Battery charging control method, system, vehicle, readable storage medium and device

Abstract

The present disclosure provides a battery charging control method, system, vehicle, readable storage medium, and device. In the charging process, the present disclosure determines a suitable allowable charging current value based on the obtained current state of the battery, calculates a difference value between the bus voltage and the battery voltage based on the difference value between the allowable charging current value and the current value obtained by real-time sampling, and controls the bus voltage based on the difference value between the bus voltage and the battery voltage to realize timely adjustment of charging control, and achieves the purpose of controlling the charging current by continuously adjusting the charging voltage, and ensures that the charging current of the battery of each cluster does not exceed the charging current limit value, thereby improving the control accuracy of the charging process while also improving the safety of charging.

Description

[Technical field]

[0001] The present disclosure relates to the technical field of battery charging, and specifically to a battery charging control method, system, vehicle, readable storage medium and device. [Background technology]

[0002] The statements in this section provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] Currently, when performing current control, the parallel-connected battery charging system generally controls the total bus current, and the current distributed to each battery according to the parallel connection rules is unknown, so certain problems exist, and the problems are particularly prominent for the parallel-connected battery charging system of multiple clusters.

[0004] There may be a cluster battery that is fully charged first. Since multiple clusters are connected in parallel, after the battery of one cluster is fully charged, the battery is not continuously charged to prevent overcharging. As a result, other batteries will be in an extremely undercharged state for a long time, the charging efficiency will be too low, and the internal resistance of the battery will increase as its lifespan deteriorates. If this situation occurs for a long time, the actual charge amount of the battery will become smaller and smaller, and the usable power amount of the battery will become smaller and smaller, which will affect the performance of the battery.

[0005] In addition, there may be a situation where the charging current distributed to a cluster battery exceeds the current charging current limit of the cluster battery. If the battery is in a state of being charged with an overcurrent for a long period of time, it will damage the battery, severely affect the battery's lifespan and safety performance, and further affect the operating state of the object being charged. If each cluster battery is controlled to a small value, it can be ensured that no battery is overcharged during the charging process and safety accidents can be avoided, but it will also cause the problem that some cluster batteries are still in an undercharged state. Summary of the Invention [Problem to be solved by the invention]

[0006] To solve the above problems, the present disclosure provides a battery charging control method, system, vehicle, readable storage medium and device, which achieves the purpose of controlling the charging current by continuously adjusting the charging voltage during the charging process, ensuring that the charging current of the battery in each cluster does not exceed the charging current limit value, improving the control accuracy of the charging process while also improving the safety of charging. [Means for solving the problem]

[0007] According to some embodiments, the present disclosure employs the following technical solutions: A first aspect of the present disclosure provides a battery charging control method applied to a single cluster parallel connected battery system, comprising: determining a suitable charging allowable current value based on the obtained current state of the battery; Calculating a difference between a bus voltage and a battery voltage based on a difference between an allowable charging current value and a current value sampled in real time; and controlling the bus voltage based on a difference value between the bus voltage and the battery voltage to realize charging control.

[0008] In the above technical solution, for a single cluster of batteries, the difference value ΔU between the bus voltage and the battery voltage is updated and adjusted in real time according to the current state of the battery, and when the voltage of the single battery reaches the current reduction threshold, the value of ΔU becomes negative in a short time, thereby reducing the bus voltage and realizing the current reduction control, and the current does not fluctuate obviously, and the voltage and current tracking is good. The real-time adjustment ensures the charging consistency between the batteries to a large extent, and reduces the difference in the battery charging amount.

[0009] In a preferred embodiment, the current state of the battery includes the battery charge state, temperature, voltage and internal resistance.

[0010] In a preferred embodiment, the difference between the bus voltage and the battery voltage is calculated by a PI loop based on the difference between the allowable charging current value and the current value sampled in real time.

[0011] In a preferred embodiment, a specific process of controlling the bus voltage based on the difference between the bus voltage and the battery voltage includes a step of setting the sum of the difference between the current bus voltage and the battery voltage and the voltage value at the start time of battery charging as the final current charging voltage value, and controlling the bus voltage to reach this voltage value, thereby realizing control of the charging current.

[0012] A second aspect of the present disclosure provides a battery charging control method applied to a multiple cluster parallel connected battery system, comprising: Calculating the charging allowable current value suitable for the battery of each cluster based on the acquired current state of the battery of each cluster, and determining the minimum value among them; calculating a difference between a bus voltage and a battery voltage based on a difference between the minimum value of the charging allowable current value and a current value sampled in real time; and controlling the bus voltage based on a difference value between the bus voltage and the battery voltage to realize charging control.

[0013] According to the above technical solution, in a multi-cluster battery system, the information of all batteries is controlled and integrated, the minimum charging current limit value for the batteries of the multi-cluster is calculated, and the charging voltage is calculated based on the minimum charging current limit value, and then the bus voltage is controlled, so that the safety of the batteries of all clusters can be ensured; and the bus voltage is controlled by continuously adjusting and controlling according to the actual state, so that the response to changes in the battery state is fast and the control accuracy of the charging process is improved.

[0014] In a preferred embodiment, the batteries of each cluster are connected in parallel.

[0015] In a preferred embodiment, the current state of the batteries includes all of the battery's charge state, temperature, voltage and internal resistance.

[0016] In a preferred embodiment, the difference between the bus voltage and the battery voltage is calculated by a PI loop based on the difference between the allowable charging current value and the current value sampled in real time.

[0017] In a preferred embodiment, the final current charging voltage value is determined by adding the difference between the current bus voltage and the battery voltage and the voltage value at the start of battery charging, and the bus voltage is controlled to reach this voltage value, thereby achieving control of the charging current.

[0018] A third aspect of the present disclosure provides a battery charging control system, comprising: A parameter configuration module configured to determine a suitable charging allowable current value based on the obtained current state of the battery; A calculation module is configured to calculate a difference value between a bus voltage and a battery voltage according to a difference value between an allowable charging current value and a current value sampled in real time; and a charge control module arranged to control a bus voltage according to a difference value between the bus voltage and a battery voltage to realize charge control.

[0019] A fourth aspect of the present disclosure provides a battery charging control system, comprising: a parameter configuration module configured to calculate a suitable charging allowable current value for each cluster battery based on the acquired current state of the battery in each cluster, and to determine the minimum value among the calculated allowable current values; a calculation module configured to calculate a difference between a bus voltage and a battery voltage according to a difference between the minimum value of the charging allowable current value and a current value sampled in real time; and a charge control module arranged to control a bus voltage according to a difference value between the bus voltage and a battery voltage to realize charge control.

[0020] A fifth aspect of the present disclosure provides a control system, comprising: a battery management system configured to determine a suitable permissible charging current value based on the acquired current state of the battery, calculate a difference value between a bus voltage and a battery voltage based on a difference value between the permissible charging current value and a current value obtained by real-time sampling, and determine a final required charging voltage value based on the difference value; and an overall vehicle controller configured to receive a final required charging voltage value from the battery management system and control the bus voltage at that value.

[0021] A sixth aspect of the present disclosure provides a control system, comprising: a battery management system configured to calculate an appropriate permissible charging current value for each cluster battery based on the acquired current state of the battery in each cluster, determine a minimum value among them, calculate a difference value between a bus voltage and a battery voltage based on a difference value between the minimum permissible charging current value and a current value obtained by real-time sampling, and determine a final required charging voltage value based on the difference value; and an overall vehicle controller configured to receive a final required charging voltage value from the battery management system and control the bus voltage at that value.

[0022] A seventh aspect of the present disclosure provides a computer-readable storage medium, storing a plurality of instructions, the instructions being loaded by a processor of a terminal device to execute steps in any one of the battery charging control methods.

[0023] An eighth aspect of the present disclosure provides a terminal device, comprising: a processor; and a computer-readable storage medium, wherein the processor realizes each instruction; the computer-readable storage medium stores a plurality of instructions; and the instructions are loaded by the processor to perform steps of any one of the battery charging control methods.

[0024] A ninth aspect of the present disclosure provides a vehicle, including the above control system, the readable storage medium, or the terminal device. Effect of the Invention

[0025] Compared with the prior art, the beneficial effects of the present disclosure are as follows: The present disclosure monitors the current state of the battery, and adjusts the difference value ΔU between the bus voltage and the battery voltage in real time, and when the individual voltage of the battery system reaches the current reduction threshold, the value of ΔU becomes negative in a short time, thereby reducing the bus voltage and realizing the current reduction control. As can be seen from the simulation results, the control method of the present disclosure can ensure that the battery SOC always increases stably and the current does not fluctuate obviously, and has good voltage and current tracking.

[0026] When the present disclosure is applied to a multi-cluster parallel-connected battery system, the information of all batteries is combined to calculate the minimum charging current limit value for the batteries of the multi-cluster, and the charging voltage is calculated at the minimum charging current limit value, and then the bus voltage is controlled to maximize the safety performance of each battery.

[0027] In the present disclosure, the purpose of controlling the charging current is achieved by continuously adjusting the charging voltage, and the response to changes in the battery state is fast; even if there is a detection error in the battery management system, the influence of the detection error can be eliminated by adjusting the PI loop, thereby further improving the control accuracy of the charging process; and improving the control accuracy also improves the charging safety.

[0028] In the present disclosure, because the charging current is accurately controlled during the charging process, when charging is completed, the actual charging capacity of the entire battery system is close to the fully charged state, and the states of each battery are ensured to be approximately consistent, which further contributes to battery protection and effectively improves charging efficiency without prolonging the charging time.

[0029] In order to make the above objects, features and advantages of the present disclosure more apparent and understandable, preferred embodiments will be described in detail below in conjunction with the accompanying drawings.

[0030] The drawings in the specification, which form a part of this disclosure, provide a further understanding of the present disclosure, and the schematic examples of the present disclosure and the description thereof are for interpreting the present disclosure without construing them as unduly limiting the present disclosure. [Brief description of the drawings]

[0031] [Figure 1] FIG. 2 is a schematic diagram of the control principle of the first embodiment of the present disclosure. [Diagram 2] FIG. 2 is a schematic diagram of a charging process according to the first embodiment of the present disclosure. [Diagram 3] FIG. 2 is a schematic diagram of the charging effect of Example 1 of the present disclosure. [Figure 4] FIG. 11 is a schematic diagram of a control principle according to a second embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] The present disclosure will be further described below in conjunction with the drawings and examples.

[0033] Hereinafter, the detailed description is merely illustrative and provides further explanation for the present disclosure. Unless otherwise stated, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present disclosure pertains.

[0034] The terms used herein are not intended to limit the exemplary embodiments according to the present disclosure, but are merely intended to describe specific embodiments. Unless otherwise clearly indicated in the specification, the singular forms used herein include the plural forms, and the terms "comprising" and / or "including" are used herein to indicate the presence of features, steps, operations, devices, units, and / or combinations thereof.

[0035] In the present disclosure, the orientations or positional relationships indicated by terms such as "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "side," and "bottom" are orientations or positional relationships according to the drawings, and are not intended to specifically indicate any member or element of the present disclosure, but are merely relative terms for conveniently describing the structural relationship of each member or element of the present disclosure, and should not be understood as limitations on the present disclosure.

[0036] In the present disclosure, the terms "fixed connection", "connection", "connection" and the like should be understood in a broad sense, and may be fixed connection, integral connection or detachable connection, direct connection, or indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of the above terms in the present disclosure based on the specific situation, and should not be understood as a limitation on the present disclosure.

[0037] In order for those skilled in the art to clearly understand the improvement of the technical solution provided by the present invention, the solution of multi-cluster battery parallel connection charging is specifically introduced as an example.

[0038] The first solution for the current parallel connection of multiple cluster batteries is the constant voltage charging method, which is realized by controlling the bus voltage to a fixed value to charge the batteries. During the constant voltage charging process, the charging current decreases as the battery voltage approaches the bus voltage until the battery voltage is equal to the bus voltage. In actual projects, this method is difficult to achieve the ideal effect, and due to inherent factors such as the difference in internal resistance of the two cluster batteries and the difference in circuit resistance, a phenomenon of current unevenness occurs between the currents of multiple clusters, so that some batteries are fully charged first, and because multiple clusters are connected in parallel, after the battery of one cluster is fully charged, the battery cannot be charged continuously to prevent overcharging, so the other batteries are in an undercharged state for a long time, the charging efficiency is too low, and the internal resistance of the battery increases with the deterioration of its life. If the constant voltage charging solution is used, the actual charge amount will become smaller and smaller after many years of accumulation, and the usable power of the battery will become smaller and smaller.

[0039] In addition to the low charging capacity, constant voltage charging is prone to problems such as overcharging and overcurrent. Due to the small internal resistance of the battery, when the battery voltage is low and the bus voltage is set high, there will be a very large current shock at the moment of charging, sometimes reaching hundreds or even thousands of amperes. The large current shock will damage electrical devices and shorten the life of the battery. Most importantly, it will cause hyperpolarization of the battery, accelerating the increase rate of the battery voltage. For safety reasons, the battery should be protected in advance. If it is used for a long period of time, it may cause a safety accident.

[0040] Therefore, at present, the second type of stepwise current reduction charging control solution is widely applied.

[0041] Stepwise current reduction charging is to charge a battery by controlling the bus current to be reduced stepwise. When charging a lithium battery, the voltage of the battery is used to determine whether the battery is fully charged. When the current magnitude is different, the lithium battery will exhibit different polarization characteristics. Generally, the larger the current, the larger the polarization, i.e., the shorter the time to reach the upper limit of the charging voltage, and generally, the smaller the amount of chargeable power. Therefore, according to the feature that the battery polarization changes with the current magnitude, a stepwise current reduction charging solution is used, that is, when charging starts, a constant current charging is performed with a large current value, and when the battery voltage is almost fully charged, the current is reduced by half to continue charging. At this time, the current decreases and the polarization of the battery is weakened, so the voltage is reduced to a certain extent, and the battery can be continuously charged. This is repeated until the current is reduced below a predetermined value and charging is completed at the upper limit of the voltage. The advantages of this charging method are: high charging efficiency, more chargeable power if the charging time is not increased, and it is safer than the constant voltage charging solution mentioned above since charging is controlled based on the charging voltage.

[0042] Currently, all battery systems operating with multiple clusters use a constant current charging solution, which has many advantages when applied to single cluster battery systems, but has similar problems as constant voltage charging when applied to multiple cluster battery systems.

[0043] When constant current charging is performed in a multi-cluster battery system, the battery management system requests the overall vehicle controller to set the charging current value of the battery based on parameters such as the real-time voltage and temperature of the battery, and the overall vehicle controller adjusts the bus current value based on the required value of the battery management system to achieve the purpose of charging control. In a system in which multiple clusters are connected in parallel, it is impossible for the states of all the batteries to be completely consistent. In addition to the above-mentioned differences in charging speed, internal resistance, and life fading speed of different batteries, there are also problems such as differences in battery temperature caused by heat dissipation problems due to factors such as structural design, all of which lead to differences in the charging current values ​​required by different battery management systems. Since the overall vehicle controller can only control the bus current, it can only select the minimum value from the multiple required charging current values ​​to control the bus current, so that it can be ensured that no batteries are overcharged during the charging process and no safety accidents will occur. Even if such a control method is used, the same problem as constant voltage charging will occur, that is, only the batteries of one cluster are fully charged, and the others are still in a state of undercharge.

[0044] In addition, due to the influence of the detection accuracy of the battery management system, the actual control effect is poor, and the risk of overcharging still exists. Furthermore, it is difficult to ensure that the entire amount of power is fully charged. In order to meet the usage requirements, it is necessary to distribute a large amount of power, which increases a lot of costs.

[0045] As described above, for batteries with multiple clusters connected in parallel, since the total voltage is similar, the preferred method for controlling the charging current is to control the bus voltage, and achieve the purpose of controlling the charging current through the rise and fall of the bus voltage.

[0046] For each cluster battery, the allowable charging current value differs depending on the current battery state, and the voltage obtained by calculation based on the allowable current value also differs. By setting the minimum voltage among the calculated voltage values ​​of several clusters as the charging voltage, the requirement that none of the charging currents of the batteries in each cluster exceed the limited current value can be met.

[0047] In traditional charging solutions, the constant voltage charging value or constant current charging value remains unchanged after it is set, and the charging control value is not changed until the next stage control condition is not met. This makes the charging control inflexible and difficult to respond immediately to the battery state, and when the battery breaks down or some device damage occurs, the charging control cannot respond immediately.

[0048] To solve the deficiencies of the traditional charging solution, the present disclosure provides a charging method that can improve charging efficiency and ensure the safety of the charging process. The difference value that should be maintained between the bus voltage and the battery voltage is calculated according to the charging allowable current value, and current control is realized to increase the battery voltage. The method of realizing current control by controlling the voltage is more flexible than the traditional charging method, has a faster response speed, and always keeps the charging current below the charging current limit value, and improves charging efficiency without prolonging the entire charging process.

[0049] The following will introduce the method in detail using different examples. Example 1: For the single cluster parallel connected battery system, the control principle can be seen from FIG. 1. In this embodiment, the voltage control and current limit control are performed in the form of PI loop control.

[0050] First, calculate the allowable charging current value of the battery system in the current state based on the current state of the battery, such as SOC, temperature, voltage, internal resistance, etc. Of course, in other embodiments, other state parameters, such as humidity, used time, etc., may be included or referenced.

[0051] For example, the charging control logic is set as follows: constant current 3C charges until the maximum unit voltage reaches 2.55V; current reduction 2C charges until the maximum unit voltage reaches 2.6V; current reduction 1C charges until the maximum unit voltage reaches 2.7V, see FIG. 2.

[0052] The difference between the allowable current value and the current value obtained by real-time sampling is obtained, and the difference value is input to the calculation model as the input for the PI part. Then, perform a PI loop calculation, which is the actual principle of the voltage-current relationship, to obtain a ΔU value, which is the difference between the bus voltage and the battery voltage for controlling the charging current to the charging allowable current value according to the first step, i.e., the ΔU value; Finally, the voltage value at the start time of battery charging and the ΔU value from the previous step are summed to obtain the final required charging voltage value, and the bus voltage is controlled to reach this voltage value, thereby achieving real-time adjustment and control of the charging current.

[0053] The above solution adjusts the value of ΔU in real time by monitoring the current state of the battery. When the system's individual voltage reaches the current reduction threshold, the value of ΔU becomes negative in a short time, thereby lowering the bus voltage and realizing current reduction control.

[0054] A charging test was carried out using the above charging method. The charging process curve can be seen in FIG. 3. It can be seen from the charging curve that the battery SOC increases steadily, the current does not fluctuate obviously, and the voltage and current follow well.

[0055] Example 2: For a multi-cluster parallel-connected battery system, the calculation of the charging voltage needs to integrate the battery information of the multiple clusters. In order to make it easier for those skilled in the art to understand the technical solution, in this embodiment, a system in which batteries are connected in parallel in both clusters is taken as an example for description. However, this technical solution is not only applicable to a system in which batteries are connected in parallel in both clusters, and any battery system in which batteries are connected in parallel in more than two clusters can also use this technical solution.

[0056] The control of the multi-cluster battery parallel connection system combines information from all batteries to calculate the minimum charging current limit value for the multi-cluster batteries, calculates the charging voltage at the minimum charging current limit value, and then adjusts and controls the bus voltage in real time.

[0057] As specifically described, calculating the allowable charging current value of the battery system in a current state based on the current state of the battery, including but not limited to SOC, temperature, voltage, internal resistance, etc., and determining the minimum value among them as a minimum charging current limit value; Obtaining a difference between the minimum charging current limit value and the current value sampled in real time, and inputting the difference value into the calculation model as an input of the PI part; Then, perform a PI loop calculation to obtain a ΔU value, the actual principle of which is the voltage-current relationship, and the value is the difference between the bus voltage and the battery voltage, i.e., the ΔU value, for controlling the charging current to the obtained minimum charging current limit value; Finally, the step includes a step of obtaining the sum of the voltage value at the start time of battery charging and the ΔU value from the previous step as the final required charging voltage value, and controlling the bus voltage to reach this voltage value, thereby realizing control of the charging current.

[0058] Of course, as shown in FIG. 4, each charging current limit value can be input into the PI loop for calculation to obtain different ΔU values, and then the calculation module can determine the ΔU value corresponding to the smallest charging current limit value, and the calculated charging voltage value is the final charging voltage value.

[0059] This charging method achieves the objective of controlling the charging current by continuously adjusting the charging voltage, has a fast response to changes in the battery state, and even if a detection error exists in the battery management system, the influence of the detection error is eliminated by PI adjustment, further improving the control accuracy of the charging process, and improved control accuracy also improves charging safety. Because the control of the charging current during the charging process is accurate, when charging is completed, the actual charging capacity of the entire battery system is higher than that of the traditional method, but the charging time is not longer, effectively improving charging efficiency.

[0060] Example 3: The charging control system of a single cluster battery parallel connection system realizes the control method provided in the first embodiment.

[0061] In this embodiment, A parameter configuration module configured to determine a suitable charging allowable current value based on the obtained current state of the battery; A calculation module is configured to calculate a difference value between a bus voltage and a battery voltage according to a difference value between an allowable charging current value and a current value sampled in real time; and a charge control module arranged to control a bus voltage according to a difference value between the bus voltage and a battery voltage to realize charge control.

[0062] Example 4: The charging control system of the multiple cluster battery parallel connection system realizes the control method provided in the second embodiment.

[0063] In this embodiment, A parameter configuration module is configured to calculate a suitable allowable charging current value for the battery of each cluster based on the acquired current state of the battery of each cluster, and to determine the minimum value among the allowable charging current values; a calculation module configured to calculate a difference between a bus voltage and a battery voltage according to a difference between the minimum value of the charging allowable current value and a current value sampled in real time; and a charge control module arranged to control a bus voltage according to a difference value between the bus voltage and a battery voltage to realize charge control.

[0064] Example 5: When the single cluster battery parallel connection system is applied to a vehicle, it uses a battery management system to cooperate with the whole vehicle controller to realize the control method provided in the first embodiment.

[0065] In this embodiment, there is provided a control system, a battery management system configured to determine a suitable permissible charging current value based on the acquired current state of the battery, calculate a difference value between a bus voltage and a battery voltage based on a difference value between the permissible charging current value and a current value obtained by real-time sampling, and determine a final required charging voltage value based on the difference value; and an overall vehicle controller configured to receive a final required charging voltage value from the battery management system and control the bus voltage at that value.

[0066] Example 6: When the multi-cluster battery parallel connection system is applied to a vehicle, it uses a battery management system to cooperate with the overall vehicle controller to realize the control method provided in the second embodiment.

[0067] In this embodiment, the control system includes: a battery management system configured to calculate an appropriate permissible charging current value for each cluster battery based on the acquired current state of the battery in each cluster, determine a minimum value among them, calculate a difference value between a bus voltage and a battery voltage based on a difference value between the minimum permissible charging current value and a current value obtained by real-time sampling, and determine a final required charging voltage value based on the difference value; and an overall vehicle controller configured to receive a final required charging voltage value from the battery management system and control the bus voltage at that value.

[0068] Example 7: A computer-readable storage medium, storing a plurality of instructions, the instructions being loaded by a processor of a terminal device to execute steps in a battery charging control method provided in embodiment 1 or embodiment 2.

[0069] Example 8: A terminal device includes a processor and a computer-readable storage medium, the processor realizes each instruction, the computer-readable storage medium stores a plurality of instructions, and the instructions are loaded by the processor to perform the steps in the battery charging control method provided in Example 1 or Example 2.

[0070] Example 9: A vehicle includes the control system according to any one of the third to sixth embodiments, or the readable storage medium according to the seventh embodiment, or the terminal device according to the eighth embodiment.

[0071] The above is a preferred embodiment of the present disclosure, and does not limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. completed within the spirit and principle of the present disclosure fall within the scope of protection of the present disclosure.

[0072] The above describes specific embodiments of the present disclosure in conjunction with the drawings, but does not limit the scope of protection of the present disclosure. As can be understood by those skilled in the art, various modifications or variations that can be completed based on the technical solutions of the present disclosure without the need for inventive efforts by those skilled in the art still fall within the scope of protection of the present disclosure.

Claims

1. 1. A battery charging control method, comprising: determining a suitable charging allowable current value based on the obtained current state of the battery; Calculating a difference between a bus voltage and a battery voltage based on a difference between an allowable charging current value and a current value sampled in real time; and controlling the bus voltage based on a difference value between the bus voltage and the battery voltage to realize charging control; a charging current value determining step of determining an allowable charging current value, the charging current value being reduced if the voltage of a single battery in the current state of the battery obtained by the step of determining an allowable charging current value reaches a current reduction threshold value.

2. 2. The method of claim 1, wherein the current state of the battery includes a battery charge state, a temperature, a voltage, and an internal resistance value.

3. 2. The battery charging control method according to claim 1, further comprising: calculating a difference between the bus voltage and the battery voltage by a PI loop based on a difference between the charging allowable current value and a current value obtained by real-time sampling.

4. 2. The battery charging control method according to claim 1, wherein the specific process of controlling the bus voltage based on the difference between the bus voltage and the battery voltage includes the steps of: setting the sum of the difference between the current bus voltage and the battery voltage and the voltage value at the start time of battery charging as the final current charging voltage value; and controlling the bus voltage to reach this voltage value, thereby realizing control of the charging current.

5. 1. A battery charging control method, comprising: A step of calculating an appropriate permissible charging current value for each cluster battery based on the acquired current state of each cluster battery, and determining the minimum value among the calculated permissible charging current values; calculating a difference between a bus voltage and a battery voltage based on a difference between the minimum value of the charging allowable current value and a current value sampled in real time; and controlling the bus voltage based on a difference value between the bus voltage and the battery voltage to realize charging control.

6. 6. The battery charging control method according to claim 5, wherein each cluster battery is connected in parallel.

7. The battery charging control method of claim 5 , wherein the current state of each cluster battery includes a charge state, a temperature, a voltage, and an internal resistance value of all the batteries.

8. 6. The battery charging control method according to claim 5, further comprising: calculating a difference between the bus voltage and the battery voltage by a PI loop based on a difference between the charging allowable current value and a current value obtained by real-time sampling.

9. 6. The battery charging control method according to claim 5, wherein the sum of the difference between the current bus voltage and the battery voltage and the voltage value at the start time of battery charging is set as the final current charging voltage value, and the bus voltage is controlled to reach this voltage value, thereby controlling the charging current.

10. 1. A battery charging control system, comprising: A parameter configuration module configured to determine a suitable charging allowable current value based on the obtained current state of the battery; A calculation module is configured to calculate a difference value between a bus voltage and a battery voltage according to a difference value between an allowable charging current value and a current value sampled in real time; a charging control module, which is configured to control a bus voltage according to a difference value between the bus voltage and a battery voltage to realize charging control; The battery charging control system according to claim 1, wherein the parameter configuration module reduces the allowable charging current value when the voltage of the single battery in the current state of the battery obtained by the parameter configuration module reaches a current reduction threshold.

11. 1. A battery charging control system, comprising: a parameter configuration module configured to calculate a suitable charging allowable current value for each cluster battery based on the acquired current state of the battery in each cluster, and to determine the minimum value among the calculated allowable current values; a calculation module configured to calculate a difference between a bus voltage and a battery voltage according to a difference between the minimum value of the charging allowable current value and a current value sampled in real time; and a charging control module configured to control a bus voltage based on a difference value between the bus voltage and a battery voltage to realize charging control.

12. 1. A control system comprising: a battery management system configured to determine a suitable permissible charging current value based on the acquired current state of the battery, calculate a difference value between a bus voltage and a battery voltage based on a difference value between the permissible charging current value and a current value obtained by real-time sampling, and determine a final required charging voltage value based on the difference value; an overall vehicle controller configured to receive a final required charging voltage value from the battery management system and control a bus voltage at the value; The control system is characterized in that the battery management system reduces the allowable charging current value when the voltage of the single battery in the obtained current state of the battery reaches a current reduction threshold.

13. 1. A control system comprising: a battery management system arranged to calculate an appropriate permissible charging current value for each cluster battery based on the acquired current state of each cluster battery, determine a minimum value among the calculated permissible charging current values, calculate a difference between a bus voltage and a battery voltage based on a difference between the minimum permissible charging current value and a current value obtained by real-time sampling, and determine a final required charging voltage value based on the difference value; an overall vehicle controller configured to receive a final required charging voltage value from the battery management system and to control a bus voltage at that value.

14. A computer readable storage medium having stored thereon a plurality of instructions, the instructions being loaded by a processor of a terminal device to perform the steps of the method for controlling battery charging according to any one of claims 1 to 9.

15. A terminal device comprising a processor and a computer-readable storage medium, the processor implementing each instruction, the computer-readable storage medium storing a plurality of instructions, the instructions being loaded by the processor to perform the steps of the battery charging control method according to any one of claims 1 to 9.

16. A vehicle, comprising the control system according to any one of claims 10 to 13, the readable storage medium according to claim 14, or the terminal device according to claim 15.

Images