Power control method for hybrid energy storage system

Abstract

The application relates to the technical field of energy storage, and particularly discloses a power control method for a hybrid energy storage system, which comprises the following steps: obtaining a total power task amplitude of the hybrid energy storage system and a safe task duration of the total power task; determining candidate power amplitudes of hybrid energy storage subsystems in the hybrid energy storage system according to the total power task amplitude, task characteristic parameters of the hybrid energy storage system and energy storage states of the hybrid energy storage system; determining a thermal safety support duration and an energy support duration of the hybrid energy storage subsystems according to the candidate power amplitudes; determining actual available support durations of the hybrid energy storage subsystems according to the thermal safety support duration and the energy support duration; and performing power distribution among the hybrid energy storage subsystems according to the actual available support durations, the safe task duration and the candidate power amplitudes. The application can control the running time under the total power task amplitude, and avoid the situation that the power of the hybrid energy storage subsystems is reduced or the hybrid energy storage subsystems stop running due to the fixed temperature threshold.

Description

Technical Field

[0001] This invention relates to the field of energy storage technology, and in particular to a power control method for a hybrid energy storage system. Background Technology

[0002] In related technologies, when a hybrid energy storage system is performing a power task, in order to avoid the temperature rising rapidly and triggering over-temperature protection before the power is finished, a fixed temperature threshold is usually used. For example, when the current temperature of a certain energy storage subsystem reaches the warning value or protection value, the power is directly reduced or the operation of the energy storage subsystem is stopped.

[0003] However, the above method can only determine whether the energy storage subsystem is currently overheating, and it is easy to cause problems such as increased power tracking error of the hybrid energy storage system, power task exit midway, and power task not being able to be fully executed. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] Therefore, one objective of this invention is to propose a power control method for a hybrid energy storage system. This method can achieve coordinated control among temperature constraints, energy constraints, and power task duration, avoiding the situation where the power of the hybrid energy storage subsystem is reduced or stops operating due to the use of a fixed temperature threshold, thereby ensuring the operating time of each energy storage subsystem under the total power task amplitude.

[0006] To achieve the above objectives, an embodiment of the first aspect of the present invention provides a power control method for a hybrid energy storage system, comprising: acquiring the total power task amplitude and the safe task duration of the total power task of the hybrid energy storage system; determining candidate power amplitudes of hybrid energy storage subsystems in the hybrid energy storage system based on the total power task amplitude, task characteristic parameters of the hybrid energy storage system, and energy storage state of the hybrid energy storage system; determining the thermal safety support duration and energy support duration of the hybrid energy storage subsystem based on the candidate power amplitude; determining the actual available support duration of the hybrid energy storage subsystem based on the thermal safety support duration and energy support duration; and performing power allocation among the hybrid energy storage subsystems based on the actual available support duration, the safe task duration, and the candidate power.

[0007] According to the power control method of the hybrid energy storage system of the present invention, during the execution of the total power task of the hybrid energy storage system, by obtaining the amplitude of the total power task and the safe duration of the total power task, short-term impact tasks and long-term continuous tasks can be distinguished, thereby improving power allocation efficiency. Based on the total power task amplitude of the hybrid energy storage system, the task characteristic parameters of the hybrid energy storage system, and the energy storage state of the hybrid energy storage system, candidate power amplitudes of the hybrid energy storage subsystems are determined. This allows for the determination of the thermal safety support duration and energy support duration of the hybrid energy storage subsystems, such as battery energy storage subsystems, supercapacitor energy storage subsystems, and flywheel energy storage subsystems. The smaller of the thermal safety support duration and energy support duration is taken as the actual available support duration. Based on the actual available support duration, the duration of the safety task, and the candidate power, when there is a power migration requirement between the hybrid energy storage subsystems, the power allocation of the hybrid energy storage subsystems under the total power task is precisely controlled. This achieves coordinated control between temperature constraints, energy constraints, and the duration of the power task. The actual available support duration is calculated based on the thermal safety support duration, and the operation of the hybrid energy storage system is controlled according to the actual available support duration. This achieves control over the operating time under the total power task amplitude, avoiding situations where the hybrid energy storage subsystem power is reduced or stops operating due to the use of a fixed temperature threshold. This ensures the operating time of each energy storage subsystem under the total power task amplitude, improves the safety and reliability of the hybrid energy storage system, and is suitable for various complex application scenarios.

[0008] In some embodiments, determining the thermal safety support duration and energy support duration of the hybrid energy storage subsystem based on the candidate power amplitude includes: determining the equivalent loss power of the hybrid energy storage subsystem based on the candidate power amplitude; determining the predicted temperature based on a preset equivalent thermal model and the equivalent loss power; determining the thermal safety support duration based on the time it takes for the predicted temperature to reach the temperature protection boundary corresponding to the total power task direction under the candidate power amplitude, wherein if the predicted temperature does not reach the temperature protection boundary corresponding to the total power task direction within a preset time range, the upper limit of the preset time range or the preset maximum support duration is taken as the thermal safety support duration; and determining the energy support duration based on the candidate power amplitude, the remaining available energy of the hybrid energy storage subsystem, or the remaining receivable energy of the hybrid energy storage subsystem. Based on the candidate power amplitude, the equivalent loss power of the hybrid energy storage subsystem is calculated, and the predicted temperature is determined by combining the equivalent thermal model. The time when the predicted temperature reaches the temperature protection boundary corresponding to the total power task direction is taken as the thermal safety support duration. The energy support duration is calculated based on the candidate power amplitude, the remaining available energy of the hybrid energy storage subsystem, or the remaining receiveable energy of the hybrid energy storage subsystem. Both temperature constraints and energy constraints can be introduced simultaneously to achieve a multi-dimensional assessment of the support capability of the hybrid energy storage system, thereby improving the operational safety of the hybrid energy storage system.

[0009] In some embodiments, the step of performing power allocation among the hybrid energy storage subsystems based on the actual available support duration, the duration of the safety task, and the candidate power includes: determining the dynamic permissible power amplitude of the hybrid energy storage subsystem based on the actual available support duration, the duration of the safety task, and the candidate power; when it is determined that there is a power migration requirement between the hybrid energy storage subsystems based on the dynamic permissible power amplitude and the candidate power amplitude, determining the power amplitude to be migrated and the remaining permissible power amplitude of the hybrid energy storage subsystem based on the candidate power amplitude and the dynamic permissible power amplitude; and performing power allocation among the hybrid energy storage subsystems based on the duration of the safety task, the actual available support duration, the power amplitude to be migrated, and the remaining permissible power amplitude. By determining the dynamic permissible power amplitude of the hybrid energy storage subsystem, dynamic real-time power allocation of the hybrid energy storage system can be achieved, improving the control accuracy of the system and reducing control errors. When power migration requirements are identified among hybrid energy storage subsystems, the power amplitude to be migrated and the remaining allowable power amplitude for each subsystem are determined based on the candidate power amplitude and the dynamic allowable power amplitude. This avoids the problem of a single energy storage subsystem's power output exceeding the dynamic allowable power boundary, enabling coordinated allocation of the total power task among the subsystems. Furthermore, power allocation is performed based on the duration of the safety task, the actual available support duration, the power amplitude to be migrated, and the remaining allowable power amplitude. This allows for real-time dynamic power allocation among the hybrid energy storage subsystems, improving the tracking accuracy of the total power task.

[0010] In some embodiments, after performing power allocation among the hybrid energy storage subsystems based on the duration of the safety task, the actual available support duration, the power amplitude to be migrated, and the remaining permitted power amplitude, the method further includes: issuing a power command corresponding to the total power task, continuing power allocation, or issuing a power command corresponding to the upper limit of execution, based on the power allocation result and the relationship between the hybrid energy storage subsystems and preset safety conditions. Issuing a power command corresponding to the total power task, continuing power allocation, or issuing a power command corresponding to the upper limit of execution, based on the power allocation result and the relationship between the hybrid energy storage subsystems and preset safety conditions, can achieve closed-loop coordinated control of the hybrid energy storage subsystems and improve the operational safety of the hybrid energy storage system.

[0011] In some embodiments, determining the dynamic permissible power amplitude of the hybrid energy storage subsystem based on the actual available support duration, the duration of the safety task, and the candidate power includes: adjusting the amplitude of the candidate power within the power search interval of the hybrid energy storage subsystem using a preset search method, such that when the width of the power search interval is less than or equal to a preset power error or the number of searches in the search interval reaches the maximum number of iterations, the amplitude of the largest candidate power satisfying the actual available support duration being greater than or equal to the duration of the safety task is taken as the dynamic permissible power amplitude of the hybrid energy storage subsystem. Adjusting the candidate power within the power search interval of the hybrid energy storage subsystem using a preset search method can achieve candidate power screening and improve control efficiency. Therefore, when the width of the power search interval is less than or equal to a preset power error or the number of searches in the search interval reaches the maximum number of iterations, the amplitude of the largest candidate power satisfying the actual available support duration being greater than or equal to the duration of the safety task is taken as the dynamic permissible power amplitude of the hybrid energy storage subsystem. This can simultaneously satisfy temperature constraints and energy constraints, avoid power output interruptions, and ensure the complete execution of the power task of the hybrid energy storage system.

[0012] In some embodiments, before adjusting the amplitude of the candidate power within the power search range of the hybrid energy storage subsystem using a preset search method, the method further includes: determining an upper limit for the power search of the hybrid energy storage subsystem based on the rated power limit of the hybrid energy storage subsystem, the power conversion device limit of the hybrid energy storage subsystem, the current limit of the hybrid energy storage subsystem, the base temperature allowable power of the hybrid energy storage subsystem, and the power variation limit of the hybrid energy storage subsystem; and determining the power search range based on the upper limit for the power search and a preset lower limit for the power. Determining the upper limit for the power search of the hybrid energy storage subsystem based on the rated power limit, power conversion device limit, current limit, base temperature allowable power, and power variation limit before adjusting the amplitude of the candidate power using a preset search method, and determining the power search range based on the upper limit for the power search and the preset lower limit for the power, can prevent the power search from exceeding the system limits and improve the reliability of the system.

[0013] In some embodiments, the step of performing power allocation among the hybrid energy storage subsystems based on the duration of the safety task, the actual available support duration, the power amplitude to be migrated, and the remaining permitted power amplitude includes: determining a time support margin for the hybrid energy storage subsystem based on the duration of the safety task and the actual available support duration; when the time support margin is greater than a minimum receiving margin threshold, determining a target time support margin based on the time support margin and a preset small amount; determining a power migration capability index for the hybrid energy storage subsystem based on the target time support margin, the rated power of the hybrid energy storage subsystem, and the remaining permitted power amplitude; controlling the hybrid energy storage subsystem to allocate the power amplitude to be migrated based on the power migration capability index, and determining the actual allocated power amplitude of the hybrid energy storage subsystem, wherein the actual allocated power amplitude is less than or equal to the remaining permitted power amplitude. By determining the time support margin of the hybrid energy storage subsystem based on the duration of the safety mission and the actual available support duration of the hybrid energy storage subsystem, a coordinated assessment of both time and power dimensions can be achieved. Based on the time support margin and the preset small amount, the target time support margin can be calculated. Combined with the remaining permitted power and rated power, the power migration capability index of the hybrid energy storage subsystem can be calculated, thereby controlling the allocation of power to be migrated to the hybrid energy storage subsystem and determining the actual allocated power amplitude of the hybrid energy storage subsystem. This enables the reliable execution of the total power mission under multiple constraints of temperature, energy, and time.

[0014] In some embodiments, before issuing the power command corresponding to the total power task based on the power allocation result and the relationship between the hybrid energy storage subsystem and preset safety conditions, the method further includes: issuing the power command corresponding to the total power task when the power amplitude to be migrated is allocated and the hybrid energy storage subsystem is re-acquired and meets the preset safety conditions. The preset safety conditions include that the actual available support time of each hybrid energy storage subsystem participating in the total power task is not less than the duration of the safety task, and the sum of the dynamic permitted power amplitudes of each hybrid energy storage subsystem is not less than the total power task amplitude. Issuing the power command corresponding to the total power task after the power amplitude to be migrated is allocated and the hybrid energy storage subsystem meets the preset safety conditions can achieve a complete closed loop for the hybrid energy storage system and improve the system's operational reliability.

[0015] In some embodiments, before issuing the power command corresponding to the upper limit of power based on the power allocation result and the relationship between the hybrid energy storage subsystem and the preset safety conditions, the method further includes: the power amplitude allocation to be migrated is completed, but the hybrid energy storage subsystem acquired again does not meet the preset safety conditions. If the hybrid energy storage subsystem acquired again does not meet the preset safety conditions after the power amplitude allocation to be migrated is completed, then continuing to execute power allocation or issuing the power command corresponding to the upper limit of power can ensure system operation safety, reduce safety risks, and maintain system output capacity.

[0016] In some embodiments, determining the candidate power amplitude of a hybrid energy storage subsystem within the hybrid energy storage system based on the total power task amplitude, the task characteristic parameters of the hybrid energy storage system, and the energy storage state of the hybrid energy storage system includes: determining the candidate power amplitude based on the total power task amplitude, the rate of change of the total power task, the frequency characteristics of the total power task, the expected duration, and the energy change of the hybrid energy storage system, wherein the expected duration and safety reserve time are used to determine the duration of the safety task. Calculating the candidate power amplitude of each energy storage subsystem based on the total power task amplitude, the rate of change of the total power task, the frequency characteristics of the total power task, the expected duration, and the energy change of the hybrid energy storage system, and determining the duration of the safety task through the expected duration and safety reserve time, can provide data support for power allocation in the hybrid energy storage system.

[0017] In some embodiments, before determining the dynamic permissible power amplitude of the hybrid energy storage subsystem based on the actual available support duration, the duration of the safety task, and the candidate power, the method further includes: establishing a mapping table between the control temperature and the basic temperature permissible power of the hybrid energy storage subsystem, wherein the mapping table includes the normal operation zone, temperature-restricted zone, and prohibited operation zone of the hybrid energy storage subsystem; obtaining the current temperature of the hybrid energy storage subsystem; determining the basic temperature permissible power corresponding to the current temperature state based on the current temperature and the mapping table, wherein, when the hybrid energy storage subsystem is a battery, if the current temperature of the battery is determined to be lower than the low-temperature charging limit temperature in the temperature-restricted zone, the basic temperature permissible power is reduced; if the current temperature of the battery is determined to be lower than the prohibited charging temperature in the prohibited operation zone, the basic temperature permissible charging power in the basic temperature permissible power is set to zero. By establishing a mapping table between the control temperature and the basic temperature permissible power of the hybrid energy storage subsystem, and combining it with the current temperature to determine the basic temperature permissible power corresponding to the current temperature state, dynamic adaptation of the temperature-power boundary can be achieved, improving control accuracy. By distinguishing the base temperature allowable power of the battery energy storage subsystem under different temperature scenarios, the differences in the power tolerance of the battery under high temperature and low temperature conditions can be identified, avoiding overheating damage to the battery energy storage subsystem under extreme temperature conditions, thereby improving the operational reliability of the hybrid energy storage system.

[0018] In some embodiments, determining the thermal safety support duration based on the time it takes for the predicted temperature to reach the temperature protection boundary corresponding to the total power task direction includes: when the hybrid energy storage subsystem is a flywheel energy storage subsystem, the flywheel energy storage subsystem includes a motor stator, a magnetic levitation bearing, and a power converter; when determining the thermal safety support duration of the flywheel energy storage subsystem, the time it takes for the predicted temperature of the motor stator, the magnetic levitation bearing, and the power converter to reach the temperature protection boundary corresponding to the total power task direction is taken as the initial thermal safety support duration of the motor stator, the magnetic levitation bearing, and the power converter; and the shortest initial thermal safety support duration among the motor stator, the magnetic levitation bearing, and the power converter is taken as... The thermal safety support duration of the flywheel energy storage subsystem is as follows: When the hybrid energy storage subsystem is a battery energy storage subsystem, the time it takes for the predicted temperature to reach the temperature protection boundary corresponding to the total power task direction is determined based on the highest cell temperature, cell temperature difference, and temperature protection boundary corresponding to the total power task direction of the battery energy storage subsystem. When the hybrid energy storage subsystem is a supercapacitor energy storage subsystem, the time it takes for the predicted temperature to reach the temperature protection boundary corresponding to the total power task direction is determined based on the temperature capability corresponding to the highest single cell temperature, module temperature difference, and equivalent series internal resistance of the supercapacitor energy storage subsystem. Based on the type of hybrid energy storage subsystem and the characteristics of each hybrid energy storage subsystem, the thermal safety support duration of the hybrid energy storage subsystem is determined, enabling differentiated assessment of the thermal safety support capability of different hybrid energy storage subsystems. This avoids calculation deviations caused by using a uniform temperature rise judgment standard, thereby providing a temperature constraint basis for the coordinated control of hybrid energy storage subsystems.

[0019] In some embodiments, the process of issuing the power command corresponding to the total power task, continuing to execute power allocation, or issuing the power command corresponding to the upper limit of execution power further includes: when the executable power of the hybrid energy storage subsystem is limited, if it is determined that the temperature of the hybrid energy storage subsystem is within a preset temperature range and the temperature rise rate is less than a preset rate, and the actual available support time is not less than a preset safety time, then the executable power is restored. When the executable power of the hybrid energy storage subsystem is limited, if the temperature of the hybrid energy storage subsystem is within a preset temperature range and the temperature rise rate is less than a preset rate, and the actual available support time is not less than a preset safety time, then restoring the executable power can achieve closed-loop control of the hybrid energy storage system's power allocation, avoid the hybrid energy storage subsystem frequently entering power limitation and power recovery near the critical state, suppress frequent power migration and power oscillation between different energy storage subsystems, thereby improving the stability of the hybrid energy storage system's power control.

[0020] In some embodiments, after issuing the power command corresponding to the total power task, continuing to execute power allocation, or issuing the power command corresponding to the execution power limit, the method further includes: obtaining the actual temperature of the hybrid energy storage subsystem; calculating the temperature difference between the actual temperature and the predicted temperature; and correcting the equivalent thermal resistance, equivalent heat capacity, equivalent loss coefficient, and / or cooling capacity parameters of the preset equivalent thermal model based on the temperature difference. It is understood that obtaining the actual temperature of the hybrid energy storage subsystem and calculating the temperature difference between the actual temperature and the predicted temperature, thereby correcting the equivalent thermal resistance, equivalent heat capacity, equivalent loss coefficient, and / or cooling capacity parameters of the preset equivalent thermal model, can achieve adaptive changes in the temperature prediction model and improve the reliability of the hybrid energy storage system.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a structural diagram of a hybrid energy storage system according to an embodiment of the present invention; Figure 2 This is a control structure diagram of a hybrid energy storage system according to an embodiment of the present invention; Figure 3 This is a flowchart of a power control method for a hybrid energy storage system according to an embodiment of the present invention; Figure 4 This is a flowchart of temperature prediction and thermal safety support duration calculation for each energy storage subsystem according to an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the matching relationship between the actual available support duration and the duration of the security task according to an embodiment of the present invention; Figure 6 This is a schematic diagram of hysteresis recovery, power variation limiting, and online model correction according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the dynamic licensed power generation and power migration process according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the power migration and re-verification process according to an embodiment of the present invention; Figure 9 This is a schematic diagram illustrating multiple application scenarios of a hybrid energy storage system according to an embodiment of the present invention; Figure 10 This is a diagram illustrating the temperature zoning support duration matching control process of a hybrid energy storage system according to an embodiment of the present invention.

[0023] Figure label: Hybrid energy storage system 1; 10 common busbar; 20 battery energy storage subsystem; 30 supercapacitor energy storage subsystem; 40 flywheel energy storage subsystem; 50 bidirectional power conversion device; 60 power grid; 70 controller; Status acquisition module 710; power task analysis module 720; initial power allocation module 730; temperature prediction module 740; support duration calculation module 750; dynamic permitted power generation module 760; power migration module 770; power command output module 780; upper-level controller 790. Detailed Implementation

[0024] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0025] The following is for reference. Figure 1 and Figure 2 A hybrid energy storage system according to an embodiment of the present invention is described.

[0026] like Figure 1 The diagram shown is a structural diagram of a hybrid energy storage system according to an embodiment of the present invention. Figure 1As can be seen, the hybrid energy storage system 1 of this embodiment includes: a common bus 10, a battery energy storage subsystem 20, a supercapacitor energy storage subsystem 30, a flywheel energy storage subsystem 40, a bidirectional power conversion device 50, and a controller 70. The battery energy storage subsystem 20, the supercapacitor energy storage subsystem 30, and the flywheel energy storage subsystem 40 are connected to the common bus 10 via the bidirectional power conversion device 50. The controller 70 includes multiple functional modules, which are used to connect to at least one of the battery energy storage subsystem 20, the supercapacitor energy storage subsystem 30, and the flywheel energy storage subsystem 40. These functional modules are respectively used to obtain the total power task amplitude and the safe task duration of the total power task of the hybrid energy storage system; determine the candidate power amplitude of the hybrid energy storage subsystem based on the total power task amplitude and other relevant parameters of the hybrid energy storage system; determine the thermal safety support duration and energy support duration of the hybrid energy storage subsystem based on the candidate power amplitude; and determine the... The system determines the actual available support duration of the hybrid energy storage subsystem; determines the dynamic permissible power amplitude of the hybrid energy storage subsystem based on the actual available support duration, the duration of the safety task, and the candidate power; when it is determined that there is a power migration requirement between the hybrid energy storage subsystems based on the dynamic permissible power amplitude and the candidate power amplitude, it determines the power amplitude to be migrated and the remaining permissible power amplitude of the hybrid energy storage subsystem based on the candidate power amplitude and the dynamic permissible power amplitude; performs power allocation based on the duration of the safety task, the actual available support duration, the power amplitude to be migrated, and the remaining permissible power amplitude; and, based on the power allocation result and the relationship between the hybrid energy storage subsystem and the preset safety conditions, issues a power command corresponding to the total power task, continues to execute power allocation, or issues a power command corresponding to the execution power limit.

[0027] In this embodiment, the hybrid energy storage system 1 further includes a power grid 60, and the controller 70 includes a status acquisition module 710, a power task analysis module 720, an initial power allocation module 730, a temperature prediction module 740, a support duration calculation module 750, a dynamic permitted power generation module 760, a power migration module 770, a power command output module 780, and an upper-level controller 790.

[0028] like Figure 2 The diagram shown is a control structure diagram of a hybrid energy storage system according to an embodiment of the present invention. Figure 2 It is known that the battery energy storage subsystem 20, the supercapacitor energy storage subsystem 30 and the flywheel energy storage subsystem 40 are respectively connected to the common bus 10, such as the common DC bus or the AC bus, through the corresponding bidirectional power conversion device 50.

[0029] Specifically, the status acquisition module 710 is used to acquire the temperature status, energy status, power status, and cooling status of each energy storage subsystem; the power task analysis module 720 is used to acquire the total power command, power direction, and expected task duration of the hybrid energy storage system; the initial power allocation module 730 is used to perform initial power allocation and generate candidate power for each energy storage subsystem; the temperature prediction module 740 is used to determine the equivalent loss power of each energy storage subsystem based on the candidate power and predict future temperature; the support duration calculation module 750 is used to calculate the thermal safety support duration, energy support duration, and actual available support duration; and the dynamic permitted power generation module 760... The power transfer module 770 is used to perform power search and verification based on the matching relationship between the support duration and the expected duration of the task, and to determine the dynamic allowable power. The power transfer module 770 is used to calculate the power to be transferred and the receiving capacity of each energy storage subsystem and to perform power transfer, that is, to redistribute the portion exceeding the dynamic allowable power to other energy storage subsystems with remaining support capacity. The power command output module 780 is used to output the final power command or to feed back the current executable power limit of the hybrid energy storage system to the controller 70. The upper-level controller 790 is used to receive the final power command and power limit information. The control function of the upper-level controller 790 can be implemented by integrating it into the EMS (Energy Management System).

[0030] According to an embodiment of the present invention, in the process of executing a total power task, the hybrid energy storage system 1 can distinguish between short-term impact tasks and long-term continuous tasks by acquiring the total power task amplitude and the safe task duration of the total power task, thereby improving power allocation efficiency. Based on the total power task amplitude of the hybrid energy storage system 1, the task characteristic parameters of the hybrid energy storage system, and the energy storage state of the hybrid energy storage system, candidate power amplitudes of hybrid energy storage subsystems are determined. This allows for the determination of the thermal safety support duration and energy support duration of hybrid energy storage subsystems such as battery energy storage subsystem 20, supercapacitor energy storage subsystem 30, and flywheel energy storage subsystem 40. The smaller value between the thermal safety support duration and the energy support duration is taken as the actual available support duration. Furthermore, based on the actual available support duration, the safe task duration, and the candidate power, the dynamic permissible power amplitude of the hybrid energy storage subsystem is determined. This enables coordinated control between temperature constraints, energy constraints, and power task duration, avoiding the limitations of using a fixed temperature threshold as a single judgment criterion. When power migration requirements exist between hybrid energy storage subsystems, the power amplitude to be migrated and the remaining permissible power amplitude of the hybrid energy storage subsystem are determined based on candidate power amplitudes and dynamic permissible power amplitudes. Power migration is coordinated by combining the duration of the safety task and the actual available support duration to achieve dynamic optimization of power allocation within hybrid energy storage system 1 under the total power task. Based on the power allocation results and the relationship between the hybrid energy storage subsystems and preset safety conditions, the system precisely controls the hybrid energy storage subsystems to execute the power command corresponding to the total power task, continue power allocation, or issue the power command corresponding to the upper limit of execution. This enables closed-loop control of the hybrid energy storage system, reduces system control errors, prevents subsystems from exiting midway due to over-limit operation, and avoids the inability to fully execute the power task, thus improving the safety and reliability of hybrid energy storage system 1. This system is suitable for various complex application scenarios.

[0031] Based on the hybrid energy storage system of the above embodiments, the following references... Figure 3 This invention describes a power control method for a hybrid energy storage system according to an embodiment of the present invention.

[0032] like Figure 3 The diagram shown is a flowchart of a power control method for a hybrid energy storage system according to an embodiment of the present invention. Figure 3 It is understood that the power control method of the hybrid energy storage system in this embodiment of the invention includes at least steps S1-S8.

[0033] Step S1: Obtain the total power task amplitude and the safe task duration of the total power task of the hybrid energy storage system.

[0034] The total power target amplitude of the hybrid energy storage system is denoted as: The duration of the safety mission is recorded as follows: .

[0035] In this embodiment, when the hybrid energy storage system is running, it is necessary to first obtain the total power amplitude of the hybrid energy storage system. Duration of security mission .

[0036] Specifically, during the operation of a hybrid energy storage system, the total power task issued by the controller is obtained; for example, the total power command of the hybrid energy storage system is denoted as... This determines the power direction and power magnitude of the power command. The power direction is denoted as... Used to indicate the direction of charging and discharging. , 1 indicates discharge. 1 indicates charging; power amplitude By adopting a calculation method that separates power amplitude and power direction, charging and discharging tasks can be handled uniformly, avoiding power sign confusion under negative power conditions.

[0037] Simultaneously, obtain the estimated duration of the total power task issued by the controller, for example, denoted as... During the expected duration Based on this, set a safety reserve time, for example, denoted as... The expected duration With safety reserve time The sum of these values ​​represents the duration of the security task. ,Right now Among them, the safety reserve time The temperature prediction range is determined based on temperature prediction error, sampling period, communication delay, and power execution delay, for example, denoted as: It should be no less than .

[0038] Understandably, by obtaining the total power task amplitude and the safe task duration of the total power task of the hybrid energy storage system, it is possible to distinguish between short-term impact tasks and long-term continuous tasks, improve power allocation efficiency, and provide data support for power calculation of the hybrid energy storage subsystem.

[0039] Step S2: Determine the candidate power amplitude of the hybrid energy storage subsystem in the hybrid energy storage system based on the total power task amplitude, the task characteristic parameters of the hybrid energy storage system, and the energy storage state of the hybrid energy storage system.

[0040] The task characteristic parameters include the rate of change of total power, frequency characteristics, and expected duration. The energy storage state includes parameters such as the energy state of each hybrid energy storage subsystem. The candidate power of the hybrid energy storage subsystem is the initial power of each subsystem, for example, denoted as... The initial power is used for thermal and energy safety verification. When allocating the initial power, filtering decomposition, regular allocation, proportional allocation, or optimized allocation methods can be used, or other power allocation methods can also be employed. The candidate power amplitude of the hybrid energy storage subsystem is denoted as... .

[0041] In this embodiment, after obtaining the total power task of the hybrid energy storage system, it is necessary to determine the magnitude of the total power task. Based on the task characteristic parameters and energy storage state parameters of the hybrid energy storage system, the candidate power amplitude of the hybrid energy storage subsystem in the hybrid energy storage system is calculated. .

[0042] It is understandable that by determining the candidate power amplitude of the hybrid energy storage subsystem in a hybrid energy storage system, a data basis can be provided for calculating the support duration of the hybrid energy storage subsystem.

[0043] Step S3: Determine the thermal safety support duration and energy support duration of the hybrid energy storage subsystem based on the candidate power amplitude.

[0044] Among them, the thermal safety support duration is the time required for the i-th type of energy storage subsystem to achieve the required power output. The time required for the predicted temperature to reach the temperature protection boundary corresponding to the total power task direction, for example, denoted as... The duration of energy support is, for example, denoted as... The remaining available energy or remaining receiveable energy of each energy storage subsystem and the candidate power amplitude are used to determine the energy level. calculate.

[0045] In the embodiment, the candidate power of the i-th type of energy storage subsystem The thermal safety support duration of the hybrid energy storage subsystem is determined based on the time required for the predicted temperature to reach the temperature boundary in the corresponding power direction. Based on candidate power amplitude And the energy support duration calculated from the current remaining or remaining receiveable energy of the hybrid energy storage subsystem. .

[0046] It should be noted that the hybrid energy storage subsystem can be a flywheel energy storage subsystem, a battery energy storage subsystem, and a supercapacitor energy storage subsystem. The hybrid energy storage system can be composed of all three types of subsystems, or it can consist solely of a flywheel energy storage subsystem. If the hybrid energy storage system consists only of a flywheel energy storage system, then the hybrid energy storage system is a flywheel array.

[0047] It is understandable that by determining the thermal safety support duration and energy support duration of the hybrid energy storage subsystem, and introducing temperature and energy constraints, a calculation basis can be provided for the actual available support duration of the hybrid energy storage subsystem.

[0048] Step S4: Determine the actual available support duration of the hybrid energy storage subsystem based on the thermal safety support duration and the energy support duration.

[0049] The actual available support duration is recorded as follows: .

[0050] In the embodiment, the duration of obtaining thermal safety support is... and energy support duration Then, calculate the actual available support time of the hybrid energy storage subsystem. .

[0051] For example, for the i-th type of energy storage subsystem, the thermal safety support duration will be... and energy support duration The smaller value is used as the actual available support time of the hybrid energy storage subsystem. ,Right now The actual available support duration represents the longest time that the energy storage subsystem can operate continuously while simultaneously meeting temperature safety constraints and energy state constraints at the current candidate power. Through this method, battery SOC, supercapacitor terminal voltage, flywheel speed, and the temperature state of the three types of energy storage subsystems are uniformly converted into sustainable power capacity over a time scale. In other words, by calculating the thermal safety support duration and energy support duration separately, and taking the smaller of the two as the actual available support duration, a unified evaluation of temperature state, SOC, supercapacitor terminal voltage, and flywheel speed can be achieved on the same time scale.

[0052] It is understandable that taking the smaller of the thermal safety support duration and the energy support duration as the actual usable support duration of the hybrid energy storage subsystem can simultaneously take into account both temperature and energy constraints, avoiding misjudgments caused by constraints in a single dimension.

[0053] Step S5: Perform power allocation among hybrid energy storage subsystems based on the actual available support duration, the duration of the safe mission, and the candidate power.

[0054] In the embodiment, the actual available support duration is determined. After that, it is necessary to determine the actual available support duration. Duration of security mission and candidate power By performing dynamic power allocation among hybrid energy storage subsystems, the inability of power tasks to be fully executed can be avoided due to overheating of the hybrid energy storage subsystems.

[0055] Understandably, by controlling the power allocation of the hybrid energy storage subsystem based on the actual available support duration, the duration of the safety mission, and the candidate power, it is possible to achieve coordinated control between temperature constraints, energy constraints, and the duration of the power mission, thereby improving the safety of the hybrid energy storage system.

[0056] According to the power control method of the hybrid energy storage system of the present invention, during the execution of the total power task of the hybrid energy storage system, by obtaining the amplitude of the total power task and the safe duration of the total power task, short-term impact tasks and long-term continuous tasks can be distinguished, thereby improving power allocation efficiency. Based on the total power task amplitude of the hybrid energy storage system, the task characteristic parameters of the hybrid energy storage system, and the energy storage state of the hybrid energy storage system, candidate power amplitudes of the hybrid energy storage subsystems are determined. This allows for the determination of the thermal safety support duration and energy support duration of the hybrid energy storage subsystems, such as battery energy storage subsystems, supercapacitor energy storage subsystems, and flywheel energy storage subsystems. The smaller of the thermal safety support duration and energy support duration is taken as the actual available support duration. Based on the actual available support duration, the duration of the safety task, and the candidate power, when there is a power migration requirement between the hybrid energy storage subsystems, the power allocation of the hybrid energy storage subsystems under the total power task is precisely controlled. This achieves coordinated control between temperature constraints, energy constraints, and the duration of the power task. The actual available support duration is calculated based on the thermal safety support duration, and the operation of the hybrid energy storage system is controlled according to the actual available support duration. This achieves control over the operating time under the total power task amplitude, avoiding situations where the hybrid energy storage subsystem power is reduced or stops operating due to the use of a fixed temperature threshold. This ensures the operating time of each energy storage subsystem under the total power task amplitude, improves the safety and reliability of the hybrid energy storage system, and is suitable for various complex application scenarios.

[0057] In related technologies, battery energy storage subsystems, supercapacitor energy storage subsystems, and flywheel energy storage subsystems possess different power characteristics, energy characteristics, and cycle characteristics. Batteries have high energy density, making them suitable for handling power surges over extended periods; supercapacitors have high power density, making them suitable for handling instantaneous power surges; and flywheels are characterized by fast response speed, long cycle life, and strong frequent charge-discharge capability, making them suitable for handling rapidly changing and frequently switching power. Hybrid energy storage systems typically allocate power among these three types of subsystems based on the State of Charge (SOC) of the battery energy storage subsystem, the terminal voltage or SOC of the supercapacitor energy storage subsystem, and the rotational speed or state of energy storage of the flywheel energy storage subsystem. The three types of energy storage subsystems refer to the battery energy storage subsystem, the supercapacitor energy storage subsystem, and the flywheel energy storage subsystem.

[0058] For example, when the state of energy (SOC) of a certain energy storage subsystem approaches its upper or lower limit of allowable limits, its charging and discharging power is reduced, and other energy storage subsystems supplement the corresponding power. However, whether an energy storage subsystem can continuously perform power tasks depends not only on its remaining energy but also on its temperature state, rate of temperature rise, cooling capacity, and the duration of the power task. During continuous high-power or high-frequency charging and discharging, even if the SOC, terminal voltage, or flywheel speed of a certain energy storage subsystem remains within allowable ranges, it may still trigger over-temperature protection before the power task ends due to a rapid temperature rise.

[0059] To address the aforementioned issues, in some embodiments, the thermal safety support duration and energy support duration of the hybrid energy storage subsystem are determined based on the candidate power amplitude, including: determining the equivalent loss power of the hybrid energy storage subsystem based on the candidate power amplitude; determining the predicted temperature based on a preset equivalent thermal model and the equivalent loss power; determining the thermal safety support duration based on the time it takes for the predicted temperature to reach the temperature protection boundary corresponding to the total power task direction under the candidate power amplitude, wherein if the predicted temperature does not reach the temperature protection boundary corresponding to the total power task direction within a preset time range, the upper limit of the preset time range or the preset maximum support duration is used as the thermal safety support duration; and determining the energy support duration based on the candidate power amplitude, the remaining available energy of the hybrid energy storage subsystem, or the remaining receivable energy of the hybrid energy storage subsystem.

[0060] The equivalent power loss of the hybrid energy storage subsystem is denoted as: The total power task direction refers to the charging or discharging direction corresponding to the current power task, for example, denoted as... It is used to determine whether to use the charging temperature protection boundary or the discharging temperature protection boundary.

[0061] In the embodiment, based on candidate power amplitude Determine the equivalent power loss of the hybrid energy storage subsystem. The predicted temperature is determined by combining a pre-set equivalent model. The candidate power amplitude is... The thermal safety support duration is determined based on the time it takes for the predicted temperature to reach the temperature protection boundary corresponding to the total power task direction. If the predicted temperature does not reach the temperature protection boundary corresponding to the total power task direction within the preset time range, then the upper limit of the preset time range or the preset maximum support duration will be used as the thermal safety support duration. Based on candidate power amplitude The remaining available energy or remaining receiveable energy of the hybrid energy storage subsystem determines the energy support duration. .

[0062] For example, based on the status acquisition module, the following data can be obtained for the battery energy storage subsystem: SOC, current power, highest cell temperature, average cell temperature, maximum cell temperature difference, temperature rise rate, and cooling system status; for the supercapacitor energy storage subsystem: SOE (State of Energy), current power, highest single-cell temperature, module temperature difference, temperature rise rate, equivalent series resistance, and cooling system status; and for the flywheel energy storage subsystem: rotational speed or SOE, current power, motor stator temperature, magnetic bearing temperature, power converter temperature, corresponding temperature rise rate, and cooling system status. The control temperature of the battery energy storage subsystem can be the highest cell temperature, for example, denoted as... Alternatively, an equivalent control temperature can be used, for example, denoted as... , , This represents the maximum temperature difference of the battery cell. This represents the temperature difference correction factor. The equivalent control temperature of the supercapacitor energy storage subsystem can be corrected based on the highest individual unit temperature, module temperature difference, and changes in equivalent series internal resistance. The flywheel energy storage subsystem does not use a single temperature for judgment; instead, it performs temperature prediction and thermal safety support duration calculations for the motor stator, magnetic levitation bearing, and power converter separately. To uniformly represent the energy state of the supercapacitor energy storage subsystem and the flywheel energy storage subsystem, the SOE of the supercapacitor energy storage subsystem can be expressed as: The SOE of the flywheel energy storage subsystem can be represented as: ,in, This represents the current terminal voltage of the supercapacitor energy storage subsystem. and These are the minimum and maximum allowable voltages for the supercapacitor energy storage subsystem, respectively. The current angular velocity of the flywheel energy storage subsystem. and These are the minimum and maximum permissible angular velocities of the flywheel energy storage subsystem, respectively.

[0063] The candidate power amplitude of the hybrid energy storage system is obtained through the initial power allocation module. It also predicts the temperature change under candidate power and, within each control cycle, sets the candidate power amplitude... Considered as during the duration of the security mission The value remains unchanged within the range, or is predicted according to the suppressed candidate power sequence, and is recalculated in the next control cycle based on the latest state. The candidate power amplitude... The decision was made to predict the temperature rise trajectory.

[0064] For the i-th type of energy storage subsystem, based on the candidate power amplitude Determine the corresponding equivalent power loss. And predict future temperatures using an equivalent thermal model, which can be expressed as follows: .in, For equivalent heat capacity, For equivalent thermal resistance, Let the temperature be at the k-th predicted time. For ambient temperature, This represents the heat removed by the cooling system at the k-th predicted time. The equivalent power loss of a battery can be determined based on battery current, equivalent internal resistance, and reversible heat; the equivalent power loss of a supercapacitor can be determined based on current and equivalent series internal resistance; the equivalent power loss of a flywheel can be determined based on motor copper losses, motor iron losses, bearing losses, wind resistance losses, and power converter losses. Alternatively, one can use... or ,in and These represent the equivalent loss coefficients under charging and discharging states, respectively. The parameters of the temperature prediction model are obtained from equipment design values, product technical specifications, constant power temperature rise tests, step power tests, historical operating data, or online parameter identification. By determining the equivalent loss power and predicting future temperatures, potential thermal safety risks can be identified before the actual temperature reaches the protection boundary.

[0065] Calculate the duration of thermal safety support Based on the predicted temperature of the i-th type of energy storage subsystem at the candidate power, determine the time required for the predicted temperature to reach the temperature protection boundary corresponding to the total power task direction, and define this time as the thermal safety support duration. ,Right now ,in, This indicates that the i-th type of energy storage subsystem is in the current power direction. The corresponding temperature protection boundary, This indicates whether the current direction is charging or discharging. The thermal safety support duration is as follows: When the current temperature has reached or exceeded the temperature protection boundary corresponding to the total power task direction... Take zero; when the predicted temperature is within the temperature prediction range, for example, denoted as... When the internal temperature does not reach the temperature protection boundary, the duration of thermal safety support. Take the upper limit of the prediction range or the preset maximum value, and the temperature prediction range. .

[0066] Calculate the duration of energy support At that time, based on the remaining available energy or remaining receiveable energy of each energy storage subsystem and the candidate power amplitude... Calculate the duration of energy support The remaining usable energy during the discharge of the battery energy storage subsystem is expressed as: The remaining receiveable energy of the battery energy storage subsystem during charging is expressed as: The energy support time of the battery energy storage subsystem is The energy storage capacity of the supercapacitor energy storage subsystem is... The remaining usable energy during discharge is The remaining receiveable energy during charging is The energy support time of the supercapacitor energy storage subsystem is The flywheel energy storage subsystem has the following energy storage capacity: The remaining usable energy during discharge is The remaining receiveable energy during charging is The flywheel energy storage subsystem has an energy support duration of .in, and This is a general term, referring to the direction of power. Changes, for example, represent remaining available energy when performing a discharge task and remaining receiveable energy when performing a charging task. When the candidate power amplitude... When it is zero, the corresponding energy support duration will be... Set to the preset maximum value; when the SOC, supercapacitor terminal voltage, or flywheel speed has reached the corresponding energy boundary, the energy support duration will be extended. Set to zero. The rated energy of the battery energy storage subsystem; The state of charge of the battery energy storage subsystem; This represents the minimum state of charge of the battery energy storage subsystem. For battery discharge efficiency; This represents the maximum state of charge of the battery energy storage subsystem. Improve battery charging efficiency; This represents the power amplitude of the battery energy storage subsystem under the current candidate power allocation. This is the equivalent capacitance of the supercapacitor energy storage subsystem. This is the current terminal voltage of the supercapacitor; This is the minimum permissible terminal voltage of the supercapacitor; This is the maximum permissible terminal voltage of the supercapacitor; This represents the power amplitude of the supercapacitor energy storage subsystem under the current candidate power allocation. The moment of inertia of the flywheel energy storage subsystem; This represents the current rotational speed of the flywheel. This is the minimum permissible speed of the flywheel; This is the maximum permissible speed of the flywheel; This represents the power amplitude of the flywheel energy storage subsystem under the current candidate power allocation.

[0067] Understandably, based on the candidate power amplitude, the equivalent loss power of the hybrid energy storage subsystem is calculated, and the predicted temperature is determined in conjunction with the equivalent thermal model. The time it takes for the predicted temperature to reach the temperature protection boundary corresponding to the total power task direction is taken as the thermal safety support duration. The energy support duration is calculated based on the candidate power amplitude, the remaining available energy of the hybrid energy storage subsystem, or the remaining receiveable energy of the hybrid energy storage subsystem. Both temperature constraints and energy constraints can be introduced simultaneously to achieve a multi-dimensional assessment of the support capability of the hybrid energy storage system, thereby improving the operational safety of the hybrid energy storage system.

[0068] In some embodiments, power allocation among hybrid energy storage subsystems is performed based on the actual available support duration, the duration of the safety mission, and the candidate power, including: determining the dynamic permissible power amplitude of the hybrid energy storage subsystem based on the actual available support duration, the duration of the safety mission, and the candidate power; when it is determined based on the dynamic permissible power amplitude and the candidate power amplitude that there is a power migration requirement between the hybrid energy storage subsystems, determining the power amplitude to be migrated and the remaining permissible power amplitude of the hybrid energy storage subsystem based on the candidate power amplitude and the dynamic permissible power amplitude; and performing power allocation among the hybrid energy storage subsystems based on the duration of the safety mission, the actual available support duration, the power amplitude to be migrated, and the remaining permissible power amplitude.

[0069] The dynamic permitted power amplitude is denoted as The amplitude of the power to be migrated is denoted as The remaining permitted power amplitude is denoted as .

[0070] In the embodiment, the actual available support duration is determined. Then, it is necessary to consider the duration of the security task. and candidate power Determine the dynamic allowable power amplitude of the hybrid energy storage subsystem Among them, dynamic licensed power Should meet , This represents the temperature-permitted power obtained through temperature prediction and support duration search. Dynamically permitted charging and discharging power are calculated separately for charging and discharging tasks, reflecting directional differences such as low-temperature charging, high-temperature discharging, and temperature constraints of the flywheel power converter.

[0071] The initial power amplitude of the i-th type of energy storage subsystem exceeds its dynamic allowable power amplitude. If a type j energy storage subsystem exists capable of receiving the migrated power, it is determined that there is a power migration requirement between the hybrid energy storage subsystems. In this case, the candidate power amplitude is used as a reference. and dynamic permitted power amplitude Determine the power amplitude to be migrated for different hybrid energy storage subsystems. and remaining permitted power amplitude Specifically, when the initial power amplitude of the i-th type of energy storage subsystem exceeds its dynamic allowable power amplitude... At that time, the excess portion will be determined as the power amplitude to be migrated. ,Right now The total power amplitude to be migrated from all constrained energy storage subsystems is Calculating using power amplitude avoids errors in the sign of the power to be migrated when the charging power is negative. After allocation, the power direction is then considered. Restore the sign of the power commands for each energy storage subsystem. The power amplitude to be migrated is also included. This indicates that the energy storage subsystem has exceeded its dynamic allowable capacity and must relocate its power.

[0072] For the j-th type of energy storage subsystem capable of receiving migrated power, calculate the remaining allowable power amplitude. Among them, the remaining permitted power amplitude The difference between the two power values ​​represents the additional power capacity that the energy storage subsystem can receive on top of the current power.

[0073] Based on the duration of the security task and actual available support duration Control the hybrid energy storage subsystem according to the power amplitude to be migrated and remaining permitted power amplitude Perform power distribution among hybrid energy storage subsystems.

[0074] Understandably, by determining the dynamic permissible power amplitude of the hybrid energy storage subsystem, real-time dynamic power allocation of the hybrid energy storage system can be achieved, improving system control accuracy and reducing control errors. When power migration requirements exist between hybrid energy storage subsystems, determining the power amplitude to be migrated and the remaining permissible power amplitude for different hybrid energy storage subsystems based on candidate power amplitudes and dynamic permissible power amplitudes can avoid the problem of a single energy storage subsystem's power output exceeding the dynamic permissible power boundary, achieving coordinated allocation of the total power task among the energy storage subsystems. Based on this, power allocation can be performed according to the duration of the safety task, the actual available support duration, the power amplitude to be migrated, and the remaining permissible power amplitude, enabling real-time dynamic power allocation among hybrid energy storage subsystems and improving the tracking accuracy of the total power task.

[0075] In some embodiments, after performing power allocation among hybrid energy storage subsystems based on the duration of the safety task, the actual available support duration, the power amplitude to be migrated, and the remaining permitted power amplitude, the method further includes: issuing a power command corresponding to the total power task, continuing to perform power allocation, or issuing a power command corresponding to the execution power limit based on the power allocation result and the relationship between the hybrid energy storage subsystem and the preset safety conditions.

[0076] In this embodiment, after power allocation among the hybrid energy storage subsystems is performed, it is determined whether the hybrid energy storage subsystems meet preset safety conditions based on the power allocation results. If the preset safety conditions are met, a power command corresponding to the total power is issued; if the preset safety conditions are not met, power allocation continues or a power command corresponding to the upper limit of power execution is issued.

[0077] Understandably, based on the power allocation results and the relationship between the hybrid energy storage subsystem and the preset safety conditions, issuing power commands corresponding to the total power task, continuing to execute power allocation, or issuing power commands corresponding to the upper limit of execution power can achieve closed-loop coordinated control of the hybrid energy storage subsystem and improve the operational safety of the hybrid energy storage system.

[0078] In some embodiments, determining the dynamic permissible power amplitude of the hybrid energy storage subsystem based on the actual available support duration, the duration of the safety mission, and the candidate power includes: adjusting the amplitude of the candidate power using a preset search method within the power search interval of the hybrid energy storage subsystem, so that when the width of the power search interval is less than or equal to a preset power error or the number of searches in the search interval reaches the maximum number of iterations, the amplitude of the largest candidate power that satisfies the condition that the actual available support duration is greater than or equal to the duration of the safety mission is taken as the dynamic permissible power amplitude of the hybrid energy storage subsystem.

[0079] In the embodiment, the dynamic permitted power amplitude is determined. At this time, it is necessary to adjust the candidate power amplitude within the power search range of the hybrid energy storage subsystem using a preset search method, such as binary search, fixed step search, or table lookup. After each adjustment, the temperature is re-predicted and the duration of thermal safety support is recalculated. Energy support duration and actual available support duration .

[0080] For example, when the candidate power amplitude Corresponding actual available support duration Not less than the duration of the safety task At that time, increase the candidate power amplitude When the actual available support duration Less than the duration of the safety task At that time, reduce the candidate power amplitude .

[0081] The width of the power search interval is less than or equal to the preset power error, for example, denoted as... Or, the maximum number of iterations is reached within the search interval, for example, denoted as... At that time, it will meet the actual available support duration. Greater than or equal to the duration of the security task The amplitude of the largest candidate power As the dynamic allowable power amplitude of hybrid energy storage systems Determining the maximum dynamic permissible power amplitude that meets the duration requirements of the safety task through a search method can avoid inaccurate control results caused by using a fixed percentage power reduction. In other words, when performing a binary search, it should be determined whether... Or, has the number of searches reached the maximum number of iterations? Within the power search range, it will satisfy The maximum candidate power amplitude is used as the dynamic allowable power of the hybrid energy storage subsystem.

[0082] It is understandable that adjusting candidate power using a preset search method within the power search range of the hybrid energy storage subsystem can achieve candidate power screening and improve control efficiency. Thus, when the width of the power search range is less than or equal to the preset power error or the number of searches in the search range reaches the maximum number of iterations, the amplitude of the largest candidate power that satisfies the requirement that the actual available support duration is greater than or equal to the duration of the safe task is taken as the dynamic permissible power amplitude of the hybrid energy storage subsystem. This can simultaneously satisfy temperature constraints and energy constraints, avoid power output interruptions, and ensure the complete execution of the power task of the hybrid energy storage system.

[0083] In some embodiments, before adjusting the amplitude of the candidate power using a preset search method within the power search range of the hybrid energy storage subsystem, the method further includes: determining an upper limit value for the power search of the hybrid energy storage subsystem based on the rated power limit of the hybrid energy storage subsystem, the power conversion device limit in the hybrid energy storage subsystem, the current limit of the hybrid energy storage subsystem, the base temperature allowable power of the hybrid energy storage subsystem, and the power variation limit of the hybrid energy storage subsystem; and determining the power search range based on the upper limit value and the preset lower limit value.

[0084] In this embodiment, a preset search method is used to adjust the candidate power amplitude. Previously, it was also necessary to consider the rated power limits of the hybrid energy storage subsystem, the power conversion device limits in the hybrid energy storage subsystem, the current limits of the hybrid energy storage subsystem, and the permissible power at the base temperature. The upper limit of the power search for the hybrid energy storage subsystem is determined by the power variation limit, for example, denoted as . Search for the upper limit based on power. The power search range is determined by the preset power lower limit value.

[0085] In other words, the rated power limit of the equipment, the power conversion device limit, the current limit, and the permissible power at the base temperature are determined separately. In addition to the power change rate limit, the minimum value among the above limits is determined as the upper limit of the power search. From zero to For the search interval, binary search, fixed step size search, or table lookup methods are used to change the candidate power amplitude. Understandably, before adjusting the amplitude of candidate power using a preset search method, the upper limit of the power search for the hybrid energy storage subsystem is determined based on the rated power limit, power conversion device limit, current limit, base temperature allowable power, and power variation limit of the hybrid energy storage subsystem. The power search range is then determined based on the upper limit and the preset lower limit. This approach can prevent the power search from exceeding the system limits and improve the system's reliability.

[0086] In some embodiments, power allocation among hybrid energy storage subsystems is performed based on the duration of the safety mission, the actual available support duration, the power amplitude to be migrated, and the remaining permitted power amplitude. This includes: determining the time support margin of the hybrid energy storage subsystem based on the duration of the safety mission and the actual available support duration; determining a target time support margin based on the time support margin and a preset small amount when the time support margin is greater than a minimum receiving margin threshold; determining a power migration capability index of the hybrid energy storage subsystem based on the target time support margin, the rated power of the hybrid energy storage subsystem, and the remaining permitted power amplitude; controlling the allocation of the power amplitude to be migrated to the hybrid energy storage subsystem based on the power migration capability index; and determining the actual allocated power amplitude of the hybrid energy storage subsystem, wherein the actual allocated power amplitude is less than or equal to the remaining permitted power amplitude.

[0087] The time support margin is denoted as Preset small quantity is recorded as Power mobility is indicated by... .

[0088] In this embodiment, when allocating power, it is necessary to first consider the duration of the safety task. and the actual available support time of the hybrid energy storage subsystem Determine the time support margin of the hybrid energy storage subsystem With time support margin When the threshold for receiving data is greater than the minimum receiving margin threshold, a time-based support margin is provided. and preset small amount Determine the target time support margin. Then, based on the target time support margin, the rated power of the hybrid energy storage subsystem, and the remaining permissible power amplitude. Calculate the power mobility index of the hybrid energy storage subsystem This allows for the control of the allocation of power amplitude to be migrated within the hybrid energy storage subsystem. This allows for the determination of the actual allocated power amplitude of the hybrid energy storage subsystem, where the actual allocated power amplitude is less than or equal to the remaining permissible power amplitude. .

[0089] Specifically, time support margin Set the response capability coefficient according to the response speed of the energy storage subsystem. The power mobility index of the j-th type of energy storage subsystem is determined as follows: Among them, a small amount is preset. Used to improve the numerical stability of the power mobility index calculation process. Power mobility index The larger the value, the greater the remaining allowable power, time support margin, and response capability of the energy storage subsystem. Let represent the actual available support duration of the j-th type of energy storage subsystem. In the formula, the parameter subscripts i and j represent the i-th and j-th types of energy storage subsystems, respectively.

[0090] Then, according to the power migration capability index of the receiving energy storage subsystem. Assign power amplitude to be migrated The migration power amplitude received by the j-th type energy storage subsystem is and satisfy The candidate power amplitude after migration is When a certain energy storage subsystem reaches the dynamic permissible power amplitude... Then, the unallocated remaining power will be further allocated to other entities that still have remaining permitted power. The energy storage subsystem. Among them, This is the sum of the power amplitudes to be migrated from all constrained energy storage subsystems that require power migration. This is the sum of the power migration capability indicators of the energy storage subsystems that are currently participating in receiving the migrated power and have remaining permitted power; Let be the candidate power amplitude of the j-th type of energy storage subsystem before migration.

[0091] When the power of one energy storage subsystem is limited, the remaining allowable power of other energy storage subsystems will be used as a basis. Time support margin By transferring power based on response capability and re-verifying the transferred power with temperature and support duration, a closed-loop coordinated control can be formed.

[0092] Understandably, by determining the time support margin of the hybrid energy storage subsystem through the duration of the safety mission and the actual available support duration of the hybrid energy storage subsystem, a coordinated assessment of both time and power dimensions can be achieved. Based on the time support margin and the preset small amount, the target time support margin can be calculated. Combined with the remaining permitted power and the rated power, the power migration capability index of the hybrid energy storage subsystem can be calculated. This allows control over the allocation of power to be migrated to the hybrid energy storage subsystem, determining the actual power allocation amplitude of the hybrid energy storage subsystem. This enables the reliable execution of the total power mission under multiple constraints of temperature, energy, and time.

[0093] In some embodiments, before issuing the power command corresponding to the total power task based on the power allocation result and the relationship between the hybrid energy storage subsystem and the preset safety conditions, the method further includes: issuing the power command corresponding to the total power task when the power amplitude allocation to be migrated is completed and the hybrid energy storage subsystem acquired again meets the preset safety conditions. The preset safety conditions include that the actual available support time of each hybrid energy storage subsystem participating in the total power task is not less than the duration of the safety task and the sum of the dynamic permitted power amplitudes of each hybrid energy storage subsystem is not less than the amplitude of the total power task.

[0094] In this embodiment, before issuing the power command corresponding to the total power task, after the power migration allocation is completed, the temperature of the three types of energy storage subsystems under the migrated power is re-predicted, and the thermal safety support duration is recalculated. Energy support duration and actual available support duration When the hybrid energy storage subsystem meets the preset safety conditions, a power command corresponding to the total power task is issued. The preset safety conditions include the actual available support time of each hybrid energy storage subsystem participating in the total power task. All are no less than the duration of the safety mission. Furthermore, the sum of the dynamic permissible power amplitudes of each hybrid energy storage subsystem is not less than the total power target amplitude. .

[0095] When the dynamic permissible power of the three types of energy storage subsystems The sum of these values ​​is not less than the total power amplitude. At that time, the final power command of each energy storage subsystem is output, for example, denoted as... , and satisfy .in, This represents the final power amplitude of the i-th type of energy storage subsystem; This is the final power command for the battery energy storage subsystem; This is the final power command for the supercapacitor energy storage subsystem; This is the final power command for the flywheel energy storage subsystem; The power direction coefficient is used during discharge. During charging ; This is the total power task command for the hybrid energy storage system.

[0096] It is understandable that after the power amplitude allocation to be migrated is completed, when the hybrid energy storage subsystem meets the preset safety conditions, the power command corresponding to the total power task is issued, which can realize the complete closed loop of the hybrid energy storage system and improve the operational reliability of the system.

[0097] In some embodiments, before issuing the power command corresponding to the upper limit of the execution power based on the power allocation result and the relationship between the hybrid energy storage subsystem and the preset safety conditions, the method further includes: the hybrid energy storage subsystem to be migrated has been allocated but the hybrid energy storage subsystem acquired again does not meet the preset safety conditions.

[0098] In this embodiment, after the power amplitude to be migrated is allocated, it is necessary to determine whether the hybrid energy storage subsystem being acquired again meets the preset safety conditions. If the hybrid energy storage subsystem does not meet the preset safety conditions, the power allocation will continue or a power command corresponding to the upper limit of the execution power will be issued.

[0099] When the actual available support time of any energy storage subsystem Less than the duration of the safety task At that time, recalculate the dynamic permitting power. The power migration will continue until all energy storage subsystems meet the safety mission duration requirements, or the dynamic allowable power of the three types of energy storage subsystems is reached. The sum of these is insufficient to complete the total power task.

[0100] When the sum of the dynamic permissible power amplitudes of the three types of energy storage subsystems is less than the total power amplitude At that time, the system's executable power amplitude is denoted as, for example, as... , and output the system's executable power, for example, denoted as , At the same time, it feeds back power limit information to the controller to prevent the energy storage subsystem from triggering protection or unplanned shutdown in order to force the hybrid energy storage system to track power tasks that exceed the current temperature and energy support capacity.

[0101] When the overall support capacity of the three types of energy storage subsystems is insufficient, the upper limit of the current executable power of the output system can avoid forcibly executing power tasks that exceed the actual temperature and energy support capacity, which could lead to over-temperature protection, energy exceeding limits, or unplanned shutdowns.

[0102] It is understandable that if the hybrid energy storage subsystem acquired again does not meet the preset safety conditions after the power amplitude allocation to be migrated is completed, the power allocation will continue to be executed or the power command corresponding to the upper limit of the execution power will be issued. This can ensure the safe operation of the system, reduce safety risks, and maintain the system output capacity.

[0103] In some embodiments, determining the candidate power amplitude of the hybrid energy storage subsystem in the hybrid energy storage system based on the total power task amplitude, the task characteristic parameters of the hybrid energy storage system, and the energy storage state of the hybrid energy storage system includes: determining the candidate power amplitude based on the total power task amplitude, the rate of change of the total power task, the frequency characteristics of the total power task, the expected duration, and the energy change of the hybrid energy storage system, wherein the expected duration and the safety reserve time are used to determine the duration of the safety task.

[0104] In the embodiment, when determining the candidate power amplitude of the hybrid energy storage subsystem At this time, it is necessary to first obtain the total power task and the expected duration of the total power task of the hybrid energy storage system through the controller. Then, based on the total power task's power amplitude. The rate of change of total power task, the frequency characteristics of total power task, and the expected duration. Determining candidate power amplitudes based on energy changes in hybrid energy storage systems .

[0105] For example, during system operation, the total power task amplitude is determined. At the same time, obtain the estimated duration of the current power task. Expected duration This can be provided directly by the controller; if the controller does not provide the estimated duration... Then the preset rolling prediction time window will be used as the expected duration. Alternatively, it can be determined based on the direction holding time, amplitude change rate, and duration of similar historical power commands within the most recent preset time range. If the power command direction changes, or the power amplitude change exceeds a set threshold, the power task is re-identified and the estimated duration is updated. Among them, the expected duration and safety reserve time Used to determine the duration of a security task .

[0106] Then, based on the total power task amplitude rate of change, frequency characteristics, and expected duration Based on the energy state of each energy storage subsystem, candidate power amplitudes are generated for the battery energy storage subsystem, supercapacitor energy storage subsystem, and flywheel energy storage subsystem, for example, denoted as follows: , and .in, .

[0107] It should be noted that the signed candidate power of each energy storage subsystem is Among them, the battery energy storage subsystem prioritizes power components with longer durations and lower frequency of change, the supercapacitor energy storage subsystem prioritizes instantaneous peak power with larger rate of change, and the flywheel energy storage subsystem prioritizes medium- and high-frequency power with frequent changes.

[0108] Understandably, by calculating the candidate power amplitude of each energy storage subsystem based on the total power task power amplitude, the rate of change of the total power task, the frequency characteristics of the total power task, the expected duration, and the energy change of the hybrid energy storage system, and by determining the duration of the safety task through the expected duration and the safety reserve time, data support can be provided for the power allocation of the hybrid energy storage system.

[0109] In some embodiments, before determining the dynamic permissible power amplitude of the hybrid energy storage subsystem based on the actual available support duration, the duration of the safety mission, and the candidate power, the method further includes: establishing a mapping table between the control temperature and the base temperature permissible power of the hybrid energy storage subsystem, wherein the mapping table includes the normal operation zone, the temperature-restricted zone, and the prohibited operation zone of the hybrid energy storage subsystem; obtaining the current temperature of the hybrid energy storage subsystem; determining the base temperature permissible power corresponding to the current temperature state based on the current temperature and the mapping table, wherein when the hybrid energy storage subsystem is a battery, if it is determined that the current temperature of the battery is lower than the low-temperature charging limit temperature in the temperature-restricted zone, the base temperature permissible power is reduced; if it is determined that the current temperature of the battery is lower than the prohibited charging temperature in the prohibited operation zone, the base temperature permissible charging power in the base temperature permissible power is set to zero.

[0110] The permissible power at the base temperature is denoted as: .

[0111] In this embodiment, before determining the dynamic permissible power amplitude of the hybrid energy storage subsystem, it is necessary to establish the base temperature permissible power of the hybrid energy storage subsystem. The mapping table includes, for example, the normal operation zone, temperature-restricted zone, and prohibited operation zone of a hybrid energy storage subsystem. Then, based on the current temperature and the mapping table, the baseline temperature-permissible power corresponding to the current temperature state is determined. If the hybrid energy storage subsystem is a battery, when the current temperature of the battery is determined to be lower than the low-temperature charging limit temperature in the temperature-restricted zone, the base temperature permissible power is reduced; when the current temperature of the battery is determined to be lower than the prohibited charging temperature in the prohibited operation zone, the base temperature permissible charging power of the battery is set to zero.

[0112] Specifically, power-direction relationships are established for the battery energy storage subsystem, the supercapacitor energy storage subsystem, and the flywheel energy storage subsystem, respectively. The corresponding temperature-power capability mapping relationship is established, and the basic temperature-permissible power is determined based on the current temperature conditions. The temperature-power capability mapping relationship includes at least the normal operating zone, the temperature-limited zone, and the prohibited operating zone, with temperature boundaries set for both the charging and discharging directions. If the current temperature of each energy storage subsystem is within the normal operating zone, the base temperature permissible power... It can be equal to the rated power of the corresponding equipment; if the current temperature of each energy storage subsystem is in the temperature-limited zone, the allowable power at the base temperature is reduced according to the current temperature, temperature difference, temperature rise rate, and cooling status. If the current temperature of each energy storage subsystem reaches the prohibited operating boundary in the corresponding power direction, the base temperature allowable power will be adjusted. Set to zero. Here, temperature refers to the control temperature used for temperature-power capability mapping in each energy storage subsystem, and power refers to the basic temperature-permissible upper limit that allows the energy storage subsystem to continue operating under the current temperature state and current charging / discharging direction. Rated power is one of the upper limits of this permissible power within the normal temperature range. The battery's charging and discharging capabilities at low temperatures need to be determined separately. For example, when the battery temperature is below the low-temperature charging limit temperature, its basic temperature-permissible charging power is reduced, but the corresponding discharging power can be retained based on the battery's low-temperature discharging capability; when the battery temperature is below the prohibited charging temperature, the basic temperature-permissible charging power is set to zero, and the basic temperature-permissible discharging power is determined based on the temperature-power capability corresponding to the discharging direction. This method avoids logical errors caused by judging low-temperature charging capability solely by predicting the time to reach the high-temperature upper limit. Determining the corresponding temperature-permissible capability based on the power direction can address the inconsistency between the battery's low-temperature charging and discharging capabilities.

[0113] Understandably, by establishing a mapping table between the control temperature and the allowable power at the base temperature of the hybrid energy storage subsystem, and combining this with the current temperature to determine the allowable power at the base temperature corresponding to the current temperature state, dynamic adaptation of the temperature-power boundary can be achieved, improving control accuracy. By distinguishing the allowable power at the base temperature of the battery energy storage subsystem under different temperature scenarios, the differences in the power tolerance of the battery under high and low temperature conditions can be differentiated, avoiding overheating damage to the battery energy storage subsystem under extreme temperature conditions, thereby improving the operational reliability of the hybrid energy storage system.

[0114] In related technologies, hybrid energy storage systems typically allocate power based on fixed temperature thresholds. For example, power is reduced or operation is stopped once the current temperature reaches a warning or protection threshold. However, this method can only determine whether the energy storage subsystem is currently overheating; it cannot determine how long it can operate safely at the current power level, nor can it determine whether it can fully execute the current power task. Furthermore, due to the differences in heat-generating components, thermal inertia, and key temperature parameters limiting power capacity among batteries, supercapacitors, and flywheels, using a uniform temperature range or a fixed reduction ratio makes it difficult to accurately reflect the actual power support capabilities of the three types of energy storage subsystems.

[0115] To address the aforementioned issues, in some embodiments, the thermal safety support duration is determined based on the time it takes for the predicted temperature to reach the temperature protection boundary corresponding to the total power task direction. This includes: when the hybrid energy storage subsystem is a flywheel energy storage subsystem, which includes a motor stator, magnetic bearings, and a power converter, the initial thermal safety support duration for the flywheel energy storage subsystem is determined by using the time it takes for the predicted temperature of the motor stator, magnetic bearings, and power converter to reach the temperature protection boundary corresponding to the total power task direction as the initial thermal safety support duration for the motor stator, magnetic bearings, and power converter. The component with the smallest initial thermal safety support duration among the motor stator, magnetic bearings, and power converter is then selected. The thermal safety support duration of the flywheel energy storage subsystem is determined as follows: When the hybrid energy storage subsystem is a battery energy storage subsystem, the time it takes for the predicted temperature to reach the temperature protection boundary corresponding to the total power task direction is determined based on the highest cell temperature, cell temperature difference, and temperature protection boundary corresponding to the total power task direction of the battery energy storage subsystem. When the hybrid energy storage subsystem is a supercapacitor energy storage subsystem, the time it takes for the predicted temperature to reach the temperature protection boundary corresponding to the total power task direction is determined based on the temperature capability corresponding to the highest single cell temperature, module temperature difference, and equivalent series internal resistance of the supercapacitor energy storage subsystem.

[0116] The thermal safety support time of the flywheel energy storage subsystem is denoted as: The thermal safety support time of the battery energy storage subsystem is denoted as... The thermal safety support time of the supercapacitor energy storage subsystem is denoted as... .

[0117] In the embodiment, the duration of thermal safety support is determined. First, the type of hybrid energy storage subsystem needs to be determined. If the hybrid energy storage subsystem is a flywheel energy storage subsystem, then the time it takes for the predicted temperatures of the motor stator, magnetic bearing, and power converter to reach the temperature protection boundary corresponding to the total power task direction should be taken as the initial thermal safety support time for the motor stator, magnetic bearing, and power converter. The subsystem with the smallest initial thermal safety support time should be taken as the thermal safety support time for the flywheel energy storage subsystem. If the hybrid energy storage subsystem is a battery energy storage subsystem, then the thermal safety support duration of the battery energy storage subsystem needs to be determined based on the highest cell temperature, cell temperature difference, and temperature protection boundary corresponding to the total power task direction of the battery energy storage subsystem. If the hybrid energy storage subsystem is a supercapacitor energy storage subsystem, then the thermal safety support duration of the supercapacitor energy storage subsystem needs to be determined based on the temperature capability corresponding to the highest single-unit temperature, module temperature difference, and equivalent series internal resistance of the supercapacitor energy storage subsystem. In the flywheel energy storage subsystem, the initial thermal safety support time of the motor stator is denoted as... The initial thermal safety support time of the magnetic levitation bearing is denoted as The initial thermal safety support time of the power converter is denoted as .

[0118] In other words, for battery energy storage subsystems, thermal safety support duration Determined based on the highest cell temperature, cell temperature difference, and temperature boundary in the corresponding power direction; for supercapacitor energy storage subsystems, thermal safety support duration. The temperature capability is determined based on the highest unit temperature, module temperature difference, and equivalent series internal resistance; for the flywheel energy storage subsystem, the initial thermal safety support time of the motor stator is calculated separately. Initial thermal safety support duration of magnetic levitation bearings Initial thermal safety support duration of power converter The minimum value among the three is determined as the thermal safety support duration of the flywheel energy storage subsystem. ,Right now .

[0119] Understandably, based on the type of hybrid energy storage subsystem and the characteristics of each hybrid energy storage subsystem, the thermal safety support duration of the hybrid energy storage subsystem is determined to achieve differentiated assessment of the thermal safety support capabilities of different hybrid energy storage subsystems. This avoids calculation deviations caused by using a unified temperature rise judgment standard, thereby providing a temperature constraint basis for the coordinated control of hybrid energy storage subsystems.

[0120] The following is for reference. Figure 4 Describe the process of temperature prediction and thermal safety support duration calculation for each energy storage subsystem.

[0121] like Figure 4 The diagram shows a flowchart of temperature prediction and thermal safety support duration calculation for each energy storage subsystem according to an embodiment of the present invention. Figure 4 It is understood that the temperature prediction and thermal safety support duration calculation process of each energy storage subsystem in the embodiments of the present invention includes at least steps S121-S123.

[0122] Step S121: Obtain the current temperature of the battery energy storage subsystem, for example, denoted as... The rate of temperature rise, for example, is denoted as... Candidate power and cooling status; obtain the current temperature of the supercapacitor energy storage subsystem, for example, denoted as Temperature rise rate Candidate power Equivalent series internal resistance and cooling status; obtain the motor stator temperature of the flywheel energy storage subsystem, for example, denoted as Magnetic levitation bearing temperature Power converter temperature Candidate power And cooling status. Based on the above parameters, calculate and input the candidate power and status.

[0123] Step S122: Calculate the equivalent power loss of the battery based on the relevant parameters of the battery energy storage subsystem, for example, denoted as... , And based on temperature prediction models, such as thermal models Predicting the future temperature of a battery, for example, denoted as... Among them, the equivalent power loss of batteries during charging and discharging is different; This is the equivalent heat capacity of the battery. The current of the battery energy storage subsystem; This is the equivalent internal resistance of the battery energy storage subsystem; This refers to the reversible thermal power of the battery. Predict battery temperature; Ambient temperature; The equivalent thermal resistance of the battery; The heat dissipation power of the battery cooling system; This is the time domain for temperature prediction. Based on the relevant parameters of the supercapacitor energy storage subsystem, the equivalent power loss of the supercapacitor is calculated, for example, denoted as... , And based on temperature prediction models, such as thermal models predict ,in, This refers to the current in the supercapacitor energy storage subsystem. The equivalent series internal resistance of the supercapacitor energy storage subsystem; This refers to the equivalent heat capacity of a supercapacitor. Predicting temperature for supercapacitors; Ambient temperature; The equivalent thermal resistance of a supercapacitor; This refers to the heat dissipation power of the supercapacitor cooling system. Based on the relevant parameters of the flywheel energy storage subsystem, the equivalent power loss of the flywheel is calculated, for example, denoted as... , And based on temperature prediction models, such as multi-component temperature prediction models Predict the temperature of each component to the predicted range. ,in, This refers to the copper loss power of the motor; This refers to the iron loss power of the motor. This refers to the power loss of the magnetic levitation bearing. Power loss due to wind resistance; Power loss in the power converter; This is the equivalent heat capacity of the motor stator; This represents the equivalent power loss of the motor stator. Predicting temperature for the motor stator; Ambient temperature; The equivalent thermal resistance of the motor stator; The heat dissipation power of the motor stator cooling system; This represents the equivalent heat capacity of the magnetic levitation bearing. This represents the equivalent power loss of the magnetic levitation bearing. Predicting temperature for magnetic levitation bearings; Ambient temperature; The equivalent thermal resistance of the magnetic levitation bearing; The heat dissipation power of the magnetic levitation bearing cooling system; This is the equivalent heat capacity of the power converter; This represents the equivalent power loss of the power converter. Predicting temperature for power converters; Ambient temperature; The equivalent thermal resistance of the power converter; The heat dissipation power of the power converter cooling system; This represents the time domain for temperature prediction.

[0124] Step S123: Construct temperature prediction curves for each energy storage subsystem and calculate the thermal safety support duration of the energy storage subsystem. Among them, the thermal safety support duration of the battery energy storage subsystem. Thermal safety support duration of the supercapacitor energy storage subsystem In the flywheel energy storage subsystem, the thermal safety support time for each component is: The thermal safety support time of the flywheel energy storage subsystem is .in, To predict temperature, To limit the temperature, For the duration of thermal safety support for the motor stator, For the duration of thermal safety support of magnetic levitation bearings, The thermal safety support duration of the power converter is given by the parameter subscripts bat, sc, m, brg, and c in the formula, which represent the battery, supercapacitor, motor stator, magnetic levitation bearing, and power converter, respectively.

[0125] The following is for reference. Figure 5 Describe the matching relationship between the actual available support duration and the duration of the security mission.

[0126] like Figure 5 The diagram illustrates the matching relationship between the actual available support duration and the duration of the security task in one embodiment of the present invention. Figure 5 It is understood that, in some embodiments, in order to shorten the control delay and reduce the prediction error, the predicted duration is... Based on this, set a safety reserve time, for example, denoted as... Thus, the duration of the safety mission is obtained. Among them, the safety reserve time The temperature prediction range is determined based on temperature prediction error, sampling period, communication delay, and power execution delay. It should be no less than .

[0127] In this embodiment, the task matching coefficient is calculated based on different matching relationships, for example, denoted as... , .when At that time, the hybrid energy storage system can safely complete the task and enter the power migration and system verification phase; when At this time, the hybrid energy storage system can complete the task but has insufficient margin, so the candidate power is reduced and the actual available support time is recalculated; when If the hybrid energy storage system is unable to complete the task, it will reduce its candidate power or cease undertaking the task, and will be recalculated and enter the next round of verification. .

[0128] In some embodiments, during the process of issuing the power command corresponding to the total power task, continuing to execute the power allocation, or issuing the power command corresponding to the upper limit of the execution power, the process further includes: when the executable power of the hybrid energy storage subsystem is limited, when it is determined that the temperature of the hybrid energy storage subsystem is within a preset temperature range and the temperature rise rate is less than a preset rate and the actual available support time is not less than a preset safe time, the executable power is restored.

[0129] In this embodiment, during the power command issuance process, if the executable power of the hybrid energy storage subsystem is limited, and the temperature of the hybrid energy storage subsystem is within a preset temperature range and the temperature rise rate is less than a preset rate, and the actual available support time is limited... When the time is not less than the preset safety duration, restore the executable power.

[0130] For example, such as Figure 6 The diagram shown illustrates hysteresis recovery, power variation limiting, and online model calibration according to an embodiment of the present invention. Figure 6 It can be seen that when a certain energy storage subsystem is limited by its actual usable support time... After reducing power due to insufficient power, it is only effective if the temperature returns to the recovery temperature range, the temperature rise rate is less than or equal to zero, and the actual usable support time is [not specified]. Not less than Power can only be gradually restored when the time is right, among which To restore additional margin, the power change rate of each energy storage subsystem is limited to avoid frequent power jumps between different energy storage subsystems.

[0131] It is understandable that when the executable power of the hybrid energy storage subsystem is limited, if the temperature of the hybrid energy storage subsystem is within the preset temperature range and the temperature rise rate is less than the preset rate and the actual available support time is not less than the preset safe time, then the executable power can be restored. This can realize closed-loop control of the power distribution of the hybrid energy storage system, avoid the hybrid energy storage subsystem from frequently entering power limitation and power restoration near the critical state, suppress frequent power migration and power oscillation between different energy storage subsystems, and thus improve the stability of the power control of the hybrid energy storage system.

[0132] In some embodiments, after issuing the power command corresponding to the total power task, continuing to execute the power allocation, or issuing the power command corresponding to the execution power limit, the method further includes: obtaining the actual temperature of the hybrid energy storage subsystem; calculating the temperature difference between the actual temperature and the predicted temperature; and correcting the equivalent thermal resistance, equivalent heat capacity, equivalent loss coefficient, and / or cooling capacity parameters of the preset equivalent thermal model based on the temperature difference.

[0133] In this embodiment, after the power command is issued, it is also necessary to obtain the actual temperature of the hybrid energy storage subsystem and calculate the temperature difference between the actual temperature and the predicted temperature, so as to correct the equivalent thermal resistance, equivalent heat capacity, equivalent loss coefficient and / or cooling capacity parameters of the preset equivalent thermal model.

[0134] In other words, after executing the final power command, the actual temperature of each energy storage subsystem is collected, and the equivalent thermal resistance, equivalent heat capacity, equivalent loss coefficient or cooling capacity parameters are corrected according to the error between the actual temperature and the predicted temperature, so that the temperature prediction model can adapt to changes in ambient temperature, equipment aging and changes in cooling capacity.

[0135] It is understandable that by obtaining the actual temperature of the hybrid energy storage subsystem and calculating the temperature difference between the actual and predicted temperatures, the equivalent thermal resistance, equivalent heat capacity, equivalent loss coefficient, and / or cooling capacity parameters of the preset equivalent thermal model can be corrected. This can enable adaptive changes in the temperature prediction model and improve the reliability of the hybrid energy storage system.

[0136] The following is for reference. Figures 7-9 The power distribution process of the hybrid energy storage system according to an embodiment of the present invention is described.

[0137] In some embodiments, such as Figure 7 The diagram shown illustrates the dynamic licensed power generation and power migration process according to an embodiment of the present invention. Figure 7 It is known that a certain hybrid energy storage system includes a battery energy storage subsystem with a rated power of 3MW, a supercapacitor energy storage subsystem with a rated power of 1MW, and a flywheel energy storage subsystem with a rated power of 2MW. The hybrid energy storage system receives a discharge power command of 4MW, with the power direction... The estimated duration of the power mission A safety margin time is set based on temperature prediction error, sampling period, and power execution delay. Therefore, the duration of the security mission .

[0138] Based on the initial power allocation, the battery energy storage subsystem has a capacity of 2.4MW, the supercapacitor energy storage subsystem has a capacity of 0.6MW, and the flywheel energy storage subsystem has a capacity of 1.0MW, totaling 4MW. Predictions based on the current temperature, state of energy, and initial power of each subsystem indicate that the battery energy storage subsystem has a thermal safety support duration of 25s and an energy support duration of 250s; the supercapacitor energy storage subsystem has a thermal safety support duration of 90s and an energy support duration of 30s; and the flywheel energy storage subsystem has a thermal safety support duration of 120s and an energy support duration of 100s. Therefore, the actual usable support durations for the battery, supercapacitor, and flywheel energy storage subsystems are 25s, 30s, and 100s, respectively. Since the actual usable support durations for the battery and supercapacitor energy storage subsystems are both less than 36s, their candidate power needs to be reduced. The flywheel energy storage subsystem has a larger remaining support capacity.

[0139] A binary search was performed within the rated power, converter power, and basic temperature-permissible power range of the battery energy storage subsystem. When the candidate power of the battery energy storage subsystem decreased to 1.6MW, the thermal safety support duration corresponding to the temperature prediction result was 42s, the energy support duration was 375s, and the actual usable support duration was 42s, which met the 36s safety mission duration requirement. Therefore, 1.6MW was determined as the dynamic permissible power of the battery energy storage subsystem. The usable energy of the supercapacitor energy storage subsystem at the initial power of 0.6MW was 0.6MW × 30s = 18MW·s. When its candidate power decreased to 0.4MW, the energy support duration increased to 45s, and the thermal safety support duration was still greater than 45s. Therefore, 0.4MW was determined as the dynamic permissible power of the supercapacitor energy storage subsystem. The available energy of the flywheel energy storage subsystem at an initial power of 1.0MW corresponds to an energy support duration of 100s, meaning the current available energy is 100MW·s. The energy support duration of the flywheel energy storage subsystem at a power of 2.0MW is 50s, and the thermal safety support duration predicted by temperature is 55s. Therefore, the actual available support duration of the flywheel energy storage subsystem at a power of 2.0MW is 50s, which meets the 36s safety mission duration requirement. Thus, 2.0MW is determined as the dynamic permissible power of the flywheel energy storage subsystem.

[0140] like Figure 8 The diagram shown illustrates the power migration and recalibration process according to an embodiment of the present invention. Figure 8 It is known that the power to be migrated from the battery energy storage subsystem is 2.4 - 1.6 = 0.8 MW, and the power to be migrated from the supercapacitor energy storage subsystem is 0.6 - 0.4 = 0.2 MW, for a total power of 1.0 MW. The initial power of the flywheel energy storage subsystem is 1.0 MW, the dynamic permissible power is 2.0 MW, and it has 1.0 MW of remaining permissible power. Therefore, all the power to be migrated is allocated to the flywheel energy storage subsystem. According to the final power allocation result, the battery energy storage subsystem has 1.6 MW, the supercapacitor energy storage subsystem has 0.4 MW, and the flywheel energy storage subsystem has 2.0 MW, for a total of 4.0 MW. After rechecking, the actual usable support times for the battery energy storage subsystem, the supercapacitor energy storage subsystem, and the flywheel energy storage subsystem are 42 s, 45 s, and 50 s, respectively, all not less than 36 s, which can complete this 30 s discharge task under the conditions of meeting temperature safety constraints and energy state constraints.

[0141] like Figure 9 The diagram shown illustrates multiple application scenarios of a hybrid energy storage system according to an embodiment of the present invention. Figure 9It is known that in the low-temperature charging scenario, the hybrid energy storage system receives a 3MW charging power command with a power direction d = -1 and an expected duration of 60s. Based on the current temperature of the battery energy storage subsystem and the temperature-power capability mapping relationship corresponding to the charging direction, it is determined that the battery energy storage subsystem is in a low-temperature charging restricted zone, with a basic temperature-permissible charging power of 0.8MW, while the permissible discharge power of the battery energy storage subsystem at the same temperature remains 1.5MW. If the initial power allocation assigns 2MW of charging power to the battery energy storage subsystem, then its required charging power amplitude is 2.0 - 0.8 = 1.2MW. The hybrid energy storage system is then controlled to transfer this 1.2MW of charging power to the supercapacitor energy storage subsystem and the flywheel energy storage subsystem, and the temperature and support duration of the transferred supercapacitor energy storage subsystem and flywheel energy storage subsystem are re-checked. This allows for separate judgment of temperature capabilities in the charging and discharging directions, avoiding the erroneous treatment of low-temperature charging restrictions as a uniform charge and discharge temperature restriction.

[0142] In a temperature-constrained scenario for the flywheel energy storage subsystem, the temperatures of the motor stator, magnetic bearing, and power converter at candidate power levels are predicted. The thermal safety support duration is determined to be 90s for the motor stator, 120s for the magnetic bearing, and 25s for the power converter. Therefore, the thermal safety support duration for the flywheel energy storage subsystem is 25s. If the current safety task duration is 40s, the flywheel energy storage subsystem cannot complete the task at the original candidate power. The hybrid energy storage system is then controlled to reduce the dynamic permissible power of the flywheel energy storage subsystem, transferring the reduced power to the battery energy storage subsystem and the supercapacitor energy storage subsystem. Continuous power is preferentially transferred to the battery, while instantaneous power with a high rate of change is preferentially transferred to the supercapacitor energy storage subsystem. This allows identification of specific key components limiting the overall power capability of the flywheel energy storage subsystem, avoiding the misjudgment of its remaining power capability solely based on the motor stator temperature.

[0143] The following is for reference. Figure 10 This invention describes the temperature zoning support duration matching control process of a hybrid energy storage system according to an embodiment of the present invention.

[0144] like Figure 10 The diagram shown illustrates the temperature zoning support duration matching control process of a hybrid energy storage system according to an embodiment of the present invention. Figure 10 It can be seen that, firstly, the total power command, direction, and expected duration are issued by the upper-level controller to determine the duration of the safety task. Based on the status acquisition module, the operating status of the three types of energy storage subsystems, such as temperature, SOC / SOE, voltage / speed, power, and cooling status, are collected and the initial power allocation is generated.

[0145] Then, the equivalent power loss of each energy storage subsystem is calculated using the temperature prediction module, and rolling temperature prediction is performed. The thermal safety support duration, energy support duration, and actual available support duration of each energy storage subsystem are calculated using the support duration calculation module. Dynamically permissible power is generated through the dynamic permissible power generation module, which must simultaneously meet the rated power, converter capacity, current limit, base temperature permissible power, and power change rate limit.

[0146] Based on the power migration module, the power to be migrated and the power migration capability index of each energy storage subsystem are calculated, and the migration power is allocated. The candidate power is updated according to the allocation method. After the migration power allocation is completed, the thermal safety support time, energy support time, and actual available support time of the hybrid energy storage subsystem are obtained again to determine whether the preset safety conditions are met. If they are met, the power command corresponding to the total power task is issued, and the controller receives feedback information such as the executable power limit or the reason for the power limit. If they are not met, the power command corresponding to the executable power limit of the hybrid energy storage system is issued, and the reason for the power limit is fed back. The dynamic permitted power is updated and migration is restarted. The power command output module executes the power and detects the operation.

[0147] When an energy storage subsystem reduces its power due to insufficient actual available support time, a hysteresis recovery judgment is performed. Recovery is only made if the temperature returns to the recovery temperature range, the temperature rise rate is less than or equal to zero, and the actual available support time is not less than [a certain value]. Power can only be gradually restored when the time is right, among which To restore additional margin, the power change rate of each energy storage subsystem is limited to avoid frequent power jumps between different energy storage subsystems.

[0148] After executing the final power command, the actual operating data of each energy storage subsystem, such as power and temperature, are collected, and the model parameters are corrected based on the error between the actual temperature and the predicted temperature. For example, the equivalent thermal resistance, equivalent heat capacity, equivalent loss coefficient or cooling capacity parameters are corrected so that the temperature prediction model can adapt to changes in ambient temperature, equipment aging and changes in cooling capacity.

[0149] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0150] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A power control method for a hybrid energy storage system, characterized in that, include: Obtain the total power task amplitude and the safe task duration of the total power task of the hybrid energy storage system; The candidate power amplitude of the hybrid energy storage subsystem in the hybrid energy storage system is determined based on the total power task amplitude, the task characteristic parameters of the hybrid energy storage system, and the energy storage state of the hybrid energy storage system. The thermal safety support duration and energy support duration of the hybrid energy storage subsystem are determined based on the candidate power amplitude. The actual available support duration of the hybrid energy storage subsystem is determined based on the thermal safety support duration and the energy support duration. Power allocation among the hybrid energy storage subsystems is performed based on the actual available support duration, the duration of the safety mission, and the candidate power.

2. The power control method for a hybrid energy storage system according to claim 1, characterized in that, The step of determining the thermal safety support duration and energy support duration of the hybrid energy storage subsystem based on the candidate power amplitude includes: The equivalent loss power of the hybrid energy storage subsystem is determined based on the candidate power amplitude. The predicted temperature is determined based on the preset equivalent thermal model and the equivalent power loss. Under the candidate power amplitude, the thermal safety support duration is determined based on the time it takes for the predicted temperature to reach the temperature protection boundary corresponding to the total power task direction. If the predicted temperature does not reach the temperature protection boundary corresponding to the total power task direction within a preset time range, then the upper limit of the preset time range or the preset maximum support duration is used as the thermal safety support duration. The energy support duration is determined based on the candidate power amplitude, the remaining available energy of the hybrid energy storage subsystem, or the remaining receivable energy of the hybrid energy storage subsystem.

3. The power control method for a hybrid energy storage system according to claim 1, characterized in that, The step of performing power allocation among the hybrid energy storage subsystems based on the actual available support duration, the duration of the safety mission, and the candidate power includes: determining the dynamic permissible power amplitude of the hybrid energy storage subsystem based on the actual available support duration, the duration of the safety mission, and the candidate power; When it is determined that there is a power migration requirement between the hybrid energy storage subsystems based on the dynamic permitted power amplitude and the candidate power amplitude, the power amplitude to be migrated and the remaining permitted power amplitude of the hybrid energy storage subsystem are determined based on the candidate power amplitude and the dynamic permitted power amplitude. Power allocation among the hybrid energy storage subsystems is performed based on the duration of the safety mission, the actual available support duration, the power amplitude to be migrated, and the remaining permitted power amplitude.

4. The power control method for a hybrid energy storage system according to claim 3, characterized in that, After performing power allocation among the hybrid energy storage subsystems based on the duration of the safety task, the actual available support duration, the power amplitude to be migrated, and the remaining permitted power amplitude, the method further includes: Based on the power allocation results and the relationship between the hybrid energy storage subsystem and the preset safety conditions, a power command corresponding to the total power task is issued, or the power allocation continues, or a power command corresponding to the upper limit of the execution power is issued.

5. The power control method for a hybrid energy storage system according to claim 3, characterized in that, The step of determining the dynamic permissible power amplitude of the hybrid energy storage subsystem based on the actual available support duration, the duration of the safety mission, and the candidate power includes: Within the power search range of the hybrid energy storage subsystem, the amplitude of the candidate power is adjusted using a preset search method. When the width of the power search range is less than or equal to the preset power error or the number of searches in the search range reaches the maximum number of iterations, the amplitude of the largest candidate power that satisfies the requirement that the actual available support duration is greater than or equal to the duration of the safety mission is taken as the dynamic permissible power amplitude of the hybrid energy storage subsystem.

6. The power control method for a hybrid energy storage system according to claim 5, characterized in that, Before adjusting the amplitude of the candidate power using a preset search method within the power search range of the hybrid energy storage subsystem, the method further includes: The upper limit of the power search for the hybrid energy storage subsystem is determined based on the rated power limit of the hybrid energy storage subsystem, the power conversion device limit of the hybrid energy storage subsystem, the current limit of the hybrid energy storage subsystem, the base temperature allowable power of the hybrid energy storage subsystem, and the power variation limit of the hybrid energy storage subsystem. The power search interval is determined based on the upper limit of the power search and the preset lower limit of the power search.

7. The power control method for a hybrid energy storage system according to claim 3, characterized in that, The step of performing power allocation among the hybrid energy storage subsystems based on the duration of the safety task, the actual available support duration, the power amplitude to be migrated, and the remaining permitted power amplitude includes: The time support margin of the hybrid energy storage subsystem is determined based on the duration of the safety mission and the actual available support duration. When the time support margin is greater than the minimum receiving margin threshold, the target time support margin is determined based on the time support margin and the preset small amount; The power migration capability index of the hybrid energy storage subsystem is determined based on the target time support margin, the rated power of the hybrid energy storage subsystem, and the remaining permissible power amplitude. Based on the power migration capability index, the hybrid energy storage subsystem is controlled to allocate the power amplitude to be migrated, and the actual allocated power amplitude of the hybrid energy storage subsystem is determined, wherein the actual allocated power amplitude is less than or equal to the remaining permitted power amplitude.

8. The power control method for a hybrid energy storage system according to claim 4, characterized in that, Before issuing the power command corresponding to the total power task based on the power allocation result and the relationship between the hybrid energy storage subsystem and the preset safety conditions, the process also includes: When the allocation of the power amplitude to be migrated is completed and the hybrid energy storage subsystems are reacquired to meet the preset safety conditions, a power command corresponding to the total power task is issued. The preset safety conditions include that the actual available support time of each hybrid energy storage subsystem participating in the total power task is not less than the duration of the safety task and the sum of the dynamic permitted power amplitudes of each hybrid energy storage subsystem is not less than the amplitude of the total power task.

9. The power control method for a hybrid energy storage system according to claim 4, characterized in that, Before issuing the power command corresponding to the upper limit of power based on the power allocation result and the relationship between the hybrid energy storage subsystem and the preset safety conditions, the method further includes: The hybrid energy storage subsystem whose power amplitude to be migrated has been allocated but is acquired again does not meet the preset safety conditions.

10. The power control method for a hybrid energy storage system according to claim 1, characterized in that, The step of determining the candidate power amplitude of the hybrid energy storage subsystem in the hybrid energy storage system based on the total power task amplitude, the task characteristic parameters of the hybrid energy storage system, and the energy storage state of the hybrid energy storage system includes: The candidate power amplitude is determined based on the total power task power amplitude, the rate of change of the total power task, the frequency characteristics of the total power task, the expected duration, and the energy change of the hybrid energy storage system, wherein the expected duration and the safety reserve time are used to determine the duration of the safety task.

11. The power control method for a hybrid energy storage system according to claim 1, characterized in that, Before determining the dynamic permissible power amplitude of the hybrid energy storage subsystem based on the actual available support duration, the duration of the safety mission, and the candidate power, the method further includes: Establish a mapping table between the control temperature and the base temperature permissible power of the hybrid energy storage subsystem, wherein the mapping table includes the normal operation zone, temperature-limited zone, and prohibited operation zone of the hybrid energy storage subsystem; Obtain the current temperature of the hybrid energy storage subsystem; The basic temperature allowable power corresponding to the current temperature state is determined based on the current temperature and the mapping table. When the hybrid energy storage subsystem is a battery, if the current temperature of the battery is determined to be lower than the low temperature charging limit temperature in the temperature-restricted zone, the basic temperature allowable power is reduced; if the current temperature of the battery is determined to be lower than the prohibited charging temperature in the prohibited operation zone, the basic temperature allowable charging power in the basic temperature allowable power is set to zero.

12. The power control method for a hybrid energy storage system according to claim 2, characterized in that, The determination of the thermal safety support duration based on the time it takes for the predicted temperature to reach the temperature protection boundary corresponding to the total power task direction includes: When the hybrid energy storage subsystem is a flywheel energy storage subsystem, the flywheel energy storage subsystem includes a motor stator, a magnetic levitation bearing, and a power converter. When determining the thermal safety support duration of the flywheel energy storage subsystem, the time when the predicted temperature of the motor stator, the magnetic levitation bearing, and the power converter reaches the temperature protection boundary corresponding to the total power task direction is taken as the initial thermal safety support duration of the motor stator, the magnetic levitation bearing, and the power converter. The initial thermal safety support duration among the motor stator, the magnetic levitation bearing, and the power converter with the smallest initial thermal safety support duration is taken as the thermal safety support duration of the flywheel energy storage subsystem. When the hybrid energy storage subsystem is a battery energy storage subsystem, the time it takes for the predicted temperature to reach the temperature protection boundary corresponding to the total power task direction is determined as the thermal safety support duration of the battery energy storage subsystem based on the highest cell temperature, cell temperature difference, and temperature protection boundary corresponding to the total power task direction of the battery energy storage subsystem. When the hybrid energy storage subsystem is a supercapacitor energy storage subsystem, the time it takes for the predicted temperature to reach the temperature protection boundary corresponding to the total power task direction is determined as the thermal safety support duration of the supercapacitor energy storage subsystem, based on the temperature capability corresponding to the highest single-unit temperature, module temperature difference, and equivalent series internal resistance of the supercapacitor energy storage subsystem.

13. The power control method for a hybrid energy storage system according to claim 4, characterized in that, The process of issuing the power command corresponding to the total power task, continuing to execute power allocation, or issuing the power command corresponding to the power limit also includes: When the executable power of the hybrid energy storage subsystem is limited, the executable power is restored when it is determined that the temperature of the hybrid energy storage subsystem is within a preset temperature range and the temperature rise rate is less than a preset rate, and the actual available support time is not less than a preset safe time.

14. The power control method for a hybrid energy storage system according to claim 4, characterized in that, After issuing the power command corresponding to the total power task, or continuing to execute power allocation, or issuing the power command corresponding to the power limit, the process further includes: Obtain the actual temperature of the hybrid energy storage subsystem; Calculate the temperature difference between the actual temperature and the predicted temperature value; The equivalent thermal resistance, equivalent heat capacity, equivalent loss coefficient, and / or cooling capacity parameters of the preset equivalent thermal model are corrected based on the temperature difference.

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