Power supply systems, mobile devices, control methods and programs

Abstract

The present invention provides a power supply system, a mobile unit, a control method, and a program for suitably estimating the remaining capacity of an energy storage device. [Solution] The power supply system 30 includes an estimation unit 76 that estimates a first remaining capacity, which is the remaining capacity of the first energy storage device 50a, based on the amount of energy charged and discharged by the first energy storage device 50a, and an update control unit 78 that controls a first disconnection device 58a to disconnect the first energy storage device 50a from the first power supply circuit 32a while the second energy storage device 50b is connected to the first power supply circuit 32a via the first connection circuit 44a and the second power supply circuit 32b by controlling the first connection device 46a, and updates the first remaining capacity estimate, which is the first remaining capacity estimated by the estimation unit 76, based on the open-circuit voltage of the first energy storage device 50a.

Description

Technical Field

[0001] The present disclosure relates to a power supply system, a moving body, a control method, and a program.

Background Art

[0002] Japanese Patent Application Laid-Open No. 2004-245673 discloses a technique for obtaining the remaining capacity of a power storage body such as a lithium-ion secondary battery mounted on a hybrid vehicle or the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] A technique capable of preferably estimating the remaining capacity of a power storage device is desired.

[0005] The present disclosure aims to solve the above-described problems.

Means for Solving the Problems

[0006] A first aspect of the present disclosure is a power supply system comprising: a first power supply circuit connected to a first load device; a second power supply circuit connected to a second load device; a first energy storage device connected to the first power supply circuit via a first circuit breaker; a second energy storage device connected to the second power supply circuit via a second circuit breaker; a first connection circuit equipped with a first connection device capable of connecting the first power supply circuit and the second power supply circuit; an estimation unit capable of estimating a first remaining capacity, which is the remaining capacity of the first energy storage device, based on the amount of energy charged and discharged by the first energy storage device; and an update control unit capable of controlling the first circuit breaker to disconnect the first energy storage device from the first power supply circuit while the second energy storage device is connected to the first power supply circuit via the first connection circuit and the second power supply circuit by controlling the first connection device, and updating the first remaining capacity estimate, which is the first remaining capacity estimated by the estimation unit, based on the open-circuit voltage of the first energy storage device.

[0007] A second aspect of this disclosure is a mobile body comprising the power supply system of the first aspect.

[0008] A third aspect of the present disclosure is a control method for controlling a power supply system comprising: a first power supply circuit connected to a first load device; a second power supply circuit connected to a second load device; a first energy storage device connected to the first power supply circuit via a first circuit breaker; a second energy storage device connected to the second power supply circuit via a second circuit breaker; and a first connection circuit equipped with a first connection device capable of connecting the first power supply circuit and the second power supply circuit, the method comprising: a first remaining capacity estimation step of estimating a first remaining capacity, which is the remaining capacity of the first energy storage device, based on the amount of energy charged and discharged by the first energy storage device; and a first remaining capacity estimate update step of, while the second energy storage device is connected to the first power supply circuit via the first connection circuit and the second power supply circuit by controlling the first connection device, the first energy storage device is disconnected from the first power supply circuit by controlling the first circuit breaker, and the first remaining capacity estimate, which is the first remaining capacity estimated in the first remaining capacity estimation step, is updated based on the open-circuit voltage of the first energy storage device.

[0009] A fourth aspect of this disclosure is a program that causes a computer to execute the control method of the third aspect. [Effects of the Invention]

[0010] According to this disclosure, the remaining capacity of the energy storage device can be suitably estimated. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a schematic diagram of the moving object. [Figure 2] Figure 2 is a schematic diagram of a power supply system according to one embodiment. [Figure 3] Figure 3 is a schematic diagram showing an example of a first energy storage device in one embodiment. [Figure 4] Figure 4 is a schematic diagram showing an example of a backflow prevention device in one embodiment. [Figure 5] Figure 5 is a schematic diagram showing another example of a backflow prevention device in one embodiment. [Figure 6] Figure 6 is a control block diagram of a control device in one embodiment. [Figure 7] Figure 7 shows the operation of a power supply system under normal conditions in one embodiment. [Figure 8] Figure 8 is a flowchart of the process for obtaining the remaining capacity. [Figure 9] Figure 9 is a flowchart of the process for obtaining the remaining capacity. [Figure 10] Figure 10 is a flowchart of the state determination process. [Figure 11] Figure 11A shows the relationship between the flight time of the mobile object and its altitude. Figure 11B shows the relationship between the flight time of the mobile object and the error included in the estimated remaining capacity of the energy storage device. [Modes for carrying out the invention]

[0012] The remaining capacity (SOC: State Of Charge) of the power storage device can be calculated based on, for example, the measured value of the open-circuit voltage of the power storage device. In a state where a power supply circuit is connected to the power storage device, the remaining capacity of the power storage device can be estimated by adding and subtracting the amount of charge (charge / discharge power) that has entered and exited the power storage device to / from the known remaining capacity. The remaining capacity thus estimated is referred to as the remaining capacity estimated value. The amount of charge that has entered and exited the power storage device is calculated based on, for example, the measurement value of a sensor (e.g., a current sensor). If the measurement value of the sensor includes an error, the error accumulates in the remaining capacity estimated value. Therefore, it is preferable to eliminate the error included in the remaining capacity estimated value by measuring the open-circuit voltage of the power storage device again after a certain period of time has elapsed.

[0013] However, if the power storage device is simply disconnected from the power supply circuit in order to measure the open-circuit voltage of the power storage device again, there is a risk that power cannot be supplied to the load device.

[0014] According to the present disclosure, it is possible to eliminate the error included in the remaining capacity estimated value of the power storage device while reliably maintaining the power supply to the load device.

[0015] [Moving body 10] FIG. 1 is a schematic diagram of the moving body 10. The moving body 10 of one embodiment is an electric vertical take-off and landing aircraft (eVTOL aircraft). The moving body 10 includes eight VTOL rotors 12. The VTOL rotors 12 generate thrust upward with respect to the airframe 14. The moving body 10 includes eight electric motors 16. One electric motor 16 drives one VTOL rotor 12. The moving body 10 has two cruise rotors 18. The cruise rotors 18 generate thrust forward with respect to the airframe 14. The moving body 10 includes four electric motors 20. Two electric motors 20 drive one cruise rotor 18. The moving body 10 includes a power supply system 30 described later. The moving body 10 is not limited to an aircraft and may be a ship, an automobile, a train, or the like.

[0016] [Configuration of power supply system 30] FIG. 2 is a schematic diagram of a power supply system 30 according to an embodiment. As shown in FIG. 2, the power supply system 30 includes a first power supply circuit 32a, a second power supply circuit 32b, a third power supply circuit 32c, and a fourth power supply circuit 32d. The first power supply circuit 32a supplies the DC power output from the first power generation device 34a to the first load device 36a. The second power supply circuit 32b supplies the DC power output from the second power generation device 34b to the second load device 36b. The third power supply circuit 32c supplies the DC power output from the first power generation device 34a to the third load device 36c. The fourth power supply circuit 32d supplies the DC power output from the second power generation device 34b to the fourth load device 36d.

[0017] The power supply system 30 includes a first power generation device 34a and a second power generation device 34b. The first power generation device 34a includes a first engine 38a, a first generator 40a, and a first converter 42a. The second power generation device 34b includes a second engine 38b, a second generator 40b, and a second converter 42b. The first engine 38a and the second engine 38b are, for example, gas turbine engines. Note that the first engine 38a and the second engine 38b may be other engines such as reciprocating engines. The first generator 40a is driven by the first engine 38a and generates three-phase AC power. The first converter 42a converts the three-phase AC power output from the first generator 40a into DC power. The second generator 40b is driven by the second engine 38b and generates three-phase AC power. The second converter 42b converts the three-phase AC power output from the second generator 40b into DC power.

[0018] The first converter 42a and the second converter 42b may include various sensors such as voltage sensors and current sensors, and elements such as fuses, relays, breakers, diodes, transistors, resistors, coils, and capacitors.

[0019] The power supply system 30 comprises a first load device 36a, a second load device 36b, a third load device 36c, and a fourth load device 36d. Each of the first load device 36a, the second load device 36b, the third load device 36c, and the fourth load device 36d comprises two electric motors 16 and one electric motor 20. An inverter is connected to each of the two electric motors 16 and the electric motor 20. The inverter converts the input DC power into three-phase AC power, and the electric motors 16 (or electric motor 20) are driven by the three-phase AC power. The first load device 36a, the second load device 36b, the third load device 36c, and the fourth load device 36d may have a DC / DC converter and a low-voltage drive device (not shown). The DC / DC converter reduces the voltage of the input DC power, and the low-voltage drive device is driven by the DC power.

[0020] The first load device 36a, second load device 36b, third load device 36c, and fourth load device 36d may have various sensors such as voltage sensors and current sensors, fuses, relays, circuit breakers, diodes, transistors, resistors, coils, and capacitors. Multiple first load devices 36a may be connected in parallel to each other in the first power supply circuit 32a. Multiple second load devices 36b may be connected in parallel to each other in the second power supply circuit 32b. Multiple third load devices 36c may be connected in parallel to each other in the third power supply circuit 32c. Multiple fourth load devices 36d may be connected in parallel to each other in the fourth power supply circuit 32d.

[0021] The power supply system 30 includes a first connection circuit 44a and a second connection circuit 44b. The first connection circuit 44a is equipped with a first connection device 46a. The second connection circuit 44b is equipped with a second connection device 46b.

[0022] The first connection device 46a can connect the first power supply circuit 32a and the second power supply circuit 32b. The first connection device 46a switches between a state in which the first power supply circuit 32a and the second power supply circuit 32b are connected and a state in which the first power supply circuit 32a and the second power supply circuit 32b are disconnected by a contactor (not shown).

[0023] Similarly, the second connection device 46b can connect the third power supply circuit 32c and the fourth power supply circuit 32d. The second connection device 46b switches between a state in which the third power supply circuit 32c and the fourth power supply circuit 32d are connected and a state in which the third power supply circuit 32c and the fourth power supply circuit 32d are disconnected by a contactor (not shown).

[0024] The first connection device 46a and the second connection device 46b may have relays instead of contactors. The first connection device 46a and the second connection device 46b may have circuit breakers instead of contactors. The first connection device 46a and the second connection device 46b may have semiconductor switches instead of contactors.

[0025] Normally, the first power supply circuit 32a and the second power supply circuit 32b are disconnected. This prevents an abnormality in one of the power supply circuits from affecting the other. For example, if an overcurrent occurs in one of the power supply circuits, it prevents the overcurrent from flowing to the other.

[0026] Similarly, the third power supply circuit 32c and the fourth power supply circuit 32d are normally disconnected. This prevents an abnormality in one of the third power supply circuit 32c and the fourth power supply circuit 32d from affecting the other. For example, if an overcurrent occurs in one of the third power supply circuit 32c and the fourth power supply circuit 32d, it prevents the overcurrent from flowing to the other.

[0027] If a malfunction occurs in the power supply from the first power generator 34a to the first power supply circuit 32a, the first connection device 46a connects the first power supply circuit 32a and the second power supply circuit 32b. As a result, power is supplied from the second power supply circuit 32b to the first power supply circuit 32a.

[0028] If a problem occurs in the power supply from the first power generator 34a to the third power supply circuit 32c, the second connection device 46b connects the third power supply circuit 32c and the fourth power supply circuit 32d. As a result, power is supplied from the fourth power supply circuit 32d to the third power supply circuit 32c.

[0029] If a malfunction occurs in the power supply from the second power generator 34b to the second power supply circuit 32b, the first connection device 46a connects the first power supply circuit 32a and the second power supply circuit 32b. This allows power to be supplied from the first power supply circuit 32a to the second power supply circuit 32b.

[0030] If a malfunction occurs in the power supply from the second power generator 34b to the fourth power supply circuit 32d, the second connection device 46b connects the third power supply circuit 32c and the fourth power supply circuit 32d. This allows power to be supplied from the third power supply circuit 32c to the fourth power supply circuit 32d.

[0031] The power supply system 30 includes circuit breakers 48a to 48d. Circuit breaker 48a can disconnect the first power generator 34a from the first power supply circuit 32a and the first connection circuit 44a. Circuit breaker 48b can disconnect the second power generator 34b from the second power supply circuit 32b and the first connection circuit 44a. Circuit breaker 48c can disconnect the first power generator 34a from the third power supply circuit 32c and the second connection circuit 44b. Circuit breaker 48d can disconnect the second power generator 34b from the fourth power supply circuit 32d and the second connection circuit 44b.

[0032] The circuit breaker 48a switches between a state in which the first power generator 34a is disconnected from the first power supply circuit 32a and the first connection circuit 44a, and a state in which the first power generator 34a is connected to the first power supply circuit 32a and the first connection circuit 44a, using a contactor (not shown). Similarly, the circuit breaker 48b switches between a state in which the second power generator 34b is disconnected from the second power supply circuit 32b and the first connection circuit 44a, and a state in which the second power generator 34b is connected to the second power supply circuit 32b and the first connection circuit 44a, using a contactor (not shown).

[0033] Furthermore, the circuit breaker 48c switches between a state in which the first power generator 34a is disconnected from the third power supply circuit 32c and the second connection circuit 44b, and a state in which the first power generator 34a is connected to the third power supply circuit 32c and the second connection circuit 44b, using a contactor (not shown). Similarly, the circuit breaker 48d switches between a state in which the second power generator 34b is disconnected from the fourth power supply circuit 32d and the second connection circuit 44b, and a state in which the second power generator 34b is connected to the fourth power supply circuit 32d and the second connection circuit 44b, using a contactor (not shown).

[0034] The circuit breakers 48a to 48d may have relays instead of contactors. The circuit breakers 48a to 48d may have circuit breakers instead of contactors. The circuit breakers 48a to 48d may have semiconductor switches instead of contactors.

[0035] The power supply system 30 includes a first energy storage device 50a, a second energy storage device 50b, a third energy storage device 50c, and a fourth energy storage device 50d. The first energy storage device 50a is connected in parallel to the first power supply circuit 32a with respect to the first power generator 34a. The second energy storage device 50b is connected in parallel to the second power supply circuit 32b with respect to the second power generator 34b. The third energy storage device 50c is connected in parallel to the third power supply circuit 32c with respect to the first power generator 34a. The fourth energy storage device 50d is connected in parallel to the fourth power supply circuit 32d with respect to the second power generator 34b.

[0036] Figure 3 is a schematic diagram showing an example of a first energy storage device 50a in one embodiment. As shown in Figure 3, the configurations of the second energy storage device 50b, the third energy storage device 50c, and the fourth energy storage device 50d are the same as the configuration of the first energy storage device 50a. The first energy storage device 50a has a battery 52. ​​The battery 52 may be, for example, a lithium-ion battery or another type of battery. The first energy storage device 50a, the second energy storage device 50b, the third energy storage device 50c, and the fourth energy storage device 50d may have a large-capacity capacitor instead of a battery 52.

[0037] The first energy storage device 50a includes a voltage sensor 54 and a current sensor 56. The voltage sensor 54 is connected to the positive terminal and the negative terminal of the battery 52. ​​The voltage sensor 54 measures the potential difference between the terminals of the battery 52. ​​The current sensor 56 is provided on the positive wiring connected to the positive terminal of the battery 52 or on the negative wiring connected to the negative terminal of the battery 52. ​​The current sensor 56 measures the current flowing through the positive wiring or the negative wiring.

[0038] The first energy storage device 50a, the second energy storage device 50b, the third energy storage device 50c, and the fourth energy storage device 50d may also have various other elements such as sensors, fuses, relays, circuit breakers, diodes, transistors, resistors, coils, and capacitors.

[0039] The power supply system 30 is equipped with circuit breakers 58a to 58d. Circuit breaker 58a can disconnect the first energy storage device 50a from the first power supply circuit 32a and the first load device 36a. Circuit breaker 58b can disconnect the second energy storage device 50b from the second power supply circuit 32b and the second load device 36b. Circuit breaker 58c can disconnect the third energy storage device 50c from the third power supply circuit 32c and the third load device 36c. Circuit breaker 58d can disconnect the fourth energy storage device 50d from the fourth power supply circuit 32d and the fourth load device 36d.

[0040] The circuit breaker 58a switches between a state in which the first energy storage device 50a is disconnected from the first power supply circuit 32a and the first load device 36a, and a state in which the first energy storage device 50a is connected to the first power supply circuit 32a and the first load device 36a, using a contactor (not shown). Similarly, the circuit breaker 58b switches between a state in which the second energy storage device 50b is disconnected from the second power supply circuit 32b and the second load device 36b, and a state in which the second energy storage device 50b is connected to the second power supply circuit 32b and the second load device 36b, using a contactor (not shown).

[0041] Furthermore, the circuit breaker 58c switches between a state in which the third energy storage device 50c is disconnected from the third power supply circuit 32c and the third load device 36c, and a state in which the third energy storage device 50c is connected to the third power supply circuit 32c and the third load device 36c, using a contactor (not shown). Similarly, the circuit breaker 58d switches between a state in which the fourth energy storage device 50d is disconnected from the fourth power supply circuit 32d and the fourth load device 36d, and a state in which the fourth energy storage device 50d is connected to the fourth power supply circuit 32d and the fourth load device 36d, using a contactor (not shown).

[0042] The circuit breakers 58a to 58d may have relays instead of contactors. The circuit breakers 58a to 58d may have circuit breakers instead of contactors. The circuit breakers 58a to 58d may have semiconductor switches instead of contactors.

[0043] The power supply system 30 is equipped with reverse current prevention devices 60a to 60d. Reverse current prevention device 60a restricts the supply of power from the first energy storage device 50a to the first power supply circuit 32a and the first power generator 34a. Reverse current prevention device 60b restricts the supply of power from the second energy storage device 50b to the second power supply circuit 32b and the second power generator 34b. Reverse current prevention device 60c restricts the supply of power from the third energy storage device 50c to the third power supply circuit 32c and the first power generator 34a. Reverse current prevention device 60d restricts the supply of power from the fourth energy storage device 50d to the fourth power supply circuit 32d and the second power generator 34b.

[0044] Figure 4 is a schematic diagram showing an example of a reverse current prevention device 60a in one embodiment. As shown in Figure 4, the configurations of the reverse current prevention devices 60b to 60d are the same as the configuration of the reverse current prevention device 60a. The reverse current prevention device 60a includes, for example, a diode 62 and a transistor 64.

[0045] Diode 62 is provided in the positive terminal wiring. When the anode voltage is lower than the cathode voltage, diode 62 conducts almost no current. When the anode voltage becomes higher than the forward voltage relative to the cathode voltage, current flows through diode 62. As a result, power is supplied from the first power generator 34a to the first load device 36a and the first energy storage device 50a via diode 62.

[0046] Transistor 64 is provided by bypassing diode 62. When current flows from the base to the emitter of transistor 64, current flows from the collector to the emitter. This enables power to be supplied from the first energy storage device 50a to the first connection circuit 44a via the first power supply circuit 32a. Diode 62 may be provided in the negative terminal wiring. Alternatively, diode 62 may be provided in both the positive terminal wiring and the negative terminal wiring.

[0047] Furthermore, the reverse current prevention device 60a may be provided with a diode 62, but not with a transistor 64. Also, as shown in Figure 5, the reverse current prevention device 60a may include a switching device such as a contactor 66. The contactor 66 is provided on at least one of the positive terminal wiring and the negative terminal wiring.

[0048] In addition to the configuration described above, the power supply system 30 may also include various sensors such as voltage sensors and current sensors, as well as elements such as fuses, resistors, coils, and capacitors.

[0049] Figure 6 is a control block diagram of a control device 68 in one embodiment. The power supply system 30 includes a control device 68. The control device 68 controls the first converter 42a, the second converter 42b, the first connection device 46a, the second connection device 46b, the circuit breakers 48a to 48d, the circuit breakers 58a to 58d, and the reverse current prevention devices 60a to 60d.

[0050] The control device 68 includes an arithmetic unit 70 and a storage unit 72. The arithmetic unit 70 is, for example, a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). The arithmetic unit 70 includes a system control unit 74, an estimation unit 76, and an update control unit 78. The system control unit 74, the estimation unit 76, and the update control unit 78 are realized by the execution of a program stored in the storage unit 72 in the arithmetic unit 70. At least a portion of the system control unit 74, the estimation unit 76, and the update control unit 78 may be realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array). At least a portion of the system control unit 74, the estimation unit 76, and the update control unit 78 may be realized by an electronic circuit including discrete devices.

[0051] The storage unit 72 is a computer-readable, non-transient, tangible storage medium. The storage unit 72 is composed of volatile memory (not shown) and non-volatile memory (not shown). The volatile memory is, for example, RAM (Random Access Memory). The non-volatile memory is, for example, ROM (Read Only Memory), flash memory, etc. Data is stored in the volatile memory, for example. Programs, tables, maps, etc. are stored in the non-volatile memory, for example. At least a part of the storage unit 72 may be provided in the processor, integrated circuit, etc. mentioned above.

[0052] The system control unit 74 performs various processes and controls on the power supply system 30. For example, the system control unit 74 performs switching control (on / off control) of the transistors 64 (or contactors 66) of the first converter 42a, second converter 42b, first connection device 46a, second connection device 46b, circuit breakers 48a to 48d, circuit breakers 58a to 58d, and reverse current prevention devices 60a to 60d. Meanwhile, the estimation unit 76 and the update control unit 78 perform processes and controls to obtain the remaining capacity of each energy storage device (50a to 50d).

[0053] The estimation unit 76 estimates the remaining capacity (first remaining capacity) of the first energy storage device 50a based on the amount of energy charged and discharged by the first energy storage device 50a. For example, the estimation unit 76 calculates the first remaining capacity by the current integration method. The estimation unit 76 estimates the remaining capacity of the second energy storage device 50b (second remaining capacity), the remaining capacity of the third energy storage device 50c (third remaining capacity), and the remaining capacity of the fourth energy storage device 50d (fourth remaining capacity) in the same manner as the estimation of the first remaining capacity. The remaining capacities of the energy storage devices estimated by the estimation unit 76 are referred to as the estimated remaining capacity values ​​(first estimated remaining capacity value, second estimated remaining capacity value, third estimated remaining capacity value, and fourth estimated remaining capacity value).

[0054] The update control unit 78 updates the first estimated remaining capacity, estimated by the estimation unit 76, based on the open-circuit voltage of the first energy storage device 50a when a predetermined timing arrives. For example, the update control unit 78 obtains a theoretical value of the remaining capacity of the first energy storage device 50a using the open-circuit voltage method and updates the first estimated remaining capacity based on that theoretical value. The update control unit 78 updates the second estimated remaining capacity, the third estimated remaining capacity, and the fourth estimated remaining capacity in the same manner as updating the first estimated remaining capacity. When updating the estimated remaining capacity of the energy storage device, the update control unit 78 performs switching control (on / off control) of the transistors 64 (or contactors 66) of the first connection device 46a, the second connection device 46b, the circuit breakers 58a to 58d, and the reverse current prevention devices 60a to 60d.

[0055] [Operation of power supply system 30] Figure 7 shows the operation of the power supply system 30 under normal conditions in one embodiment. The arrows in Figure 7 indicate the power supply path. In the following description, the system control unit 74 controls the first converter 42a, the second converter 42b, the first connection device 46a, the second connection device 46b, the circuit breakers 48a to 48d, and the circuit breakers 58a to 58d.

[0056] As shown in Figure 7, the first power generator 34a is connected to the first power supply circuit 32a by the circuit breaker 48a, and the first power generator 34a is connected to the third power supply circuit 32c by the circuit breaker 48c. As a result, the three-phase AC power output from the first generator 40a is converted to DC power in the first converter 42a and supplied to the first load device 36a and the third load device 36c.

[0057] The circuit breaker 48b connects the second generator 34b to the second power supply circuit 32b, and the circuit breaker 48d connects the second generator 34b to the fourth power supply circuit 32d. As a result, the three-phase AC power output from the second generator 40b is converted to DC power in the second converter 42b and supplied to the second load device 36b and the fourth load device 36d.

[0058] The circuit breaker 58a connects the first energy storage device 50a to the first load device 36a. As a result, the DC power output from the first energy storage device 50a is supplied to the first load device 36a. The circuit breaker 58b connects the second energy storage device 50b to the second load device 36b. As a result, the DC power output from the second energy storage device 50b is supplied to the second load device 36b. The circuit breaker 58c connects the third energy storage device 50c to the third load device 36c. As a result, the DC power output from the third energy storage device 50c is supplied to the third load device 36c. The circuit breaker 58d connects the fourth energy storage device 50d to the fourth load device 36d. As a result, the DC power output from the fourth energy storage device 50d is supplied to the fourth load device 36d.

[0059] Under normal conditions, the first connection device 46a disconnects the first power supply circuit 32a and the second power supply circuit 32b, and the second connection device 46b disconnects the third power supply circuit 32c and the fourth power supply circuit 32d.

[0060] In the event of a malfunction in the first power generator 34a or the second power generator 34b, the first power supply circuit 32a and the second power supply circuit 32b may be connected by the first connection device 46a. Similarly, in the event of a malfunction in the first power generator 34a or the second power generator 34b, the third power supply circuit 32c and the fourth power supply circuit 32d may be connected by the second connection device 46b. As a result, the three-phase AC power output from the first generator 40a can be converted to DC power in the first converter 42a and supplied to the second load device 36b and the fourth load device 36d. Alternatively, the three-phase AC power output from the second generator 40b can be converted to DC power in the second converter 42b and supplied to the first load device 36a and the third load device 36c.

[0061] [Process to acquire remaining capacity of energy storage device] Figures 8 and 9 are flowcharts of the remaining capacity acquisition process. Figures 8 and 9 show the process of acquiring the remaining capacity of the first energy storage device 50a and the remaining capacity of the second energy storage device 50b, which can be connected by the first connection device 46a.

[0062] The first power supply circuit 32a, to which the first energy storage device 50a is connected, and the second power supply circuit 32b, to which the second energy storage device 50b is connected, can be connected to each other via the first connection device 46a. In other words, in addition to the first energy storage device 50a, the second energy storage device 50b can supply power to the first load device 36a connected to the first power supply circuit 32a via the first connection device 46a. Similarly, in addition to the second energy storage device 50b, the first energy storage device 50a can supply power to the second load device 36b connected to the second power supply circuit 32b via the first connection device 46a. The estimation unit 76 and the update control unit 78 of the calculation unit 70 perform the remaining capacity acquisition process described below for a plurality of energy storage devices capable of supplying power to a single load device.

[0063] The estimation unit 76 and the update control unit 78 acquire the latest estimated remaining capacity of the first energy storage device 50a and the latest estimated remaining capacity of the second energy storage device 50b by performing the remaining capacity acquisition process shown in Figures 8 and 9 while the mobile body 10 is in flight. The estimation unit 76 and the update control unit 78 may perform the remaining capacity acquisition process shown in Figures 8 and 9 once or multiple times during a single flight of the mobile body 10.

[0064] In step S1, the estimation unit 76 of the calculation unit 70 starts estimating the remaining capacity of the first energy storage device 50a and the remaining capacity of the second energy storage device 50b. For example, at first predetermined time intervals, the estimation unit 76 estimates the remaining capacity of the first energy storage device 50a based on the amount of energy charged and discharged by the first energy storage device 50a. The estimation unit 76 estimates the remaining capacity of the first energy storage device 50a using the current integration method. For example, the estimation unit 76 calculates the estimated remaining capacity of the first energy storage device 50a based on the estimated remaining capacity of the first energy storage device 50a (battery 52) obtained from the previous estimation, the capacity (fully charged capacity) of the first energy storage device 50a (battery 52), and the time integral value of the measurement value of the current sensor 56 provided in the first energy storage device 50a. The time integral value of the measurement value of the current sensor 56 is the integrated value of the current measured by the current sensor 56 between the previous estimation and the current estimation. Each time the estimation unit 76 calculates an estimated remaining capacity of the first energy storage device 50a, it stores the calculated estimated remaining capacity in the storage unit 72. The estimation unit 76 estimates the remaining capacity of the second energy storage device 50b in the same manner as the estimation of the remaining capacity of the first energy storage device 50a.

[0065] In step S2, the update control unit 78 of the calculation unit 70 determines whether the timing has come to eliminate the errors included in the estimated remaining capacity of the first energy storage device 50a and the estimated remaining capacity of the second energy storage device 50b, respectively. That is, the update control unit 78 of the calculation unit 70 determines whether the timing has come to reset the estimated remaining capacity of the first energy storage device 50a and the estimated remaining capacity of the second energy storage device 50b. The estimated remaining capacity of the energy storage devices is reset by measuring the open-circuit voltages of the first energy storage device 50a and the second energy storage device 50b again. In this embodiment, the timing for resetting the estimated remaining capacity of the energy storage devices is set to the point when a second predetermined time (> first predetermined time) has elapsed since the mobile body 10 started flying. If the timing for resetting the estimated remaining capacity of each energy storage device has come (step S2: YES), the process proceeds to step S3. On the other hand, if the timing to reset the estimated remaining capacity of each energy storage device has not yet arrived (step S2: NO), the process in step S2 is executed again.

[0066] When it is time to reset the estimated remaining capacity of each energy storage device, a series of processes (steps S3 to S9) related to resetting the estimated remaining capacity of the first energy storage device 50a are initiated.

[0067] In step S3, the update control unit 78 determines whether or not it is permissible to reset the estimated remaining capacity of the first energy storage device 50a. Here, the update control unit 78 performs a state determination process to determine whether or not the mobile unit 10 and the power supply system 30 are in a state where they may perform various controls to reset the estimated remaining capacity of the first energy storage device 50a. An example of the state determination process is shown in Figure 10. The state determination process will be explained below using Figure 10.

[0068] In step S31, the update control unit 78 determines whether the flight conditions are suitable for resetting the estimated remaining capacity of the first energy storage device 50a. When resetting the estimated remaining capacity of the first energy storage device 50a, the update control unit 78 disconnects the first energy storage device 50a from the first power supply circuit 32a using the disconnection device 58a (step S6 in Figure 8). In other words, when resetting the estimated remaining capacity of the first energy storage device 50a, the power supply capacity of the power supply system 30 temporarily decreases. For this reason, it is preferable to reset the estimated remaining capacity of the first energy storage device 50a when there is surplus power supply capacity in the power supply system 30. In other words, it is preferable to reset the estimated remaining capacity of the first energy storage device 50a when the power required by the mobile body 10 is small. If the mobile body 10 is an eVTOL aircraft, the total power consumption of the eight electric motors 16 and the four electric motors 20 is relatively small during cruising. Therefore, in this embodiment, when the mobile body 10 is cruising, the update control unit 78 resets the estimated remaining capacity of the first energy storage device 50a. Information indicating the flight status of the mobile body 10 is stored in the sequential storage unit 72. The update control unit 78 determines the flight status of the mobile body 10 based on the information indicating the flight status of the mobile body 10.

[0069] If the mobile unit 10 is in a cruising state, that is, if it is in a state where it is permissible to reset the estimated remaining capacity of the first energy storage device 50a (step S31: YES), the process proceeds to step S32. On the other hand, if the mobile unit 10 is not in a cruising state, that is, if it is not in a state where it is permissible to reset the estimated remaining capacity of the first energy storage device 50a (step S31: NO), the process in step S31 is executed again.

[0070] When the process moves from step S31 to step S32, the update control unit 78 determines whether the potential difference (hereinafter referred to as potential difference V1) between the first power supply circuit 32a and the second power supply circuit 32b is within the acceptable range. When resetting the estimated remaining capacity of the first energy storage device 50a, the update control unit 78 connects the first power supply circuit 32a and the second power supply circuit 32b using the first connection device 46a (step S5 in Figure 8). If the potential difference V1 is outside the acceptable range and the first power supply circuit 32a and the second power supply circuit 32b are connected by the first connection device 46a, there is a risk of sparks occurring in the first connection device 46a. Also, there is a risk of a large current being generated from one circuit to the other. As a result, there is a risk of damage to the circuit. To avoid such problems, if the potential difference V1 is outside the acceptable range, the update control unit 78 does not reset the estimated remaining capacity of the first energy storage device 50a. The update control unit 78 acquires, for example, the measurement value of the voltage sensor 54 provided in the first energy storage device 50a as the voltage value of the first power supply circuit 32a. The update control unit 78 also acquires, for example, the measurement value of the voltage sensor 54 provided in the second energy storage device 50b as the voltage value of the second power supply circuit 32b. The update control unit 78 determines whether the potential difference V1, which is the difference between the two voltage values, is less than or equal to the potential difference threshold V1th that is pre-stored in the storage unit 72.

[0071] If the potential difference V1 is less than or equal to the potential difference threshold V1th, that is, if the potential difference V1 is within the acceptable range (step S32: YES), the process proceeds to step S33. On the other hand, if the potential difference V1 exceeds the potential difference threshold V1th, that is, if the potential difference V1 is outside the acceptable range (step S32: NO), the process returns to step S31.

[0072] When the process moves from step S32 to step S33, the update control unit 78 determines whether the charge / discharge current of the first energy storage device 50a is within the permissible range. As described above, when the update control unit 78 resets the estimated remaining capacity of the first energy storage device 50a, the circuit breaker 58a disconnects the first energy storage device 50a from the first power supply circuit 32a. If the charge / discharge current of the first energy storage device 50a is outside the permissible range and the circuit breaker 58a disconnects the first energy storage device 50a from the first power supply circuit 32a, there is a risk of sparks occurring in the circuit breaker 58a. As a result, there is a risk of damage to the circuit. To avoid such problems, if the charge / discharge current of the first energy storage device 50a is outside the permissible range, the update control unit 78 does not reset the estimated remaining capacity of the first energy storage device 50a. The update control unit 78 determines, for example, whether the current value I1, which is a measurement of the current sensor 56 provided in the first energy storage device 50a, is less than or equal to a current threshold I1th that is pre-stored in the storage unit 72.

[0073] If the current value I1 is less than or equal to the current threshold I1th, that is, if the charge / discharge current of the first energy storage device 50a is within the permissible range (step S33: YES), the process proceeds to step S34. On the other hand, if the current value I1 exceeds the current threshold I1th, that is, if the charge / discharge current of the first energy storage device 50a is outside the permissible range (step S33: NO), the process returns to step S31.

[0074] When the system moves from step S33 to step S34, the update control unit 78 determines whether the current in the second power supply circuit 32b is within the permissible range. When resetting the estimated remaining capacity of the first energy storage device 50a, the update control unit 78 turns on the transistor 64 of the reverse current prevention device 60b provided in the second power supply circuit 32b (step S4 in Figure 8). If the transistor 64 of the reverse current prevention device 60b is turned on when the current in the second power supply circuit 32b is outside the permissible range, there is a risk that a large current will flow through the transistor 64. As a result, there is a risk that the transistor 64 will be damaged. To avoid such a problem, if the current in the second power supply circuit 32b is outside the permissible range, the update control unit 78 does not reset the estimated remaining capacity of the first energy storage device 50a. The update control unit 78 determines, for example, whether the current value I2, which is a measurement of the current sensor 80 (Figure 6) provided in the second power supply circuit 32b, is less than or equal to the current threshold I2th pre-stored in the storage unit 72.

[0075] If the current value I2 is less than or equal to the current threshold I2th, that is, if the current of the second power supply circuit 32b is within the allowable range (step S34: YES), the process proceeds to step S4 shown in Figure 8. On the other hand, if the current value I2 exceeds the current threshold I2th, that is, if the current of the second power supply circuit 32b is outside the allowable range (step S34: NO), the process returns to step S31.

[0076] When the system moves from step S34 shown in Figure 10 to step S4 shown in Figure 8, the update control unit 78 turns on the transistor 64 of the reverse current prevention device 60b provided in the second power supply circuit 32b.

[0077] In step S5, the update control unit 78 connects the first power supply circuit 32a and the second power supply circuit 32b using the first connection device 46a. By performing steps S4 and S5, a power supply circuit from the second energy storage device 50b to the first load device 36a is formed. At this time, the second energy storage device 50b is connected to the first power supply circuit 32a via the first connection circuit 44a and the second power supply circuit 32b.

[0078] In step S6, the update control unit 78 disconnects the first energy storage device 50a from the first power supply circuit 32a using the circuit breaker 58a. This makes it possible to measure the open-circuit voltage of the first energy storage device 50a.

[0079] In step S7, the update control unit 78 resets the estimated remaining capacity of the first energy storage device 50a based on the open-circuit voltage of the first energy storage device 50a and the first conversion information previously stored in the memory unit 72. The first conversion information is information that associates the open-circuit voltage of the first energy storage device 50a with the theoretical remaining capacity value corresponding to the open-circuit voltage (referred to as the theoretical remaining capacity value). The update control unit 78 obtains the theoretical remaining capacity value of the first energy storage device 50a based on the measurement value of the voltage sensor 54 provided in the first energy storage device 50a and the first conversion information stored in the memory unit 72. The update control unit 78 replaces the latest estimated remaining capacity value of the first energy storage device 50a stored in the memory unit 72 with the theoretical remaining capacity value obtained from the first conversion information. In this way, the update control unit 78 updates the estimated remaining capacity value of the first energy storage device 50a based on the open-circuit voltage of the first energy storage device 50a.

[0080] In step S8, the update control unit 78 turns off the transistor 64 of the reverse current prevention device 60b provided in the second power supply circuit 32b.

[0081] In step S9, the update control unit 78 connects the first energy storage device 50a to the first power supply circuit 32a using the circuit breaker 58a. Once the processing in step S9 is complete, a normal power supply path is temporarily formed in the power supply system 30, except that the first power supply circuit 32a and the second power supply circuit 32b are connected via the first connection device 46a. From this state, a series of processes related to resetting the estimated remaining capacity of the second energy storage device 50b (steps S10 to S15 in Figure 9) are initiated.

[0082] In step S10, the update control unit 78 determines whether or not it is permissible to reset the estimated remaining capacity of the second energy storage device 50b. Here, the update control unit 78 performs a state determination process to determine whether or not the mobile unit 10 and the power supply system 30 are in a state where they may perform various controls to reset the estimated remaining capacity of the second energy storage device 50b.

[0083] The state determination process performed in step S10 corresponds to the state determination process performed in step S3. For the state determination process performed in step S10, you can simply replace the subject and object in the explanation of steps S31 to S34 in Figure 10. For example, replace "first energy storage device 50a" with "second energy storage device 50b". Also, replace "second energy storage device 50b" with "first energy storage device 50a". Also, replace "first power supply circuit 32a" with "second power supply circuit 32b". Also, replace "second power supply circuit 32b" with "first power supply circuit 32a". Also, replace "circuit breaker 58a" with "circuit breaker 58b". Also, replace "reverse current prevention device 60b" with "reverse current prevention device 60a".

[0084] At this point, the first power supply circuit 32a and the second power supply circuit 32b are already connected by the first connection device 46a. Therefore, in step S10, the update control unit 78 does not need to perform the process corresponding to step S32 shown in Figure 10.

[0085] When the process moves from step S10 to step S11, the update control unit 78 turns on the transistor 64 of the reverse current prevention device 60a provided in the first power supply circuit 32a. This forms a power supply circuit from the first energy storage device 50a to the second load device 36b. At this time, the first energy storage device 50a is connected to the second power supply circuit 32b via the first connection circuit 44a and the first power supply circuit 32a.

[0086] In step S12, the update control unit 78 disconnects the second energy storage device 50b from the second power supply circuit 32b using the circuit breaker 58b. This makes it possible to measure the open-circuit voltage of the second energy storage device 50b.

[0087] In step S13, the update control unit 78 resets the estimated remaining capacity of the second energy storage device 50b based on the open-circuit voltage of the second energy storage device 50b and the second conversion information previously stored in the memory unit 72. The second conversion information is information that associates the open-circuit voltage of the second energy storage device 50b with the theoretical remaining capacity value corresponding to the open-circuit voltage (referred to as the theoretical remaining capacity value). The update control unit 78 obtains the theoretical remaining capacity value of the second energy storage device 50b based on the measurement value of the voltage sensor 54 provided in the second energy storage device 50b and the second conversion information stored in the memory unit 72. The update control unit 78 replaces the latest estimated remaining capacity value of the second energy storage device 50b stored in the memory unit 72 with the theoretical remaining capacity value obtained from the second conversion information. In this way, the update control unit 78 updates the estimated remaining capacity value of the second energy storage device 50b based on the open-circuit voltage of the second energy storage device 50b.

[0088] In step S14, the update control unit 78 turns off the transistor 64 of the reverse current prevention device 60a provided in the first power supply circuit 32a.

[0089] In step S15, the update control unit 78 connects the second energy storage device 50b to the second power supply circuit 32b using the circuit breaker 58b.

[0090] In step S16, the update control unit 78 disconnects the connection between the first power supply circuit 32a and the second power supply circuit 32b using the first connection device 46a. Once the process in step S16 is completed, the power supply system 30 returns to a normal power supply state.

[0091] Up to this point, the process of acquiring the remaining capacity of the first energy storage device 50a and the remaining capacity of the second energy storage device 50b has been explained using Figures 8 to 10. The estimation unit 76 and the update control unit 78 also perform the same remaining capacity acquisition process as in Figures 8 to 10 when acquiring the remaining capacity of the third energy storage device 50c and the remaining capacity of the fourth energy storage device 50d. For the remaining capacity acquisition process to acquire the remaining capacity of the third energy storage device 50c and the remaining capacity of the fourth energy storage device 50d, one should simply replace the subject and object in the explanation using Figures 8 to 10. For example, one should replace "first energy storage device 50a" with "third energy storage device 50c". Also, one should replace "second energy storage device 50b" with "fourth energy storage device 50d". Furthermore, one should replace "first power supply circuit 32a" with "third power supply circuit 32c". Furthermore, you can replace "second power supply circuit 32b" with "fourth power supply circuit 32d" in the explanation. Furthermore, you can replace "first connection device 46a" with "second connection device 46b" in the explanation. Furthermore, you can replace "shutdown device 58a" with "shutdown device 58c" in the explanation. Furthermore, you can replace "shutdown device 58b" with "shutdown device 58d" in the explanation. Furthermore, you can replace "reverse current prevention device 60a" with "reverse current prevention device 60c" in the explanation. Furthermore, you can replace "reverse current prevention device 60b" with "reverse current prevention device 60d" in the explanation.

[0092] Figure 11A shows the relationship between the flight time of the mobile unit 10 and the altitude of the mobile unit 10. Figure 11B shows the relationship between the flight time of the mobile unit 10 and the error included in the estimated remaining capacity of the energy storage device.

[0093] At time t1 during cruising, the estimated remaining capacity (L1) of the first energy storage device 50a (BAT1) is reset. At time t2 during cruising, the estimated remaining capacity (L2) of the second energy storage device 50b (BAT2) is reset. At time t3 during cruising, the estimated remaining capacity (L3) of the third energy storage device 50c (BAT3) is reset. At time t4 during cruising, the estimated remaining capacity (L4) of the fourth energy storage device 50d (BAT4) is reset. The error included in the estimated remaining capacity (L1~L4) when a reset is performed is D smaller than the error included in the estimated remaining capacity (L0) when no reset is performed.

[0094] As shown in Figure 11B, in this embodiment, the resetting of the estimated remaining capacity of the third energy storage device 50c and the estimated remaining capacity of the fourth energy storage device 50d is performed after the resetting of the estimated remaining capacity of the first energy storage device 50a and the estimated remaining capacity of the second energy storage device 50b. However, the resetting of the estimated remaining capacity of the first energy storage device 50a and the estimated remaining capacity of the second energy storage device 50b, and the resetting of the estimated remaining capacity of the third energy storage device 50c and the estimated remaining capacity of the fourth energy storage device 50d may be performed at the same time.

[0095] [Effects of this embodiment] For example, in order to reset the estimated remaining capacity of the first energy storage device 50a, it is necessary to disconnect the first energy storage device 50a from the first load device 36a. When the first energy storage device 50a is disconnected from the first load device 36a, power can be supplied to the first load device 36a from the first generator 40a, but power cannot be supplied from the first load device 36a. In this state, there is a risk that sufficient power cannot be supplied to the first load device 36a.

[0096] In this embodiment, when the update control unit 78 resets the estimated remaining capacity of the first energy storage device 50a, it disconnects the first energy storage device 50a from the first load device 36a and connects the second energy storage device 50b to the first load device 36a. This makes it possible to supply power to the first load device 36a from the first generator 40a and the second energy storage device 50b. According to this embodiment, even if the first load device 36a requires a large amount of power while the estimated remaining capacity of the first energy storage device 50a is being reset, the necessary power can be supplied to the first load device 36a.

[0097] Resetting the estimated remaining capacity of the other energy storage devices (50b to 50d) has the same effect as resetting the estimated remaining capacity of the first energy storage device 50a. In other words, according to this embodiment, even if the load devices (36a to 36d) require a large amount of power while the estimated remaining capacity of the energy storage devices (50a to 50d) is being reset, the necessary power can be supplied to the load devices (36a to 36d).

[0098] Furthermore, in this embodiment, the update control unit 78 performs the reset of the estimated remaining capacity of the first energy storage device 50a and the reset of the estimated remaining capacity of the second energy storage device 50b in succession. If the two resets were not performed consecutively, the control of the first connection device 46a would need to be performed once before and once after the reset of the estimated remaining capacity of the first energy storage device 50a, and again once before and once after the reset of the estimated remaining capacity of the second energy storage device 50b. In contrast, according to this embodiment, the update control unit 78 only needs to perform the control of the first connection device 46a once before the reset of the estimated remaining capacity of the first energy storage device 50a, and once after the reset of the estimated remaining capacity of the second energy storage device 50b. Thus, according to this embodiment, the number of disconnections of the first connection device 46a can be reduced.

[0099] Similarly, in this embodiment, the update control unit 78 performs the reset of the estimated remaining capacity of the third energy storage device 50c and the reset of the estimated remaining capacity of the fourth energy storage device 50d in succession, thereby reducing the number of disconnections of the second connection device 46b.

[0100] The following additional information is disclosed regarding the above embodiment.

[0101] (Note 1) The power supply system (30) of this disclosure includes a first power supply circuit (32a) connected to a first load device (36a), a second power supply circuit (32b) connected to a second load device (36b), a first energy storage device (50a) connected to the first power supply circuit via a first circuit breaker (58a), a second energy storage device (50b) connected to the second power supply circuit via a second circuit breaker (58b), a first connection circuit (44a) equipped with a first connection device (46a) capable of connecting the first power supply circuit and the second power supply circuit, and the first energy storage device The system includes an estimation unit (76) that can estimate a first remaining capacity, which is the remaining capacity of the first energy storage device, based on the amount of energy charged and discharged by the device, and an update control unit (78) that, while the second energy storage device is connected to the first power supply circuit via the first connection circuit and the second power supply circuit by controlling the first connection device, disconnects the first energy storage device from the first power supply circuit by controlling the first disconnection device, and updates the first remaining capacity estimate, which is the first remaining capacity estimated by the estimation unit, based on the open-circuit voltage of the first energy storage device.

[0102] With the above configuration, even if the first load device requires a large amount of power while the first estimated remaining capacity of the first energy storage device is being reset, the necessary power can be supplied to the first load device.

[0103] (Note 2) In the power supply system described in Appendix 1, a first power supply (40a) connected to the first power supply circuit and capable of charging the first energy storage device may be provided.

[0104] (Note 3) In the power supply system described in Appendix 2, the first power supply may be connected in parallel with the first energy storage device to the first power supply circuit and supply DC power to the first energy storage device and the first load device via the first power supply circuit.

[0105] (Note 4) In the power supply system described in Appendix 1, the system comprises a third power supply circuit (32c) connected to a third load device (36c), a fourth power supply circuit (32d) connected to a fourth load device (36d), a third energy storage device (50c) connected to the third power supply circuit via a third circuit breaker (58c), a fourth energy storage device (50d) connected to the second power supply circuit via a fourth circuit breaker (58d), and a second connection circuit (44b) equipped with a second connection device (46b) capable of connecting the third power supply circuit and the fourth power supply circuit, wherein the estimation unit determines the second energy storage It is possible to estimate the second remaining capacity, which is the remaining capacity of the second energy storage device, based on the amount of energy charged and discharged by the device; it is possible to estimate the third remaining capacity, which is the remaining capacity of the third energy storage device, based on the amount of energy charged and discharged by the third energy storage device; and it is possible to estimate the fourth remaining capacity, which is the remaining capacity of the fourth energy storage device, based on the amount of energy charged and discharged by the fourth energy storage device; and the update control unit controls the first connection device to connect the first energy storage device to the second power supply circuit via the first connection circuit and the first power supply circuit, and the second circuit breaker By controlling the position, the second energy storage device can be disconnected from the second power supply circuit, and the estimated second remaining capacity, which is the second remaining capacity estimated by the estimation unit, can be updated based on the open-circuit voltage of the second energy storage device. With the fourth energy storage device connected to the third power supply circuit via the second connection circuit and the fourth power supply circuit by controlling the second connection device, the third energy storage device can be disconnected from the third power supply circuit by controlling the third disconnection device, and the estimated third remaining capacity, which is the third remaining capacity estimated by the estimation unit, can be updated based on the open-circuit voltage of the third energy storage device. With the third energy storage device connected to the fourth power supply circuit via the second connection circuit and the third power supply circuit by controlling the second connection device, the fourth energy storage device can be disconnected from the fourth power supply circuit by controlling the fourth disconnection device, and the estimated fourth remaining capacity, which is the fourth remaining capacity estimated by the estimation unit, can be updated based on the open-circuit voltage of the fourth energy storage device. With the first power supply circuit and the second power supply circuit connected by the first connection device,The process of updating the first estimated remaining capacity based on the open-circuit voltage of the first energy storage device and the process of updating the second estimated remaining capacity based on the open-circuit voltage of the second energy storage device may be performed consecutively. Alternatively, while the third power supply circuit and the fourth power supply circuit remain connected by the second connection device, the process of updating the third estimated remaining capacity based on the open-circuit voltage of the third energy storage device and the process of updating the fourth estimated remaining capacity based on the open-circuit voltage of the fourth energy storage device may be performed consecutively.

[0106] With the above configuration, even if the second load device requires a large amount of power while the second remaining capacity estimate of the second energy storage device is being reset, the necessary power can be supplied to the second load device. Furthermore, with the above configuration, even if the third load device requires a large amount of power while the third remaining capacity estimate of the third energy storage device is being reset, the necessary power can be supplied to the third load device. Furthermore, with the above configuration, even if the fourth load device requires a large amount of power while the fourth remaining capacity estimate of the fourth energy storage device is being reset, the necessary power can be supplied to the fourth load device.

[0107] According to the above configuration, the number of disconnections of the first connecting device and the number of disconnections of the second connecting device can be reduced.

[0108] (Note 5) The mobile body (10) of this disclosure comprises a power supply system as described in any one of the appendices 1 to 4.

[0109] (Note 6) A control method for a power supply system comprising: a first power supply circuit connected to a first load device; a second power supply circuit connected to a second load device; a first energy storage device connected to the first power supply circuit via a first circuit breaker; a second energy storage device connected to the second power supply circuit via a second circuit breaker; and a first connection circuit equipped with a first connection device capable of connecting the first power supply circuit and the second power supply circuit, the control method comprising: a first remaining capacity estimation step of estimating a first remaining capacity, which is the remaining capacity of the first energy storage device, based on the amount of energy charged and discharged by the first energy storage device; a first remaining capacity estimate update step of, while the second energy storage device is connected to the first power supply circuit via the first connection circuit and the second power supply circuit by controlling the first connection device, the first energy storage device is disconnected from the first power supply circuit by controlling the first circuit breaker, and the first remaining capacity estimate, which is the first remaining capacity estimated in the first remaining capacity estimation step, is updated based on the open-circuit voltage of the first energy storage device.

[0110] (Note 7) The program disclosed herein causes a computer to execute the control method described in Appendix 6.

[0111] While this disclosure has been described in detail, it is not limited to the individual embodiments described above. These embodiments can be added, replaced, modified, partially deleted, etc., in any way that does not depart from the gist of this disclosure or from the spirit of this disclosure derived from the claims and their equivalents. These embodiments can also be implemented in combination. For example, the order of operations and processes in the embodiments described above are given as examples only and are not limited thereto. The same applies when numerical values ​​or mathematical formulas are used in the description of the embodiments described above. [Explanation of symbols]

[0112] 10... Mobile device 30... Power supply system 32a...First power supply circuit 32b...Second power supply circuit 32c...Third power supply circuit 32d...Fourth power supply circuit 36a...First load device 36b...Second load device 36c...Third load device 36d...Fourth load device 40a...1st generator (1st power supply) 44a...1st connection circuit 44b...Second connection circuit 46a...First connection device 46b...Second connection device 50a...First energy storage device 50b...Second power storage device 50c...Third power storage device 50d...Fourth energy storage device 58a...Circuit breaker (First circuit breaker) 58b... Circuit breaker (second circuit breaker) 58c... Circuit breaker (third circuit breaker) 58d... Circuit breaker (4th circuit breaker) 76... Estimation unit 78…Update Control Unit

Claims

1. A first power supply circuit connected to the first load device, A second power supply circuit connected to the second load device, A first energy storage device connected to the first power supply circuit via a first circuit breaker, A second energy storage device connected to the second power supply circuit via a second circuit breaker, A first connection circuit is provided with a first connection device capable of connecting the first power supply circuit and the second power supply circuit, An estimation unit capable of estimating a first remaining capacity, which is the remaining capacity of the first energy storage device, based on the amount of energy charged and discharged by the first energy storage device, A first connection device is controlled to connect the second energy storage device to the first power supply circuit via the first connection circuit and the second power supply circuit, and the first disconnection device is controlled to disconnect the first energy storage device from the first power supply circuit, and the update control unit can update the first remaining capacity estimate, which is the first remaining capacity estimated by the estimation unit, based on the open-circuit voltage of the first energy storage device. A power supply system equipped with the following features.

2. In the power supply system according to claim 1, A power supply system comprising a first power source connected to the first power supply circuit and capable of charging the first energy storage device.

3. In the power supply system according to claim 2, A power supply system in which the first power supply is connected in parallel with the first energy storage device to the first power supply circuit and can supply DC power to the first energy storage device and the first load device via the first power supply circuit.

4. In the power supply system according to claim 1, A third power supply circuit connected to the third load device, A fourth power supply circuit connected to the fourth load device, A third energy storage device connected to the third power supply circuit via a third circuit breaker, A fourth energy storage device connected to the second power supply circuit via a fourth circuit breaker, A second connection circuit is provided with a second connection device capable of connecting the third power supply circuit and the fourth power supply circuit, Equipped with, The estimation unit, It is possible to estimate the second remaining capacity, which is the remaining capacity of the second energy storage device, based on the amount of energy charged and discharged by the second energy storage device. It is possible to estimate the third remaining capacity, which is the remaining capacity of the third energy storage device, based on the amount of energy charged and discharged by the third energy storage device. It is possible to estimate the fourth remaining capacity, which is the remaining capacity of the fourth energy storage device, based on the amount of energy charged and discharged by the fourth energy storage device. The update control unit, By controlling the first connection device, the first energy storage device is connected to the second power supply circuit via the first connection circuit and the first power supply circuit. By controlling the second disconnection device, the second energy storage device is disconnected from the second power supply circuit, and the second remaining capacity estimate, which is the second remaining capacity estimated by the estimation unit, is updated based on the open-circuit voltage of the second energy storage device. By controlling the second connection device, the fourth energy storage device is connected to the third power supply circuit via the second connection circuit and the fourth power supply circuit. By controlling the third disconnection device, the third energy storage device is disconnected from the third power supply circuit, and the estimated third remaining capacity, which is the third remaining capacity estimated by the estimation unit, is updated based on the open-circuit voltage of the third energy storage device. By controlling the second connection device, the third energy storage device is connected to the fourth power supply circuit via the second connection circuit and the third power supply circuit. By controlling the fourth disconnection device, the fourth energy storage device is disconnected from the fourth power supply circuit, and the estimated fourth remaining capacity, which is the fourth remaining capacity estimated by the estimation unit, is updated based on the open-circuit voltage of the fourth energy storage device. With the first power supply circuit and the second power supply circuit still connected by the first connection device, the process of updating the first estimated remaining capacity value based on the open-circuit voltage of the first energy storage device and the process of updating the second estimated remaining capacity value based on the open-circuit voltage of the second energy storage device are performed in succession. A power supply system that, while the third power supply circuit and the fourth power supply circuit remain connected by the second connection device, continuously performs the following processes: updating the estimated third remaining capacity value based on the open-circuit voltage of the third energy storage device, and updating the estimated fourth remaining capacity value based on the open-circuit voltage of the fourth energy storage device.

5. A mobile body comprising the power supply system according to any one of claims 1 to 4.

6. A control method for controlling a power supply system comprising: a first power supply circuit connected to a first load device; a second power supply circuit connected to a second load device; a first energy storage device connected to the first power supply circuit via a first circuit breaker; a second energy storage device connected to the second power supply circuit via a second circuit breaker; and a first connection circuit equipped with a first connection device capable of connecting the first power supply circuit and the second power supply circuit. A first remaining capacity estimation step in which a first remaining capacity, which is the remaining capacity of the first energy storage device, is estimated based on the amount of energy charged and discharged by the first energy storage device, With the second energy storage device connected to the first power supply circuit via the first connection circuit and the second power supply circuit by controlling the first connection device, the first energy storage device is disconnected from the first power supply circuit by controlling the first disconnection device, and the first remaining capacity estimated value, which is the first remaining capacity estimated in the first remaining capacity estimation step, is updated based on the open-circuit voltage of the first energy storage device in the first remaining capacity estimation step. A control method comprising:

7. A program for causing a computer to execute the control method described in claim 6.

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