application introduces the minimum cell temperature average value and independently controls each heating module based on the minimum cell temperature and the target temperature. Since the minimum cell temperature average value is introduced, the excessively high heating power requirement caused by excessively large temperature difference between the minimum cell temperature and the target temperature is reduced, the temperature rise difference between the cell monomers is reduced while the system temperature rise efficiency is ensured, the energy waste in the heating process is reduced, and the system power consumption is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 The energy storage device structure schematic diagram provided by the embodiments of the present application is shown in the figure. Figure 2 The flow chart of the energy storage device temperature control method provided by an embodiment of the present application is shown in the figure. Figure 3 The control loop diagram of the energy storage device temperature control method provided by an embodiment of the present application is shown in the figure. Figure 4 The module schematic diagram of the energy storage device temperature control device provided by an embodiment of the present application is shown in the figure. Figure 5 The energy storage device structure schematic diagram provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0015] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0016] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0017] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0018] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly and specifically limited.

[0019] In the energy storage system, due to the electrochemical characteristics of the battery itself, the allowable charging rate of the battery at low temperature will be limited, and when the temperature is lower than a certain threshold, the battery will not be able to charge. If the battery is subjected to power charging for a long time, lithium precipitation and other phenomena will occur, causing irreversible damage to the battery, reducing the service life of the energy storage system, and causing the actual available battery capacity of the energy storage system to be severely attenuated. Based on this, when the battery cell is applied, it will usually be configured to correspond to the corresponding charging and discharging power under different temperatures and state of charge (SOC) and generate a mapping relationship: temperature-SOC-charging and discharging power relationship table. Moreover, this mapping relationship can be dynamically adjusted as the performance changes during the use of the battery cell.

[0020] In the application process, in order to ensure that the energy storage system can operate stably under low temperature conditions while not affecting the service life, it is necessary to ensure that the battery can be in a proper temperature range. In addition, in order to meet the power demand, the charging and discharging power of the battery needs to be adjusted. It can be seen that when the energy storage system is working, the temperature of the battery needs to be adaptively adjusted, and the usual method is to use a heating film to heat the battery. When the energy storage system operates at low temperature, the battery is heated to a certain temperature by controlling the heating film to ensure that the battery is in a good temperature range. However, the current energy storage system has deficiencies in control strategy and overall stability in the control of the heating film, for example: (1) How to effectively control the heating film of each battery pack to achieve the lowest power consumption while quickly heating the temperature of the system to the target temperature; (2) How to ensure the fastest temperature rise of the system while minimizing the difference between the minimum temperatures of each battery pack during system heating.

[0021] To this end, an embodiment of the present application provides a temperature control method of an energy storage device, as shown inFigure 1 The energy storage device 100 includes a plurality of battery modules 110, each battery module 110 is provided with a heating module 120, each battery module 110 includes a plurality of battery cells BT, and the plurality of battery cells BT are connected in series, in parallel, or in series-parallel. The heating module 120 is, for example, a heating film, and one battery module 110 is at least wrapped with one heating film, which can be fully wrapped or partially wrapped.

[0022] The temperature control method of the energy storage device according to an embodiment of the present application includes: Step S110, obtaining the battery cell temperature of each battery cell in each battery module.

[0023] Among them, a temperature sensing element (not shown) is attached to each battery cell BT for real-time detection of the battery cell temperature of each battery cell BT.

[0024] Step S120, obtaining the minimum battery cell temperature of each battery module and the minimum battery cell temperature average of each battery module according to the battery cell temperature of each battery cell in each battery module.

[0025] According to the collected battery cell temperature, the minimum battery cell temperature of each battery module 110 is calculated and obtained , Refers to different battery cells BT. Each battery module 110 sends its minimum battery cell temperature to the master control unit 130, and the master control unit 130 calculates and obtains the minimum battery cell temperature average of all battery modules 110 according to the minimum battery cell temperature of all battery modules 110 received.

[0026] Step S130, obtaining the target temperature according to the target charge and discharge power and the current state of charge of the energy storage device.

[0027] By querying the temperature-SOC-charge and discharge power relationship table, the target temperature can be obtained.

[0028] Step S140, calculating the heating drive signal of each heating module according to the minimum battery cell temperature, the minimum battery cell temperature average, and the target temperature.

[0029] In this embodiment, proportional integral operation is performed based on the minimum battery cell temperature average , the minimum battery cell temperature , and the target temperature to obtain the heating drive signal for independently controlling each heating module 120. This reduces the heating drive signal based only on the minimum battery cell temperature and the target temperature The excessive heating power requirement caused by the excessive temperature difference between the battery modules is reduced, the temperature difference between the battery modules is reduced, the energy waste during the heating process is reduced, and the system power consumption is reduced.

[0030] In some embodiments, step S140 comprises: Step S141, obtaining a temperature common-mode error value according to the target temperature and the minimum cell temperature average value.

[0031] The temperature common-mode error value represents the difference between the minimum cell temperature average value and the target temperature in the energy storage device 100, and the temperature common-mode error value is represented as:

[0032] Step S142, obtaining a temperature difference-mode error value according to the minimum cell temperature in the first battery module and the minimum cell temperature average value.

[0033] The temperature difference-mode error value represents the dispersion degree of the minimum cell temperature of each battery module 110 and the minimum cell temperature average value of all battery modules 110, and the temperature difference-mode error value is represented as:

[0034] Step S143, performing deviation operation on the temperature common-mode error value and the temperature difference-mode error value respectively to obtain the target heating power of the heating module of the first battery module; wherein the first battery module is any one of the plurality of battery modules.

[0035] Wherein, the temperature common-mode error value and the temperature difference-mode error value are respectively subjected to deviation operation according to the following formula (1): ; (1) Wherein, is the target heating power of each heating module 120, is a common-mode proportional control coefficient, is a difference-mode proportional control coefficient, which is used to adjust the linear relationship between the system output and the error signal, and to improve the response speed, stability and precision of the system; is a common-mode integral control coefficient, is a difference-mode integral control coefficient; in the time domain, represents a differential operation, represents an integral operation.

[0036] Step S144, obtaining the heating driving signal of the heating module of the first battery module according to the target heating power. wherein the relationship between the duty cycle of the heating driving signal and the target heating power is as follows formula (2): (2) wherein, is the duty cycle of each heating driving signal, is the input voltage of the heating module 120, is the resistance of the heating module 120.

[0037] The duty cycle of the heating driving signal can be obtained by formula (2): ; (3) Referring to Figure 3 , the PWM controller will output the corresponding heating driving signal to each heating module 120 according to the duty cycle .

[0038] The system required heating power obtained by respectively performing deviation operation on the temperature common mode error value and the temperature differential mode error value can reduce the temperature rise difference between each battery monomer BT while ensuring the system temperature rise efficiency, reduce the energy waste in the heating process, and reduce the system power consumption, compared with the system required heating power obtained by only considering the deviation between the minimum cell temperature and the target temperature.

[0039] In some embodiments, step S143 includes: Step S1431, performing proportional integral operation according to the temperature common mode error value to obtain the first power.

[0040] Referring to Figure 3 , the operation module obtains the temperature common mode error value by subtracting the average value of the minimum cell temperature of each battery module 110 from the target temperature , and after being delayed by the first delay, the first PI controller performs proportional integral operation on the temperature common mode error value to obtain the first power , wherein: ; Step S1432, performing proportional integral operation according to the temperature differential mode error value to obtain the second power.

[0041] Referring to Figure 3 , the operation module obtains the temperature differential mode error value by subtracting the average value of the minimum cell temperature of each battery module 110 from the minimum cell temperature , after being delayed by the second delay timer, the second PI controller calculates the second power according to the temperature difference . Step S1431, the target heating power of the heating module of the first battery module is obtained according to the first power and the second power, that is,

[0042] In some embodiments, step S144 includes: Step S1441, the supply voltage and internal resistance of the heating module of the first battery module are obtained.

[0043] Referring to Figure 3 , the PWM controller can preset the supply voltage and internal resistance of the heating module 120 of each battery module 110.

[0044] Step S1442, the duty cycle is calculated according to the target heating power, the supply voltage and the internal resistance of the heating module of the first battery module.

[0045] Specifically, the duty cycle can be calculated according to formula (3)

[0046] Step S1443, the heating driving signal of the heating module of the first battery module is generated according to the duty cycle.

[0047] It can be understood that the first PI controller, the second PI controller and the PWM controller can be integrated in the main control unit 130, and the main control unit 130 can be composed of one or more controllers. The first delay timer and the second delay timer can be physical devices or non-physical devices, indicating that a certain time delay is formed in the transmission and processing of signals between the main control unit 130 and the heating module 120, the battery cell BT, etc.

[0048] In some embodiments, step S130 includes: obtaining the target temperature based on the mapping relationship of the target charging and discharging power, the current state of charge and the target temperature of the energy storage device 100 according to the target charging and discharging power and the current state of charge. The mapping relationship of the target temperature is preset in the energy storage system, and when the temperature control method of the present application is executed, the temperature-SOC-charging and discharging power relationship table representing the mapping relationship can be read.

[0049] Referring to Figure 4 , the present application also provides a temperature control device of an energy storage device, which comprises: The obtaining module 410 is configured to obtain the battery cell temperature of each battery cell in each battery module. ​​​​The operation module 420 is configured to obtain the minimum cell temperature of each battery module and the average minimum cell temperature of each battery module according to the cell temperature of each cell monomer in each battery module. The reading module 430 is configured to obtain the target temperature according to the target charge-discharge power and the current state of charge of the energy storage device. The control module 440 is configured to calculate the heating drive signal of each heating module according to the minimum cell temperature, the average minimum cell temperature and the target temperature.

[0050] In some embodiments, the control module 440 comprises: A common mode operation unit is configured to obtain a temperature common mode error value according to the target temperature and the average minimum cell temperature. A differential mode operation unit is configured to obtain a temperature differential mode error value according to the minimum cell temperature in the first battery module and the average minimum cell temperature. A deviation operation unit is configured to obtain the target heating power of the heating module of the first battery module by performing deviation operation on the temperature common mode error value and the temperature differential mode error value respectively. A drive generation unit is configured to obtain the heating drive signal of the heating module of the first battery module according to the target heating power of the heating module of the first battery module. The first battery module is any one of the plurality of battery modules.

[0051] Referring to Figure 3 In some embodiments, the deviation operation unit comprises: A first PI controller is configured to perform proportional integral operation on the temperature common mode error value to obtain a first power. A second PI controller is configured to perform proportional integral operation on the temperature differential mode error value to obtain a second power. An adder is configured to obtain the target heating power of the heating module of the first battery module according to the first power and the second power. The specific implementation of the temperature control device and the related beneficial effect are described above in the description of the specific embodiments of the temperature control method, and will not be repeated here.

[0052] Referring to Figure 1 and Figure 5The embodiments of the present application also provide a storage device 100, comprising a plurality of battery modules 110, a memory 101, a processor 102, and a computer program 103 stored in the memory 101 and executable on the processor 102, each battery module 110 is provided with a heating module 120, each battery module 110 comprises a plurality of battery cells BT, the processor 102 is connected with each battery module 110 and each heating module 120, and the processor 102 implements the steps of the temperature control method of the storage device 100 in any of the above embodiments when executing the computer program 103.

[0053] Those skilled in the art can understand that, Figure 1 and Figure 5 The above is only an example of the storage device 100, and does not constitute a limitation on the storage device 100, and can comprise more or fewer components than the illustration, or combine certain components, or different components, such as can also comprise input / output devices, network access devices, etc.

[0054] The processor 102 can be the above-mentioned master control unit 130. The processor 102 can be a central processing unit (CPU), and can also be other general-purpose controllers, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose controller can be a microcontroller or any conventional controller.

[0055] The memory 101 can be an internal storage unit of the storage device 100 or the storage equipment in some embodiments, such as a hard disk or a memory of the storage device 100 or the storage equipment. The memory 101 can also be an external storage device of the storage device 100 or the storage equipment in other embodiments, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. provided on the storage device 100 or the storage equipment. Further, the memory 101 can comprise both the internal storage unit and the external storage device of the storage device 100 or the storage equipment. The memory 101 is used to store operating systems, application programs, boot loaders, data, and other programs, etc. The memory 101 can also be used to temporarily store data that has been output or will be output.

[0056] The computer readable storage medium stores a computer program 103 which, when executed by the processor 102, can implement the steps in the above various method embodiments.

[0057] The computer program 103 product, when running on a computer, causes the computer to perform the steps in the above various method embodiments.

[0058] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application can implement all or part of the processes in the above method embodiments by a computer program 103 to instruct related hardware to complete, which can be stored in a computer readable storage medium. The computer program 103, when executed by the processor 102, can implement the steps in the above various method embodiments. The computer program 103 includes computer program 103 code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer readable medium at least includes any entity or device capable of carrying the computer program 103 code to the photographing device / terminal equipment, recording medium, computer memory 101, ROM (Read-Only Memory 101), RAM (Random Access Memory 101), CD-ROM (Compact Disc Read-Only Memory), magnetic tape, floppy disk, and optical data storage device, etc. The computer readable storage medium mentioned in the present application can be a non-volatile storage medium, in other words, a non-transitory storage medium.

[0059] It should be understood that all or part of the steps of the above embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in the form of a computer program 103 product entirely or partially. The computer program 103 product includes one or more computer instructions. The computer instructions can be stored in the computer readable storage medium mentioned above.

[0060] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0061] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0062] In the embodiments provided in the present application, it should be understood that the disclosed apparatus / equipment and method can be implemented by other means. For example, the apparatus / equipment embodiments described above are merely illustrative, for example, the division of modules or units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0063] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiments according to actual needs.

[0064] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A temperature control method of an energy storage device, characterized by, The energy storage device includes a plurality of battery modules, each of which is provided with a heating module, each of which includes a plurality of battery cells, and the temperature control method includes: obtaining the battery cell temperature of each battery cell in each battery module; According to the battery cell temperature of each battery cell in each battery module, the minimum battery cell temperature in each battery module and the minimum battery cell temperature average value of each battery module are obtained; According to the target charging and discharging power and the current state of charge of the energy storage device, the target temperature is obtained; According to each of the minimum battery cell temperature, the minimum battery cell temperature average value and the target temperature, the heating drive signal of each heating module is calculated.

2. The temperature control method of claim 1, wherein, According to each of the minimum battery cell temperature, the minimum battery cell temperature average value and the target temperature, the heating drive signal of each heating module is calculated. According to the target temperature and the minimum battery cell temperature average value, a temperature common mode error value is obtained; According to the minimum battery cell temperature in the first battery module and the minimum battery cell temperature average value, a temperature differential mode error value is obtained; According to the temperature common mode error value and the temperature differential mode error value, the target heating power of the heating module of the first battery module is obtained by deviation operation; According to the target heating power of the heating module of the first battery module, its heating drive signal is obtained; Wherein, the first battery module is any one of the plurality of battery modules.

3. The temperature control method of claim 2, wherein, According to the temperature common mode error value and the temperature differential mode error value, the target heating power of the heating module of the first battery module is obtained by deviation operation. According to the temperature common mode error value, a first power is obtained by proportional integral operation; According to the temperature differential mode error value, a second power is obtained by proportional integral operation; According to the first power and the second power, the target heating power of the heating module of the first battery module is obtained.

4. The temperature control method of claim 2, wherein, According to the target heating power of the heating module of the first battery module, its heating drive signal is obtained. Obtaining the supply voltage and internal resistance of the heating module of the first battery module; According to the target heating power, supply voltage and internal resistance of the heating module of the first battery module, a duty cycle is calculated; According to the duty cycle, the heating drive signal of the heating module of the first battery module is generated.

5. The temperature control method according to any one of claims 1 to 4, wherein According to the target charging and discharging power and the current state of charge of the energy storage device, the target temperature is obtained. According to the target charging and discharging power and the current state of charge, the target temperature is obtained based on the mapping relationship of the target charging and discharging power, the current state of charge and the target temperature of the energy storage device.

6. A temperature control device for an energy storage device, characterized by, The energy storage device includes a plurality of battery modules, each of which is provided with a heating module, each of which includes a plurality of battery cells, and the temperature control device includes: An acquisition module for obtaining the battery cell temperature of each battery cell in each battery module; An operation module for obtaining the minimum battery cell temperature in each battery module and the minimum battery cell temperature average value of each battery module according to the battery cell temperature of each battery cell in each battery module; The reading module is configured to obtain a target temperature according to a target charge-discharge power and a current state of charge of the energy storage device. The control module is configured to calculate a heating drive signal of each of the heating modules according to the minimum cell temperature, the minimum cell temperature average, and the target temperature.

7. The temperature control device of claim 6, wherein, The control module includes: a common-mode operation unit configured to obtain a temperature common-mode error value according to the target temperature and the minimum cell temperature average; a difference-mode operation unit configured to obtain a temperature difference-mode error value according to the minimum cell temperature in the first battery module and the minimum cell temperature average; a bias operation unit configured to perform bias operation on the temperature common-mode error value and the temperature difference-mode error value respectively to obtain a target heating power of the heating module of the first battery module; a drive generation unit configured to obtain a heating drive signal of the heating module of the first battery module according to the target heating power of the heating module of the first battery module. The first battery module is any one of a plurality of battery modules.

8. The temperature control device of claim 7, wherein, The bias operation unit includes: a first PI controller configured to perform proportional integral operation on the temperature common-mode error value to obtain a first power; a second PI controller configured to perform proportional integral operation on the temperature difference-mode error value to obtain a second power; an adder configured to obtain the target heating power of the heating module of the first battery module according to the first power and the second power.

9. An energy storage device, characterized by, The energy storage device includes a plurality of battery modules, a memory, a processor, and a computer program stored in the memory and executable on the processor. Each of the battery modules is provided with a heating module. Each of the battery modules includes a plurality of cell monomers. The processor is connected with each of the battery modules and each of the heating modules. The processor implements the steps of the temperature control method of the energy storage device according to any one of claims 1 to 5 when executing the computer program.

10. A computer program product, characterised in that, When it is executed on a computer, it enables the computer to perform the temperature control method of the energy storage device according to any one of claims 1 to 5.

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