High-energy-efficiency lithium-ion-battery monorail hoist locomotive, and battery management system therefor

Abstract

The present invention relates to a high-energy-efficiency lithium-ion-battery monorail hoist locomotive, and a battery management system therefor. The monorail hoist locomotive comprises a driving unit, a battery unit and a carrying trolley, wherein the carrying trolley is used for carrying goods, the battery unit is used for outputting electric power to the driving unit, and the driving unit is used for driving the locomotive to move. The battery unit comprises a battery management system, a supercapacitor, and a battery pack consisting of several battery cells, wherein the battery management system is used for acquiring the minimum state of charge (SOC) difference ΔSOCmin between the battery cells in the battery pack, the state of charge SOCn of each battery cell, the maximum state of charge SOCmax of the battery cells, and the minimum state of charge SOCmin of the battery cells; and the charging and discharging of the supercapacitor and the battery pack are controlled by the battery management system. A battery management system is used to manage the charging / discharging of a battery pack and a supercapacitor, such that the supercapacitor serves the function of a buffer during charging / discharging, thereby reducing fluctuations in a charging / discharging current and a charging / discharging voltage.

Description

A high-efficiency lithium battery monorail crane and its battery management system

[0001] Related applications

[0002] This application claims priority to Chinese Patent Application No. 202410989947.3, filed on July 23, 2024, entitled “A High-Efficiency Lithium Battery Monorail Crane and Its Battery Management System”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to the field of mining transportation, specifically to a high-efficiency lithium battery monorail crane and its battery management system. Background Technology

[0004] In recent years, my country's coal industry has seen a significant increase in production scale and mechanization level. To adapt to the characteristics of multiple underground transportation links and complex roadway environments, promoting efficient auxiliary transportation equipment is an important aspect of the current development of my country's coal industry. As an important auxiliary transportation method for high-yield and high-efficiency underground operations, monorail locomotives have advantages such as small cross-section, high utilization rate of roadway cross-sectional space, and convenient loading and unloading.

[0005] Currently, the power systems used in monorail cranes in major coal mines in my country are mainly diesel engines and battery-powered systems. Traditional diesel engine monorail cranes suffer from problems such as high noise levels, severe exhaust pollution, and high costs, while lead-acid batteries have issues with heavy metal pollution, large size, heavy weight, and frequent charging. Given the limited space underground and the high requirements for battery life, improvements to the existing explosion-proof lead-acid batteries are necessary. Lithium batteries offer high energy density, long cycle life, simple maintenance, and are environmentally friendly. With the maturation of lithium-ion battery technology, lithium-ion battery power supplies that meet the requirements of explosion-proof technology in underground mines can be developed.

[0006] The working conditions of monorail locomotives underground are complex, with many slopes and curves in the tunnels and complex geological conditions. When monorail locomotives operate under high-power charging and discharging conditions, the charging and discharging current and voltage fluctuate greatly, the capacity decays too quickly, and the lithium-ion batteries are large in size and have low energy density. The monorail locomotives consume a lot of energy under heavy loads. It is necessary to develop a high-efficiency monorail locomotive operation mode to improve energy utilization. Summary of the Invention

[0007] To address the problems existing in the prior art, this invention provides a high-efficiency lithium battery monorail crane, comprising a drive unit, a battery unit, and a carrying trolley. The carrying trolley is used to carry goods, the battery unit is used to output power to the drive unit, and the drive unit is used to drive the crane to move. The battery unit includes a battery management system, a supercapacitor, and a battery pack composed of several individual cells. The battery management system is used to obtain the minimum state-of-charge difference ΔSOC between the individual cells in the battery pack. min State of charge (SOC) of each individual battery cell n Maximum State of Charge (SOC) of each individual cell max and the minimum state of charge (SOC) of each individual cell min 'n' represents the battery number, and the state of charge (SOC) of each individual battery cell is denoted as 'SOC'. 1… SOC n The supercapacitor and battery pack are charged and discharged under the control of a battery management system.

[0008] Furthermore, the battery cell also includes a voltage sensor, a current sensor, and an alarm device; the voltage sensor is used to monitor the voltage of a single battery cell, the current sensor is used to monitor the current of a single battery cell, and the alarm device is used to issue an alarm when a single battery cell is overcharged or over-discharged.

[0009] Furthermore, the battery cell also includes a temperature sensor and a heater; the temperature sensor is used to monitor the temperature of individual battery cells; when the average temperature T is lower than the minimum start-up temperature T... min At that time, the heater heats the individual cells, where the average temperature value T is the average temperature of all individual cells.

[0010] Furthermore, it also includes a control module, a speed sensor, a weight sensor, a lidar sensor, and a positioning device; the speed sensor is used to monitor the operating speed of the monorail gantry, the weight sensor is used to monitor the weight carried by the trolley; the lidar sensor is used to monitor the road conditions ahead of the monorail gantry and the inclination angle of the suspended track; the positioning device is used to monitor the position of the monorail gantry; the data from the speed sensor, weight sensor, lidar sensor, and positioning device are transmitted to the control module, which is used to analyze the next stage power demand P of the monorail gantry. req .

[0011] Furthermore, the drive unit includes a synchronous reluctance motor, a drive wheel, a hydraulic braking unit, and a pressure sensor; the drive wheel is driven by the synchronous reluctance motor, and the pressure sensor is installed on the hydraulic braking unit to monitor the braking pressure of the hydraulic braking unit, which is used to clamp the suspension rail to achieve braking; the data from the pressure sensor is transmitted to the control module, and the synchronous reluctance motor and the hydraulic braking unit are controlled by the control module.

[0012] This invention also provides a battery management system for a high-efficiency lithium battery monorail crane, applied to the monorail crane as described above. The battery management system includes a battery balancing unit, which performs balancing management by including the following steps:

[0013] S1. Based on the magnitude and direction of the battery pack current, determine whether the battery pack is in a charging or discharging state; obtain the minimum state-of-charge difference ΔSOC among the individual cells in the battery pack. min ;

[0014] S2. When the battery pack is charging, the individual cells are balanced. The battery balancing unit first obtains the state of charge (SOC) of each individual cell. n With its maximum state of charge (SOC) max When |SOC n -SOC max |>ΔSOC min When a single cell needs charging, the battery balancing unit charges it via a supercapacitor until the corresponding State of Charge (SOC) is reached. n -SOC max |≤ΔSOC min Stop the equilibrium;

[0015] When the battery pack is in a discharge state, the individual cells are balanced. The battery balancing unit first obtains the state of charge (SOC) of each individual cell. n With the minimum state of charge (SOC) of each individual cell min When |SOC n -SOC min |>ΔSOC min When a single cell needs to be discharged, the battery balancing unit uses a supercapacitor to discharge the cell until the corresponding State of Charge (SOC) is reached. n -SOC min |≤ΔSOC min Stop balancing.

[0016] Furthermore, the battery management system also includes a voltage sensor, a current sensor, an alarm device, and an overcharge or over-discharge protection unit; when the charging voltage of a single battery cell is higher than the maximum allowable voltage or the charging current of a single battery cell is higher than the maximum allowable current, the overcharge or over-discharge protection unit controls the single battery cell to stop charging; when the discharging voltage of a single battery cell is lower than the minimum allowable voltage or the discharging current of a single battery cell is lower than the minimum allowable current, the overcharge or over-discharge protection unit controls the single battery cell to stop discharging; when the overcharge or over-discharge protection unit fails, the alarm device is activated to issue an alarm.

[0017] Furthermore, the battery management system also includes temperature sensors, heaters, and a thermal management and protection system; before the monorail crane starts, the thermal management and protection system detects the temperature of individual cells and compares the average temperature T of the temperature sensor at each individual cell with the minimum starting temperature T. min For comparison, if T≥T min If T < T, the monorail crane will start normally; if T < T min The thermal management and protection system activates the heater to heat the individual cells until T ≥ T. min .

[0018] During battery pack operation or charging, the average temperature value T of the temperature sensor at each individual cell is compared with the maximum allowable temperature T. max For comparison, when T≥T max At this time, the charge / discharge rate is controlled to decrease, and the thermal management and protection system continuously monitors the temperature of individual cells until T < T<T ... max .

[0019] Furthermore, it also includes a control module, speed sensor, weight sensor, lidar sensor, and positioning device; the battery management system's transportation modes include a high-energy-consuming mode and an operating mode.

[0020] At time t=k, the current speed V of the monorail crane is obtained through the speed sensor. k When the lidar sensor detects a turnout or curve, or when the positioning device detects a preset route node, the lidar sensor and V... k The positioning device predicts the running speed V at time t=k+1. k+1 The required power P for the next stage is obtained through speed sensors, load weight, and the inclination angle of the track ahead. req According to P req Select the operating mode of the monorail crane locomotive, when P req When P > 0, the transportation mode is set to high-energy mode; when 0 < P req When P0 is less than or equal to P0, the transportation mode is set to the operation mode; where P0 is the preset demand power threshold value.

[0021] SOC refers to the remaining battery capacity. L The SOC is the average state of charge (SOC) of a single cell within the battery pack. Lsub State of charge (SOC) of the battery pack L The lower limit of SOC Lup State of charge (SOC) of the battery pack L The upper limit of SOC Csub State of charge (SOC) of the supercapacitor C The lower limit of SOC Cup State of charge (SOC) of the supercapacitor C The upper limit.

[0022] In high-energy-consumption mode, the battery pack and supercapacitor work together to output power when the SOC (State of Charge) is reached. L <SOC Lsub When the supercapacitor is in operation, it acts as an auxiliary power source to output power; when the SOC (State of Charge) is low, it outputs power. C <SOC Csub When the supercapacitor's power is exhausted, the control module will activate the alarm device to issue a warning.

[0023] In operation mode, the battery pack is initially driven independently, and when the SOC (State of Charge) is reached... L <SOC Lsub At that time, the supercapacitor acts as an auxiliary power source to output power, when the SOC C <SOC Csub When the supercapacitor's power is exhausted, the control module will activate the alarm device to issue a warning.

[0024] Furthermore, the drive unit includes a synchronous reluctance motor, drive wheels, a hydraulic braking unit, and a pressure sensor; the battery management system also includes a regenerative braking mode, which includes braking under smooth operating conditions and braking under complex operating conditions.

[0025] Braking under stable operating conditions includes: sending a braking signal during braking to control the synchronous reluctance motor to generate negative torque to achieve braking and energy recovery.

[0026] Braking under complex operating conditions includes: a lidar sensor scanning the road conditions ahead of the monorail gantry; the control module collecting and processing lidar sensor information; and when a damper, foreign object, or person is detected ahead of the monorail gantry, the battery pack and supercapacitor stop outputting power to the synchronous reluctance motor. The control module calculates the estimated braking distance and recovers potential and kinetic energy based on the monorail gantry's current speed, weight, and gradient angle, thereby calculating the required braking torque and distributing the hydraulic and motor reverse braking. The distribution method is as follows:

[0027] A pressure sensor is installed on the hydraulic braking unit. The braking pressure of the hydraulic braking unit is calculated and controlled based on the sensor's readings. Residual braking force is used to generate negative torque through a synchronous reluctance motor, achieving braking and energy recovery. The energy generated by the synchronous reluctance motor in reverse rotation is converted into electrical energy, first reversing the charge to the battery pack, and then recharging when the state of charge (SOC) is reached. L >SOC Lup When the SOC (State of Charge) is reached, charging of the battery pack stops, and the remaining energy charges the supercapacitor. C >SOC Cup At that time, excess energy is consumed through discharge.

[0028] This invention designs a battery management system for underground monorail crane vehicles. By dynamically monitoring the working status and temperature changes of the battery pack, it achieves balanced energy management of lithium batteries and underground safety protection functions. By controlling the energy output of the battery pack and supercapacitor and the recovery of braking energy under different operating modes, it achieves the best performance of the monorail crane vehicle and extends the battery life, thereby improving the transportation efficiency of the underground monorail crane vehicle. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 is a schematic diagram of the high-efficiency lithium battery monorail crane of the present invention.

[0031] Figure 2 is a schematic diagram of the battery management system in this invention.

[0032] Figure 3 is a schematic diagram of the control module in this invention.

[0033] Figure 4 is a schematic diagram of the driving and braking process in this invention.

[0034] In the diagram: 1. Cockpit; 2. Drive unit; 3. Battery unit; 4. Carrier trolley; 5. Supercapacitor; 6. Single cell battery; 7. Battery pack; 8. Voltage sensor; 9. Current sensor; 10. Alarm device; 11. Temperature sensor; 12. Heater; 13. Speed ​​sensor; 14. Weight sensor; 15. LiDAR sensor; 16. Positioning device; 17. Synchronous reluctance motor; 18. Drive wheel; 19. Hydraulic braking unit; 20. Pressure sensor. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Example 1:

[0037] As shown in Figure 1, this embodiment of a high-efficiency lithium battery monorail crane uses a suspended track for movement and includes a driver's cab 1, a drive unit 2, a battery unit 3, and a carrier trolley 4.

[0038] Battery unit 3 includes a battery management system, a supercapacitor 5, and a battery pack 7 composed of several individual cells 6, preferably a lithium battery pack; the battery management system obtains the minimum state of charge difference ΔSOC between the individual cells 6 in the battery pack 7. min Each individual battery cell has a State of Charge (SOC) of 6. n Maximum State of Charge (SOC) of each individual battery cell max and the minimum state of charge (SOC) of each of the 6 individual cells min The supercapacitor 5 and the battery pack 7 are controlled by the battery management system for charging and discharging.

[0039] The charging and discharging of battery pack 7 and supercapacitor 5 are managed by a battery management system. During the charging and discharging process, supercapacitor 5 acts as a buffer to reduce fluctuations in charging and discharging current and voltage.

[0040] The battery cell 3 in this embodiment also includes a voltage sensor 8, a current sensor 9, and an alarm device 10. The voltage sensor 8 and the current sensor 9 are used to monitor the voltage and current of the individual battery cell 6, and the alarm device 10 is used to issue an alarm when the individual battery cell 6 is overcharged or over-discharged.

[0041] The battery cell 3 in this embodiment also includes a temperature sensor 11 and a heater 12. In this embodiment, a PTC heater 12 is preferably used. The temperature sensor 11 is used to monitor the temperature of the individual battery cell 6. When the average temperature T of the individual battery cell 6 is lower than the minimum start-up temperature T, the temperature sensor 11 monitors the temperature of the individual battery cell 6. min At this time, heater 12 heats the individual cells 6 to prevent the battery temperature from being too low and affecting efficiency.

[0042] Preferably, the system also includes a control module, a speed sensor 13, a weight sensor 14, a lidar sensor 15, and a positioning device 16. The speed sensor 13 monitors the operating speed of the monorail trolley; the weight sensor 14 monitors the weight carried by the trolley 4; the lidar sensor 15 monitors the road conditions ahead of the monorail trolley and the inclination angle of the suspended track; the positioning device 16 monitors the position of the monorail trolley; and the data from the speed sensor 13, weight sensor 14, lidar sensor 15, and positioning device 16 are transmitted to the control module, which analyzes the next stage power demand P of the monorail trolley. req .

[0043] Preferably, the drive unit 2 includes a synchronous reluctance motor 17, a drive wheel 18, a hydraulic braking unit 19, and a pressure sensor 20; the drive wheel 18 is driven by the synchronous reluctance motor 17, and the pressure sensor 20 is installed on the hydraulic braking unit 19 to monitor the braking pressure of the hydraulic braking unit 19. The hydraulic braking unit 19 is used to clamp the suspension rail to achieve braking; the data of the pressure sensor 20 is transmitted to the control module, and the synchronous reluctance motor 17 and the hydraulic braking unit 19 are controlled by the control module. When braking, the synchronous reluctance motor 17 can be used for braking, or the hydraulic braking unit 19 can be added for braking.

[0044] Example 2:

[0045] The battery management system of this embodiment is applied to the monorail crane in the above embodiment. Referring to Figure 2, the battery management system includes a battery balancing unit and includes the following steps:

[0046] S1. Based on the magnitude and direction of the current in battery pack 7, determine whether battery pack 7 is in a charging or discharging state; obtain the minimum state of charge difference ΔSOC among the individual cells 6 within battery pack 7. min .

[0047] S2. When the battery pack 7 is in a charging state, the individual cells 6 are charged and balanced. The battery balancing unit first obtains the state of charge (SOC) of each individual cell 6. n With its maximum state of charge (SOC) max When |SOC n -SOC max |>ΔSOC min When a specific cell 6 needs charging, the battery balancing unit charges the cell 6 via the supercapacitor 5 until the corresponding State of Charge (SOC) is reached. n -SOC max |≤ΔSOC min Stop the equilibrium;

[0048] When the battery pack 7 is in a discharge state, the individual cells 6 are balanced for discharge. The battery balancing unit first obtains the state of charge (SOC) of each individual cell 6. n With the minimum state of charge (SOC) of each of the 6 individual cells min When |SOC n -SOC min |>ΔSOC min When the corresponding single cell 6 needs to be discharged, the battery balancing unit discharges the single cell 6 that needs to be discharged through the supercapacitor 5 until the corresponding |SOC is reached. n -SOC min |≤ΔSOC min Stop balancing.

[0049] Preferably, the battery management system further includes a voltage sensor 8, a current sensor 9, an alarm device 10, and an overcharge or over-discharge protection unit. When the charging voltage of a single cell 6 is higher than the maximum allowable voltage or the charging current of a single cell 6 is higher than the maximum allowable current, the single cell 6 is controlled to stop charging. When the discharging voltage of a single cell 6 is lower than the minimum allowable voltage or the discharging current of a single cell 6 is lower than the minimum allowable current, the single cell 6 is controlled to stop discharging. When the overcharge or over-discharge protection unit fails, the alarm device 10 is activated.

[0050] Preferably, the battery management system further includes a temperature sensor 11, a heater 12, and a thermal management and protection system. Before the monorail crane starts, the thermal management and protection system detects the temperature of the individual battery cells 6 and compares the average temperature T of the individual battery cell 6 temperature sensor 11 with the minimum starting temperature T. min For comparison, if T≥T min If T < T, the monorail crane will start normally; if T < T min The thermal management and protection system activates heater 12 to heat the individual cell 6 until T ≥ T. min .

[0051] During operation or charging of battery pack 7, the average temperature value T of individual cell temperature sensor 11 is compared with the maximum allowable temperature T. max For comparison, T≥T max At this time, the charge / discharge rate is controlled to decrease, and the thermal management and protection system continuously monitors the temperature of the individual battery cells until T < T6. max .

[0052] Preferably, referring to Figure 3, the monorail crane includes a control module, a speed sensor 13, a weight sensor 14, a lidar sensor 15, and a positioning device 16. When the monorail crane is heavily loaded or on an uphill track, the required power is high, so a high-energy-consumption mode is selected. When the monorail crane is unloaded or running on a horizontal track, or when the required power is moderate, an operating mode is selected, including:

[0053] At time t=k, the current speed V of the monorail crane is obtained by speed sensor 13. k When the lidar sensor 15 detects a turnout or curve, or when the positioning device 16 detects a preset route node, the lidar sensor 15 and V... k The positioning device 16 predicts the running speed V at time t = k+1. k+1 The required power P for the next stage is obtained through speed sensor 13, load weight, and the inclination angle of the track ahead. req According to P req Select the operating mode of the monorail crane, set the required power threshold value to P0, when P... reqWhen P > 0, the transportation mode is set to high-energy mode; when 0 < P req When P0 is less than or equal to 0, the transportation mode is set to the operation mode; time k is any time when the monorail crane is running, and time k+1 is the time one unit after time k. The specific unit of measurement can be selected according to actual needs.

[0054] SOC refers to the remaining battery capacity. L The SOC is the average SOC of a single cell 6 within the battery pack 7. Lsub The battery pack has a state of charge (SOC) of 7. L The lower limit of SOC Lup SOC of battery pack 7 L The upper limit of SOC Csub For supercapacitors at 5 states of charge (SOC) C The lower limit of SOC Cup SOC of supercapacitor 5 C The upper limit.

[0055] Referring to Figure 4, in high-energy-consumption mode, battery pack 7 and supercapacitor 5 jointly output power when the SOC (State of Charge) is reached. L <SOC Lsub At that time, supercapacitor 5 acts as an auxiliary power source, outputting power when SOC C <SOC Csub When the supercapacitor 5 runs out of power, the alarm device 10 is activated by the control module to issue a warning. Of course, in the high-energy-consuming mode, the high-temperature protection of the individual battery 6 is not considered.

[0056] In operation mode, battery pack 7 is initially driven independently, when SOC... L <SOC Lsub At that time, supercapacitor 5 acts as an auxiliary power source, outputting power when SOC C <SOC Csub When the supercapacitor 5 runs out of power, the alarm device 10 is activated by the control module to issue a warning.

[0057] Preferably, the drive unit 2 includes a synchronous reluctance motor 17, a drive wheel 18, a hydraulic braking unit 19, and a pressure sensor 20, and also includes a regenerative braking mode for the monorail locomotive, which includes braking under stable operating conditions and braking under complex operating conditions.

[0058] Smooth operating condition braking refers to the process where the monorail crane is traveling smoothly on a horizontal track. The monorail crane can slowly decelerate and send a braking signal to control the synchronous reluctance motor 17 to generate negative torque to achieve braking and energy recovery.

[0059] In complex braking conditions such as downhill, curves, or emergency braking, the lidar sensor 15 scans the road conditions ahead of the monorail crane. The control module collects and processes the information from the lidar sensor 15. When a louver, foreign object, or person is detected in front of the monorail crane, the battery pack 7 and supercapacitor 5 stop outputting to the synchronous reluctance motor 17. The control module calculates the estimated braking distance and recovers potential and kinetic energy based on the current speed, weight, and slope angle of the monorail crane, thereby calculating the required braking torque and realizing the distribution of hydraulic and motor reverse braking. The distribution method is as follows:

[0060] Pressure sensor 20 is installed on hydraulic braking unit 19. Control unit calculates and controls braking pressure of hydraulic braking unit 19 based on the value sensed by pressure sensor 20. Residual braking force is used to generate negative torque by controlling synchronous reluctance motor 17 to achieve braking and energy recovery. This energy recovery method results in less friction and wear on brake shoes on hydraulic braking unit 19 and can effectively recover excess kinetic or potential energy during downhill braking.

[0061] The energy generated by the synchronous reluctance motor 17 reversing is converted into electrical energy, which is first reverse-charged to the battery pack 7 via the inverter. When the SOC (State of Charge) is reached... L >SOC Lup When the SOC (State of Charge) is reached, charging of battery pack 7 stops, and the remaining energy charges supercapacitor 5 via a DC / DC converter. C >SOC Cup At that time, excess energy is consumed by discharging the load;

[0062] After the battery management system determines that the operating mode is a high-energy-consumption mode, it reallocates the power output of battery pack 7 and supercapacitor 5, thereby controlling the locomotive's operating speed and avoiding sudden large fluctuations in the battery pack 7's charge level; it also uses fuzzy control based on the fruit fly optimization algorithm to allocate the power output of the composite power supply.

[0063] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A battery management system of a high-energy-efficiency lithium battery monorail crane vehicle, applied to a high-energy-efficiency lithium battery monorail crane vehicle, comprising a driving part (2), a battery unit (3) and a carrying trolley (4), the carrying trolley (4) is used for carrying goods, the battery unit (3) is used for outputting power to the driving part (2), and the driving part (2) is used for driving the vehicle to move; the battery unit (3) comprises a battery management system, a super capacitor (5) and a battery pack (7) composed of a plurality of single batteries (6), the battery management system is used for acquiring a minimum state of charge difference ΔSOC between each single battery (6) in the battery pack (7), a state of charge SOC of each single battery (6), a maximum state of charge SOC of each single battery (6) and a minimum state of charge SOC of each single battery (6), the super capacitor (5) and the battery pack (7) are controlled to charge and discharge by the battery management system, and n is a battery number, characterized in that, min n max min The battery management system comprises a battery equalization unit, and when the battery equalization unit performs equalization management, the following steps are included: ​​​​ S1, according to the size and direction of the battery pack (7) current, determine the battery pack (7) state is in charging state or discharging state; get the minimum state of charge difference ΔSOC in each single battery (6) in the battery pack (7) min ; S2, when the battery pack (7) is in a charging state, the single battery (6) is charged and balanced, the battery balancing unit first acquires the state of charge SOC of each single battery (6) n and the maximum state of charge SOC max , when ∣SOC n -SOC max ∣> ΔSOC min , that is, the corresponding single battery (6) needs to be charged, at this time the battery balancing unit charges the single battery (6) that needs to be charged through the super capacitor (5) until the corresponding ∣SOC n -SOC max ∣≤ ΔSOC min , stop balancing; When the battery pack (7) is in a discharge state, the individual cells (6) are discharged and balanced. The battery balancing unit first obtains the state of charge (SOC) of each individual cell (6). n The minimum state of charge (SOC) of each individual cell (6) min When |SOC n -SOC min |>ΔSOC min When the corresponding single cell (6) needs to be discharged, the battery balancing unit discharges the single cell (6) that needs to be discharged through the supercapacitor (5) until the corresponding SOC is reached. n -SOC min |≤ΔSOC min Stop balancing.

2. The battery management system of the high energy efficient lithium battery monorail crane locomotive of claim 1, wherein, The battery management system further comprises a voltage sensor (8), a current sensor (9), an alarm device (10) and an overcharge or overdischarge protection unit; when the charging voltage of the single battery (6) is higher than the highest allowable voltage or the charging current of the single battery (6) is higher than the highest allowable current, the overcharge or overdischarge protection unit controls the single battery (6) to stop charging; when the discharging voltage of the single battery (6) is lower than the lowest allowable voltage or the discharging current of the single battery (6) is lower than the lowest allowable current, the overcharge or overdischarge protection unit controls the single battery (6) to stop discharging; when the overcharge or overdischarge protection unit fails, the alarm device (10) is started to issue an alarm.

3. The battery management system of the high energy efficient lithium battery monorail crane locomotive of claim 1, wherein, The battery management system further comprises a temperature sensor (11), a heater (12) and a thermal management and protection system; before the monorail crane vehicle starts, the thermal management and protection system detects the temperature of the single battery (6) and compares the average temperature value T of the temperature sensor (11) at the single battery (6) with the starting minimum temperature T min . By comparison, if T≥T min , the monorail crane vehicle starts normally; if T min , the thermal management and protection system turns on the heater (12) to heat the single battery (6) until T≥T min . The average temperature value T of the temperature sensors at the monobloc cells (6) is compared with the maximum allowed temperature T max When T ≥ T max , the control reduces the charge-discharge rate, the thermal management and protection system continuously detects the temperature of the monobloc cells (6) until T < T max .

4. The battery management system of the high energy efficient lithium battery monorail crane locomotive of claim 1, wherein, Further comprising a control module, a speed sensor (13), a weight sensor (14), a laser radar sensor (15) and a positioning device (16); the transportation mode of the battery management system comprises a high-energy-consumption mode and a running mode: At time t=k, the current running speed V of the monorail crane vehicle is obtained by the speed sensor (13) k When the laser radar sensor (15) detects a turnout or a curve, or the positioning device (16) detects a preset route node, the running speed V at time t=k+1 is predicted by the laser radar sensor (15), V k The positioning device (16) predicts the running speed V at time t=k+1 k+1 The next stage demand power P is obtained by the speed sensor (13), the load weight and the front track inclination req ; According to P req The working mode of the monorail crane vehicle is selected, when P req > P0, the transportation mode is set to high energy consumption mode; when 0 req ≤ P0, the transportation mode is set to running mode; wherein P0 is a preset demand power threshold value; SOC refers to the remaining battery capacity. L The average SOC of the individual cells (6) within the battery pack (7) is given by SOC. Lsub State of charge (SOC) of the battery pack L The lower limit of SOC Lup State of charge (SOC) of the battery pack L The upper limit of SOC Csub State of charge (SOC) of the supercapacitor C The lower limit of SOC Cup State of charge (SOC) of the supercapacitor C The upper limit; In high energy consumption mode, the battery pack (7) and the super capacitor (5) jointly output power, when SOC L < SOC Lsub , the super capacitor (5) outputs power as an auxiliary power source; when SOC C < SOC Csub , the super capacitor (5) power energy is exhausted, and the control module controls the warning device (10) to give a warning; In the running mode, the battery pack (7) is first driven alone, when SOC L <SOC Lsub , the super capacitor (5) outputs power as an auxiliary power source, when SOC C <SOC Csub , the super capacitor (5) power energy is exhausted, and the control module controls the warning device (10) to give a warning.

5. The battery management system of the high energy efficient lithium battery monorail locomotive vehicle as claimed in claim 4 wherein, The driving part (2) comprises a synchronous reluctance motor (17), a driving wheel (18), a hydraulic brake unit (19) and a pressure sensor (20); the battery management system further comprises a brake recovery mode, and the brake recovery mode comprises a smooth working condition brake and a complex working condition brake: The smooth working condition brake comprises: sending a brake signal when braking, controlling the synchronous reluctance motor (17) to generate a negative torque to realize braking and energy recovery; The complex working condition brake comprises: the laser radar sensor (15) scans the road conditions in front of the single-rope suspended crane vehicle, the control module collects and processes the information of the laser radar sensor (15), when it is detected that there is a damper, foreign matter or personnel in front of the single-rope suspended crane vehicle, the battery pack (7) and the super capacitor (5) stop outputting power to the synchronous reluctance motor (17), the control module calculates the expected braking distance and the recovered potential energy and kinetic energy according to the current speed of the single-rope suspended crane vehicle, the weight of the single-rope suspended crane vehicle and the slope angle, so as to calculate the required torque for braking, and realizes the distribution of hydraulic and motor reverse braking, and the distribution method is as follows: The pressure sensor (20) is installed on the hydraulic brake unit (19), and the brake pressure of the hydraulic brake unit (19) is calculated and controlled through the sensing value of the pressure sensor (20); the residual braking force is realized by controlling the synchronous reluctance motor (17) to generate negative torque to brake and realize energy recovery; the energy generated by the reverse rotation of the synchronous reluctance motor (17) is converted into electric energy, which is first reversely charged to the battery pack (7), when SOC L > SOC Lup , the charging to the battery pack (7) is stopped, and the remaining electric energy is charged to the super capacitor (5), when SOC C > SOC Cup , the excess energy is consumed by discharging.

6. The battery management system of the high energy efficient lithium battery monorail crane locomotive of claim 1, wherein, The battery unit (3) further comprises a voltage sensor (8), a current sensor (9) and an alarm device (10); the voltage sensor (8) is used for monitoring the voltage of the single battery (6), the current sensor (9) is used for monitoring the current of the single battery (6), and the alarm device (10) is used for issuing an alarm when the single battery (6) is overcharged or overdischarged.

7. The battery management system of the high energy efficient lithium battery monorail crane locomotive of claim 1, wherein, The battery cell (3) also comprises a temperature sensor (11) and a heater (12); the temperature sensor (11) is configured to monitor the temperature of the monobloc cells (6); the heater (12) heats the monobloc cells (6) when the average temperature value T is lower than the start-up minimum temperature T min , where the average temperature value T is the average temperature of all the monobloc cells (6).

8. The battery management system of the high energy efficient lithium battery monorail crane locomotive of claim 1, wherein, Also included are a control module, a speed sensor (13), a weight sensor (14), a laser radar sensor (15), and a positioning device (16); the speed sensor (13) is used to monitor the running speed of the monorail crane vehicle, the weight sensor (14) is used to monitor the weight carried by the carrying trolley (4); the laser radar sensor (15) is used to monitor the road conditions in front of the monorail crane vehicle and the inclination angle of the suspension rail; the positioning device (16) is used to monitor the position of the monorail crane vehicle; the data of the speed sensor (13), the weight sensor (14), the laser radar sensor (15), and the positioning device (16) are transmitted to the control module, and the control module is used to analyze the next stage demand power P req of the monorail crane vehicle.

9. The energy efficient lithium battery monorail locomotive of claim 8, wherein, The driving part (2) comprises a synchronous reluctance motor (17), a driving wheel (18), a hydraulic brake unit (19) and a pressure sensor (20); the driving wheel (18) is driven by the synchronous reluctance motor (17), the pressure sensor (20) is arranged on the hydraulic brake unit (19) and is used for monitoring the brake pressure of the hydraulic brake unit (19), and the hydraulic brake unit (19) is used for clamping the suspension track to realize braking; the data of the pressure sensor (20) is transmitted to the control module, and the synchronous reluctance motor (17) and the hydraulic brake unit (19) are controlled by the control module.

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