WO2023092416A1 - 动力电池充电的方法和电池管理*** - Google Patents
动力电池充电的方法和电池管理*** Download PDFInfo
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- WO2023092416A1 WO2023092416A1 PCT/CN2021/133268 CN2021133268W WO2023092416A1 WO 2023092416 A1 WO2023092416 A1 WO 2023092416A1 CN 2021133268 W CN2021133268 W CN 2021133268W WO 2023092416 A1 WO2023092416 A1 WO 2023092416A1
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- power battery
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
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Definitions
- the present application relates to the field of power batteries, in particular to a method for charging a power battery and a battery management system.
- Embodiments of the present application provide a method for charging a power battery and a battery management system, which can meet user requirements for charging speed while ensuring the safety performance of the power battery.
- a method for charging a power battery which is applied to the battery management system BMS of the power battery, and the method includes: determining the first charging current of the power battery; according to the temperature of the power battery, Determine whether to perform thermal management on the power battery; if it is determined to perform thermal management on the power battery, determine the thermal management current according to the first charging current and the power of the charging pile; send the first charging current and the power to the charging pile.
- the thermal management current, the first charging current is used for charging the power battery, and the thermal management current is used for thermal management of the power battery.
- the BMS first determines the charging current of the power battery, and then determines the thermal management current according to the current of the power battery and the power of the charging pile when the power battery needs thermal management.
- the remaining power of the charging pile is used for thermal management of the power battery. In this way, not only can the charging speed of the power battery be guaranteed, but also by thermal management of the power battery, it is possible to avoid the safety problems of the power battery caused by lithium precipitation caused by the temperature of the power battery, such as battery combustion or explosion, etc., thereby ensuring The safety performance of the power battery.
- the first charging current is the maximum charging current allowed at the temperature of the power battery.
- the first charging current is the maximum charging current allowed at the temperature of the power battery, which can further increase the charging speed of the power battery.
- the temperature of the power battery is the temperature of the power battery before charging.
- the above technical solution determines whether to perform thermal management on the power battery according to the temperature of the power battery before charging. In this way, if it is determined to perform thermal management on the power battery, then from the moment the power battery starts charging, the BMS can perform thermal management on the power battery. Thermal management avoids the problem that the power battery needs thermal management for a certain period of time but the power battery is not thermally managed, thus affecting the charging speed of the power battery.
- the method further includes: during the charging process of the power battery, acquiring the negative electrode potential of the power battery; according to the negative electrode potential, determining that the power battery can power charging; stop thermal management of the power battery; send a second charging current to the charging pile, the second charging current is used to charge the power battery and charge the power corresponding to the charging pile current.
- the determining that the power battery can be charged with the power of the charging pile according to the negative electrode potential includes: determining the second charging time according to the negative electrode potential of the power battery at the current moment. current, the second charging current is the charging current of the power battery at the next moment; according to the second charging current and the voltage of the power battery, it is determined that the power battery can use the power of the charging pile at the next moment to charge.
- the determining whether to perform thermal management on the power battery according to the temperature of the power battery includes: comparing the temperature of the power battery with a temperature threshold; If the temperature is lower than the temperature threshold, it is determined to perform thermal management on the power battery.
- the above-mentioned technical solution performs thermal management on the power battery when the temperature of the power battery is low, increases the temperature of the power battery, and avoids the problem that the power battery is easy to decompose lithium at low temperature, thereby ensuring the normal charging process of the power battery Conduct and power battery safety performance.
- determining to perform thermal management on the power battery includes: if the temperature of the power battery is lower than the temperature threshold, and the If the difference between the power of the charging pile and the charging power of the power battery is greater than or equal to the minimum turn-on power of thermal management, it is determined to perform thermal management on the power battery; wherein, the charging power is the first charging current and The product between the voltages of the traction battery.
- the BMS determines to perform thermal management on the power battery, that is, comprehensively considers the impact on thermal management. Multiple factors for turning on, such as the temperature of the power battery and the minimum turn-on power of the thermal management, can effectively ensure the smooth progress of the thermal management of the power battery.
- the method further includes: if the negative electrode potential of the power battery drops to a negative electrode potential safety threshold, adjusting the first charging current is a third charging current, and the third charging current is smaller than the first charging current.
- the method further includes: if the negative potential of the power battery does not drop to the negative potential safety threshold and the charging time of the power battery is is greater than the time threshold, the first charging current is adjusted to a fourth charging current, and the fourth charging current is greater than the first charging current.
- the method further includes: determining the negative electrode potential safety threshold according to battery state parameters of the power battery, where the battery state parameters include the SOC, temperature and At least one of the state of health SOH.
- the above technical solution determines the safety threshold of the negative electrode potential according to the battery state parameters of the power battery, so that the determined safety threshold of the negative electrode potential can be more accurate and closer to the power battery.
- the critical potential of lithium analysis can further ensure the safety performance of the power battery.
- a battery management system for charging a power battery including: a determination unit configured to determine the first charging current of the power battery; the determination unit is also configured to, according to the temperature of the power battery, Determine whether to perform thermal management on the power battery; the determining unit is also used to, if it is determined to perform thermal management on the power battery, determine the thermal management current according to the first charging current and the power of the charging pile; the communication unit, Used to send the first charging current and the thermal management current to the charging pile, the first charging current is used to charge the power battery, and the thermal management current is used to thermally manage the power battery .
- the first charging current is the maximum charging current allowed at the temperature of the power battery.
- the temperature of the power battery is the temperature of the power battery before charging.
- the battery management system further includes: an acquisition unit, configured to acquire the negative electrode potential of the power battery during the charging process of the power battery; the determination unit is also configured to, according to the The negative electrode potential is used to determine that the power battery can be charged with the power of the charging pile; the management unit is used to stop the thermal management of the power battery; the communication unit is also used to send the second battery to the charging pile.
- Charging current, the second charging current is used to charge the power battery and is the charging current corresponding to the power of the charging pile.
- the determination unit is specifically configured to: determine the second charging current according to the negative electrode potential of the power battery at the current moment, and the second charging current is the current of the power battery at the next moment.
- Charging current according to the second charging current and the voltage of the power battery, it is determined that the power battery can be charged with the power of the charging pile at the next moment.
- the determining unit is specifically configured to: compare the temperature of the power battery with a temperature threshold; if the temperature of the power battery is less than the temperature threshold, determine to perform thermal operation on the power battery manage.
- the determining unit is specifically configured to: if the temperature of the power battery is lower than the temperature threshold, and the difference between the power of the charging pile and the charging power of the power battery is greater than or It is equal to the minimum turn-on power of thermal management, and it is determined to perform thermal management on the power battery; wherein, the charging power is the product of the first charging current and the voltage of the power battery.
- the battery management system further includes: an adjustment unit, configured to set The first charging current is adjusted to a third charging current, and the third charging current is smaller than the first charging current.
- the battery management system further includes: an adjustment unit, configured to, during the thermal management process of the power battery, if the negative electrode potential of the power battery does not drop to the negative electrode potential safety threshold and The charging duration of the power battery is greater than a time threshold, and the first charging current is adjusted to a fourth charging current, and the fourth charging current is greater than the first charging current.
- the determining unit is further configured to: determine the negative electrode potential safety threshold according to battery state parameters of the power battery, where the battery state parameters include the state of charge SOC, At least one of temperature and state of health SOH.
- a battery management system BMS for a power battery including: a memory for storing programs; a processor for executing the programs stored in the memory, and when the programs stored in the memory are executed, the The processor is configured to execute the method in the first aspect or various implementations thereof.
- FIG. 1 is a structural diagram of a charging system applicable to an embodiment of the present application.
- Fig. 2 is a schematic diagram of a method for charging a power battery according to an embodiment of the present application.
- FIG. 3 is a schematic diagram of a hierarchical first-order RC equivalent circuit model according to an embodiment of the present application.
- Fig. 4 is a schematic flowchart of a method for charging a power battery according to an embodiment of the present application.
- Fig. 5 is a schematic block diagram of a BMS according to an embodiment of the present application.
- Fig. 6 is a schematic block diagram of a BMS according to an embodiment of the present application.
- power batteries can be used as the main power source of electric devices (such as vehicles, ships or spacecraft, etc.).
- the power batteries on the market are rechargeable storage batteries, the most common being lithium batteries, such as lithium-ion batteries or lithium-ion polymer batteries.
- the safety performance of power batteries is low.
- the power battery is prone to lithium deposition and other phenomena.
- the lithium deposition phenomenon will not only degrade the performance of the power battery, greatly shorten the cycle life, but also limit the speed of the power battery.
- the filling capacity may cause catastrophic consequences such as burning and explosion, causing serious safety problems.
- the embodiment of the present application proposes a method for charging a power battery, which can meet the user's demand for charging speed while ensuring the safety performance of the power battery.
- Fig. 1 shows a structure diagram of a charging system applicable to an embodiment of the present application.
- the charging system 100 may include: a charging device 110 and a battery system 120.
- the battery system 120 may be an electric vehicle (including a pure electric vehicle and a plug-in hybrid electric vehicle). Battery system or battery system in other application scenarios.
- the power battery 121 can be any type of battery, including but not limited to: lithium ion battery, lithium metal battery, lithium sulfur battery, lead acid battery, nickel battery, nickel metal hydride battery, or lithium air battery and so on.
- the power battery 121 in the embodiment of the present application can be a battery cell/battery monomer (cell), or a battery module or battery pack.
- a battery module or battery pack can be composed of multiple battery strings. Formed in parallel, in the embodiment of the present application, the specific type and scale of the power battery 121 are not specifically limited.
- the battery system 120 is generally equipped with a battery management system (battery management system, BMS) 122, It is used to implement functions such as charge and discharge management, high voltage control, battery protection, battery data collection, and battery status evaluation.
- BMS battery management system
- the BMS 122 can be integrated with the power battery 121 and set in the same device or device, or the BMS 122 can also be set outside the power battery 121 as an independent device or device.
- the charging device 110 can output charging power according to the charging demand of the BMS 122, so as to charge the power battery 121.
- the charging device 110 may output voltage and current according to the required voltage and required current sent by the BMS 122.
- the charging device 110 in the embodiment of the present application may be a charging pile, also called a charging machine.
- the charging pile here may be, for example, a common charging pile, a super charging pile, a charging pile supporting a vehicle to grid (V2G) mode, and the like.
- the charging device 110 can be connected to the power battery 121 through the electric wire 130, and connected to the BMS 122 through the communication line 140, wherein the communication line 140 is used to realize the information exchange between the charging device 110 and the BMS.
- the communication line 140 includes, but is not limited to, a controller area network (control area network, CAN) communication bus or a daisy chain (daisy chain) communication bus.
- the charging device 110 can also communicate with the BMS 122 through a wireless network.
- the embodiment of the present application does not specifically limit the wired communication type or the wireless communication type between the charging device 110 and the BMS 122.
- Fig. 2 shows a schematic diagram of a method 200 for charging a power battery according to an embodiment of the present application.
- the method 200 can be executed by a BMS, and the BMS can be, for example, the BMS 122 in FIG. 1 .
- the method 200 may include at least some of the following.
- Step S210 Determine the first charging current of the power battery.
- Step S220 Determine whether to perform thermal management on the power battery according to the temperature of the power battery.
- Step S230 If it is determined to perform thermal management on the power battery, determine the thermal management current according to the first charging current and the power of the charging pile.
- Step S240 Send the first charging current and the thermal management current to the charging pile, wherein the first charging current is used for charging the power battery, and the thermal management current is used for thermal management of the power battery.
- thermal management of the power battery can be understood as heating the power battery.
- the BMS can determine the first charging current according to parameters such as state of charge (state of charge, SOC), temperature, state of health (state of health, SOH), voltage, etc. of the power battery.
- SOC can be used to indicate the aging state of the power battery, and can also be understood as the remaining life of the power battery. The performance of the power battery will continue to decline after long-term operation, so the remaining life will be shorter, that is, the SOH value will be smaller.
- the BMS can send the first charging current and the thermal management current to the charging pile at the same time.
- the BMS can first send the first charging current to the charging pile, and then send the thermal management current to the charging pile, or, the BMS can first send the thermal management current to the charging pile, and then send the first charging current to the charging pile .
- the first charging current and/or the thermal management current may be carried in, but not limited to, the battery charging demand BCL message.
- the BMS first determines the charging current of the power battery, and then determines the thermal management current according to the current of the power battery and the power of the charging pile when the power battery needs thermal management. In other cases, the remaining power of the charging pile is used for thermal management of the power battery. In this way, not only can the charging speed of the power battery be guaranteed, but also by thermal management of the power battery, it is possible to avoid the safety problems of the power battery caused by lithium precipitation caused by the temperature of the power battery, such as battery combustion or explosion, etc., thereby ensuring The safety performance of the power battery.
- the first charging current may be the maximum charging current allowed under the temperature of the power battery. In this way, the charging speed of the power battery can be further improved, the charging time can be shortened, and the user's charging needs can be met.
- the temperature of the power battery may be the temperature of the power battery before charging. In this way, if it is determined to perform thermal management on the power battery, then from the moment the power battery starts charging, the BMS can perform thermal management on the power battery, avoiding that the power battery needs thermal management for a certain period of time but does not heat the power battery. Management, thus affecting the charging speed of the power battery.
- the first charging current I1 and the thermal management current I2 may satisfy the following relationship:
- I 2 (P 0 -I 1 *U 0 )/U 0
- P 0 is the power of the charging pile
- U 0 is the voltage of the power battery. That is to say, the sum of the charging power of the power battery and the thermal management power is the charging pile power. For example, if the power of the charging pile is 11KW, the charging power corresponding to the temperature of the power battery before charging is 9KW, and the thermal management power is 2KW.
- the method 200 may also include: during the charging process of the power battery, the BMS obtains the negative electrode potential (or called the anode potential) of the power battery, and determines that the power battery can be charged with the power of the charging pile according to the negative electrode potential , and stop the thermal management of the power battery, and send a second charging current to the charging pile.
- the second charging current is used to charge the power battery and is a charging current corresponding to the power of the charging pile.
- the BMS can obtain the negative electrode potential of the power battery in real time.
- the BMS can periodically obtain the negative electrode potential of the power battery.
- the BMS can acquire the negative electrode potential every 5s.
- the embodiment of the present application does not specifically limit the specific implementation manner in which the BMS obtains the negative electrode potential of the power battery.
- the BMS can estimate the negative potential of the power battery through the negative potential estimation model, or the BMS can obtain the negative potential of the power battery through the actual measurement of the three-electrode battery with the reference electrode.
- the BMS can separate the positive and negative electrodes of the battery through the negative electrode potential estimation model, so as to obtain the negative electrode potential.
- the negative electrode potential estimation model may be, for example, an equivalent circuit model, an electrochemical model, and an equivalent circuit and electrochemical coupling model.
- the BMS can also obtain the negative potential of the power battery by collecting the negative potential of the three-electrode battery with the reference electrode and the potential of the reference electrode, wherein the three-electrode battery refers to
- a reference electrode is added, such as a lithium metal reference electrode, a lithium alloy reference electrode or a copper wire in-situ lithium-plated reference electrode.
- a polarization equivalent model of the three-electrode battery can be established first, and the polarization equivalent model can include positive electrode parameters and negative electrode parameters to reflect the external characteristics and internal characteristics of the three-electrode battery, so as to accurately predict the negative electrode potential.
- the polarized equivalent model may include a hierarchical Rint model, a polarized first-order RC equivalent circuit model, a polarized second-order RC equivalent circuit model, and the like.
- FIG. 3 shows a schematic diagram of a polarized first-order RC equivalent circuit model of an embodiment of the present application.
- Ut is the full battery terminal voltage
- Uca and Uan are the potential of the positive electrode relative to the reference electrode and the potential of the negative electrode relative to the reference electrode, respectively.
- OCVca and OCVan represent the open circuit voltage of the positive electrode and the open circuit voltage of the negative electrode, respectively
- Rca_0 and Ran_0 represent the ohmic internal resistance of the positive electrode and the ohmic internal resistance of the negative electrode, respectively
- Uca_p and Uan_p represent the polarization voltage of the positive electrode and the polarization voltage of the negative electrode, respectively
- Rca_p and Ran_p represent the polarization internal resistance of the positive electrode and the polarization internal resistance of the negative electrode, respectively
- Cca_p and Can_p represent the polarization capacitance of the positive electrode and the polarization capacitance of the negative electrode, respectively
- I represents the current.
- Uca_p' and Uan_p' denote the derivatives of Uca_p and Uan_p, respectively.
- the open circuit voltage OCVca of the positive pole and the open circuit voltage OCVan of the negative pole can be obtained through actual measurement, and then the calibration model parameters Rca_0, Ran_0, Rca_p can be calibrated according to the formulas (1) ⁇ (5) combined with optimization algorithms, such as the least square method, genetic algorithm, etc. , Ran_p, Cca_p, and Can_p, and finally use the extended Kalman filter algorithm, proportional-integral-differential (Proportion Integral Differential, PID) algorithm or Romberg observer to estimate the negative electrode potential.
- PID Proportion Integral Differential
- the extended Kalman filter algorithm is mainly composed of state equation (6) and observation equation (7), combined with recursive equations (8)-(12) to iteratively update time and state to realize state estimation.
- X is the state quantity to be estimated
- U is the controllable input quantity
- Y is the output quantity
- Q and R represent the system error and measurement error respectively
- P is the covariance matrix of the estimation error
- the subscript k represents the variable at time k
- the subscript k-1 indicates the variable at k-1 time
- the subscript k+1 indicates the variable at k+1 time
- the superscript " ⁇ " indicates the estimated value
- the superscript T indicates the transpose operation of the matrix
- P is the covariance matrix of the estimation errors, e.g., Represents the prior estimated covariance matrix at time k
- P k represents the posterior estimated covariance matrix at time k.
- A, B, C and D are coefficient matrices
- K k is Kalman gain.
- the negative electrode potential can be obtained through the negative electrode potential estimation equation:
- the BMS After determining the negative electrode potential of the negative electrode potential, the BMS can determine whether the power battery can be charged with the power of the charging pile according to the negative electrode potential.
- the BMS can determine the second charging current according to the potential of the negative electrode, then multiply the voltage of the power battery by the second charging current, and compare the obtained product with the power of the charging pile. If the product is equal to the power of the charging pile, the BMS can determine that the power battery can be charged with the power of the charging pile, thereby stopping the thermal management of the power battery. If the product is less than the power of the charging pile, the BMS can determine that the power battery cannot be charged with the power of the charging pile, and the BMS continues to perform thermal management on the power battery.
- the second charging current may be the charging current of the power battery at the next moment.
- the BMS determines that the power battery can be charged with the power of the charging pile. Specifically, it may include: the BMS determines the second charging current according to the negative electrode potential of the power battery at the current moment, and according to the second charging current and power The voltage of the battery determines that the power battery can be charged with the power of the charging pile at the next moment.
- the BMS first determines the charging current at the next moment based on the negative electrode potential at the current moment, and then determines that the power battery can be charged with the power of the charging pile at the next moment based on the voltage of the power battery and the charging current at the next moment. In this way, the BMS still manages the heat of the power battery at the current moment, and at the same time stops the heat management of the power battery at the next moment.
- the BMS may determine the second charging current through a predictive control algorithm.
- the BMS may determine the second charging current through a proportional-integral-differential (PID) control algorithm.
- PID proportional-integral-differential
- the BMS can obtain the second charging current through the following formula:
- I0 k+1 I0 k + ⁇ I k
- I0 k+1 is the charging request current at time k+1, that is, the second charging current
- I0 k is the charging request current at k time, that is, the first charging current
- ⁇ Uan k is the negative electrode potential of the power battery at k time
- ⁇ Uan k -1 is the negative electrode potential of the power battery at time k-1
- k p , ki , and k d are the proportional parameters, integral parameters, and differential parameters of the PID control algorithm, respectively.
- k p may be 20
- ki may be 5
- k d may be 70.
- step 220 may specifically include: comparing the temperature of the power battery with a temperature threshold, and determining to perform thermal management on the power battery if the temperature of the power battery is lower than the temperature threshold.
- the temperature threshold may be 25°C.
- the above-mentioned technical solution performs thermal management on the power battery when the temperature of the power battery is low, increases the temperature of the power battery, and avoids the problem that the power battery is easy to decompose lithium at low temperature, thereby ensuring the normal charging process of the power battery Conduct and power battery safety performance.
- the BMS determines that the power battery can be thermal management.
- the minimum turn-on power for thermal management may be a fixed value. For example, it is 0.2KW.
- the minimum turn-on power for thermal management may vary with changes in the battery state parameters of the power battery or the external environment (such as ambient temperature) where the power battery is currently located.
- the battery state parameters may include but not limited to SOC, temperature and SOH.
- the potential of the negative electrode of the power battery will gradually decrease.
- the lithium precipitation phenomenon may occur in the power battery.
- the method 200 may further include: if the negative potential of the power battery drops to the negative potential safety threshold, the BMS sets the first The charging current is adjusted to a third charging current, and the third charging current is smaller than the first charging current.
- the negative electrode potential safety threshold can be slightly higher than the negative electrode potential when the power battery has lithium precipitation phenomenon, that is, the difference between the negative electrode potential safety threshold and the negative electrode potential when lithium precipitation phenomenon occurs in the power battery is within a preset range.
- the BMS After adjusting the first charging current to the third charging current, the BMS can send the third charging current to the charging pile, so that the charging pile can charge the power battery based on the third charging current.
- the BMS can increase the charging current of the power battery, that is, the charging current from the first A charging current is adjusted to a fourth charging current, and the fourth charging current is greater than the first charging current.
- the BMS may start a timer, and the timing duration of the timer is a time threshold. After the timer expires, it indicates that the charging time of the power battery is longer than the time threshold.
- the time threshold may be but not limited to 30s.
- the BMS After adjusting the first charging current to the fourth charging current, the BMS can send the fourth charging current to the charging pile, so that the charging pile can charge the power battery based on the fourth charging current.
- the charging current of the power battery remains unchanged, and the BMS can continue to send the first charging current to the charging pile, or, the BMS
- the negative electrode potential of the power battery can be continuously obtained to compare the negative electrode potential with the negative electrode potential safety threshold.
- the BMS can continue to restart timing.
- the BMS may update the thermal management current according to the third charging current and the charging pile power.
- the BMS can update the thermal management current according to the fourth charging current and the charging pile power.
- both the third charging current and the fourth charging current are smaller than the second charging current.
- the method 200 may further include: the BMS determines the safety threshold of the negative electrode potential.
- the negative electrode potential safety threshold may be a fixed value.
- the negative potential safety threshold can be preconfigured on the BMS
- the BMS can determine the safety threshold of the negative electrode potential according to the battery state parameters of the power battery.
- the battery state parameters of the power battery may be battery state parameters before the power battery is charged. That is, before the power battery is charged, the BMS obtains the battery state parameters of the power battery, and determines the safety threshold of the negative electrode potential based on the battery state parameters. Afterwards, during the entire charging process, the BMS no longer obtains the battery status of the power battery, and the safety threshold of the negative electrode potential will no longer change.
- the battery state parameters of the power battery may be battery state parameters during the charging process of the power battery. That is, during the charging process of the power battery, the BMS can obtain the battery status parameters of the power battery in real time.
- the BMS can periodically acquire the battery state parameters of the power battery during the charging process of the power battery. For example, during the charging process of the power battery, the BMS can obtain the battery status parameters of the power battery every 5s.
- the BMS can acquire the battery state parameter every time the battery state parameter of the traction battery changes.
- the BMS determines the battery state parameters of the power battery during the charging process. In this way, the determined battery state parameters may be the closest to the current moment.
- the parameters of the actual battery state parameters of the battery make the safety threshold of the negative electrode potential determined by the BMS according to the latest battery state parameters of the power battery more accurate, so that the charging speed of the battery can be effectively improved on the basis of ensuring the safety performance of the battery.
- the higher the risk of lithium precipitation in the power battery the greater the safety threshold of the negative electrode potential.
- the negative potential safety threshold when the SOC of the power battery is in the first SOC range, the negative potential safety threshold is the first preset negative potential safety threshold; when the SOC of the power battery is in the second SOC range, the negative potential safety threshold is the second Preset negative potential safety threshold.
- the SOC in the first SOC interval is smaller than the SOC in the second SOC interval, and the first preset negative potential safety threshold is smaller than the second preset negative potential safety threshold.
- the safety threshold of the negative electrode potential when other factors remain unchanged, the greater the SOC of the power battery, the greater the safety threshold of the negative electrode potential.
- the safety threshold of the negative electrode potential when the temperature of the power battery is in the range of [-10°C, 0°C) and the SOH is 95% to 100%, and the SOC of the power battery is in the range of [0%, 40%), the safety threshold of the negative electrode potential is 10mv; When the SOC of the battery is in the range of [40%, 80%), the safety threshold of the negative electrode potential is 15mv.
- the negative potential safety threshold when the temperature of the power battery is in the first temperature range, the negative potential safety threshold is the third preset negative potential safety threshold; when the temperature of the power battery is in the second temperature range, the negative potential safety threshold is The fourth preset negative potential safety threshold.
- the temperature in the first temperature range is lower than the temperature in the second temperature range, and the third preset negative potential safety threshold is greater than the fourth preset negative potential safety threshold.
- the safety threshold of the negative electrode potential when other factors remain unchanged, the lower the temperature of the power battery, the greater the safety threshold of the negative electrode potential.
- the safety threshold of the negative electrode potential when the SOC of the power battery is in the range of [80%, 100%] and the SOH is 85% to 95%, when the temperature of the power battery is in the range of [-10°C, 0°C), the safety threshold of the negative electrode potential is 35mv; When the temperature is in the range of [0°C, 10°C), the safety threshold of negative electrode potential is 30mv.
- the negative electrode potential safety threshold when the SOH of the power battery is in the first SOH interval, the negative electrode potential safety threshold is the fifth preset negative electrode potential safety threshold; when the SOH of the power battery is in the second SOH interval, the negative electrode potential safety threshold is the first Six preset potential safety thresholds. Wherein, the SOH in the first SOH interval is smaller than the SOH in the second SOH interval, and the fifth preset negative potential safety threshold is greater than the sixth preset negative potential safety threshold.
- the safety threshold of the negative electrode potential is 18mv;
- the safety threshold of negative electrode potential is 15mv.
- the above technical solution sets the safety threshold of the negative electrode potential based on the risk of lithium analysis of the power battery.
- the safety threshold of the negative electrode potential corresponding to the power battery with a high risk of lithium analysis is set relatively large, which can effectively suppress the lithium analysis of the power battery. risk and improve the safety performance of power batteries.
- setting the negative electrode potential safety threshold corresponding to the power battery with low risk of lithium analysis is relatively small, which can ensure the charging speed of the power battery without affecting the safety performance of the power battery.
- the BMS can determine the safety threshold of the negative electrode potential of the power battery according to the charging mode of the power battery.
- the charging mode of the power battery may include but not limited to a super fast charging mode, a conventional fast charging mode, a long-life charging mode, and the like.
- the super fast charging mode is biased towards the charging speed requirement, and usually the charging current is relatively large.
- the conventional fast charging mode does not have such a high demand for charging speed, which can be understood as a charging mode that balances charging speed and charging safety.
- the long-life charging mode is biased towards charging safety requirements, and does not require high charging speed. Users generally choose the long-life charging mode when charging the power battery at night. It should be understood that the charging current in the super fast charging mode, the normal fast charging mode and the long-life charging mode decreases sequentially, and the charging time increases sequentially.
- the charging mode of the power battery can also include other charging modes, such as the fixed-time fixed SOC mode, which is a charging mode that charges to a certain SOC within a specified time period, and is biased towards the reservation function.
- the fixed-time fixed SOC mode which is a charging mode that charges to a certain SOC within a specified time period, and is biased towards the reservation function.
- the BMS can acquire the charging mode only once during the entire charging process.
- the charging mode is fixed.
- the user may change the charging mode during the charging process, for example, the long-life charging mode selected by the user at the beginning of charging.
- the mode changes to super fast charging mode. Therefore, the BMS can acquire the charging mode multiple times during the charging process.
- the BMS may acquire the charging mode periodically, for example, the BMS may acquire the charging mode every 5s.
- the BMS may determine the negative electrode potential safety threshold according to the acquired charging mode and the corresponding relationship between the charging mode and the negative electrode potential safety threshold.
- the corresponding relationship between the charging mode and the safety threshold of the negative electrode potential may be pre-configured on the BMS.
- the corresponding relationship between the charging mode and the safety threshold of the negative electrode potential can be obtained through a large amount of experimental data, and then the technicians can configure the corresponding relationship on the BMS when the BMS leaves the factory.
- the corresponding relationship between the charging mode and the safety threshold of the negative electrode potential may be pre-configured on the BMS in the form of a table or a graph. In this way, the BMS can determine the charging mode through internal table lookup or internal map lookup.
- the corresponding relationship between the charging mode and the safety threshold of the negative electrode potential may also be obtained by the BMS from other devices or from the cloud.
- the negative electrode potential safety threshold is determined according to the corresponding relationship between the charging mode and the negative electrode potential safety threshold, which is not only simple to implement, but also takes less time.
- the charging mode selected by the user is relevant to the user's current needs. For example, when the user selects the super fast charging mode, it indicates that the user hopes to charge the power battery to the expected power or even fully in a short period of time. In this case, the negative potential safety threshold cannot be too high. If the safety threshold of the negative electrode potential is too high, the charging current of the power battery will be limited, and the charging time of the power battery will be prolonged, which is exactly the opposite of the user's needs. For another example, when the user selects the long-life charging mode, it indicates that the user may not use the electric device including the power battery for a period of time in the future. The user has lower requirements for charging speed, but cares more about the safety performance of the power battery.
- the negative potential safety threshold cannot be too low. If the safety threshold of the negative electrode potential is too low, it may appear that the negative electrode potential of the power battery has dropped to the critical potential of lithium precipitation, but has not yet dropped to the safety threshold of the negative electrode potential, which will affect the safety performance of the power battery.
- the charging mode with a larger charging current corresponds to a smaller safety threshold of the negative electrode potential.
- the charging mode includes at least the first charging mode and the second charging mode
- the charging current of the power battery in the first charging mode, is the first charging current
- the second charging mode in the second charging mode, the charging current of the power battery is the second charging current
- the first charging current is greater than the second charging current
- the negative electrode potential safety threshold corresponding to the first charging mode is smaller than the negative electrode potential safety threshold corresponding to the second charging mode.
- the first charging mode is the super fast charging mode
- the second charging mode is the normal fast charging mode.
- the negative potential safety threshold corresponding to the super fast charging mode is 8mv
- the safe threshold corresponding to the normal fast charging mode is The threshold is 12mv.
- the BMS can determine the safety threshold of the negative electrode potential according to the charging mode of the power battery and the battery state parameters of the battery of the power battery.
- Step 401 BMS judges whether the power battery is in charging state.
- step 402 If the power battery is in the charging state, execute step 402; if the power battery is not in the charging state, execute step 416.
- Step 402 The BMS determines the first charging current I1 of the power battery.
- the BMS can first obtain parameters such as SOC, SOH, temperature and voltage of the power battery, and determine I1 according to the parameters such as SOC, SOH, temperature and voltage of the power battery.
- Step 403 The BMS judges whether to perform thermal management on the power battery.
- the BMS can compare the temperature of the power battery with the temperature. If the temperature of the power battery is lower than the temperature threshold, the BMS determines to perform thermal management on the power battery, and performs step 404; if the temperature of the power battery is greater than or equal to the temperature threshold, the BMS determines that it is wrong. If the power battery performs thermal management, step 406 is executed.
- Step 404 The BMS determines the thermal management current I0 according to the first charging current I1 and the power of the charging pile.
- Step 405 The BMS sends the first charging current I1 and the thermal management current I0 to the charging pile.
- Step 406 The BMS sends the first charging current I1 to the charging pile.
- Step 407 During the charging process, the BMS obtains the negative electrode potential of the power battery in real time.
- Step 408 The BMS compares the negative electrode potential of the power battery with the negative electrode potential safety threshold, and determines whether the negative electrode potential of the power battery drops to the negative electrode potential safety threshold.
- step 409 is performed; if the negative potential safety threshold of the power battery does not drop to the negative potential safety threshold, step 410 is performed.
- Step 409 The BMS adjusts the first charging current I1 to a third charging current I3, and sends the third charging current I3 to the charging pile, so that the charging pile charges the power battery based on I3.
- Step 410 The BMS judges whether the charging duration of the power battery is greater than the time threshold.
- the BMS executes step 411; if the charging duration is smaller than the time threshold, the BMS executes step 407.
- Step 411 The BMS adjusts the first charging current I1 to a fourth charging current I4, and sends the fourth charging current I4 to the charging pile, so that the charging pile charges the power battery based on I4.
- Step 412 The BMS judges whether to continue thermal management of the power battery.
- the BMS determines the second charging current I2 according to the negative electrode potential of the power battery. If the product of the voltage of the power battery and the second charging current I2 is equal to the power of the charging pile, the BMS determines to stop the thermal management of the power battery at the next moment. And execute step 413 ; if the product of the voltage of the power battery and the second charging current I2 is less than the power of the charging pile, the BMS determines to continue thermal management of the power battery, and executes step 414 .
- Step 413 The BMS sends the second charging current I2 to the charging pile.
- Step 414 The BMS updates the thermal management current according to the third charging current I3, or updates the thermal management current according to the fourth charging current I4.
- Step 415 The BMS sends the third charging current I3 and the updated thermal management current to the charging pile, or sends the fourth charging current I4 and the updated thermal management current to the charging pile.
- Step 416 The BMS judges whether the power battery is fully charged or the gun is drawn.
- step 407 If the power battery is fully charged or the gun is drawn, the charging process ends; if the power battery is not fully charged or the gun is drawn, the BMS continues to execute step 407 .
- FIG. 5 shows a schematic block diagram of a BMS 500 according to an embodiment of the present application.
- the BMS 500 can execute the power battery charging method 200 of the above-mentioned embodiment of the present application.
- the BMS 500 may include:
- the determination unit 510 is configured to determine the first charging current of the power battery.
- the determination unit 510 is further configured to determine whether to perform thermal management on the power battery according to the temperature of the power battery.
- the determining unit 510 is further configured to, if it is determined to perform thermal management on the power battery, determine a thermal management current according to the first charging current and the power of the charging pile.
- the communication unit 520 is configured to send the first charging current and the thermal management current to the charging pile, the first charging current is used to charge the power battery, and the thermal management current is used to The battery is thermally managed.
- the first charging current is a maximum charging current allowed at the temperature of the power battery.
- the temperature of the power battery is the temperature of the power battery before charging.
- the battery management system 500 further includes: an acquisition unit, configured to acquire the negative electrode potential of the power battery during the charging process of the power battery; the determination unit 510 It is also used to determine that the power battery can be charged with the power of the charging pile according to the negative electrode potential; the management unit is used to stop the thermal management of the power battery; the communication unit 520 is also used to send The charging pile sends a second charging current, which is used to charge the power battery and is a charging current corresponding to the power of the charging pile.
- the determination unit 510 is specifically configured to: determine the second charging current according to the negative electrode potential of the power battery at the current moment, and the second charging current is the power The charging current of the power battery at the next moment; according to the second charging current and the voltage of the power battery, it is determined that the power battery can be charged with the power of the charging pile at the next moment.
- the determination unit 510 is specifically configured to: compare the temperature of the power battery with a temperature threshold; if the temperature of the power battery is less than the temperature threshold, determine The power battery is thermally managed.
- the determining unit 510 is specifically configured to: if the temperature of the power battery is lower than the temperature threshold, and the charging power of the charging pile is between the charging power of the power battery If the difference is greater than or equal to the minimum turn-on power of thermal management, it is determined to perform thermal management on the power battery; wherein, the charging power is the product of the first charging current and the voltage of the power battery.
- the battery management system 500 further includes: an adjustment unit, configured to, in the process of thermally managing the power battery, if the negative electrode potential of the power battery drops to The electric potential safety threshold adjusts the first charging current to a third charging current, and the third charging current is smaller than the first charging current.
- the battery management system 500 further includes: an adjustment unit, configured to, in the process of thermally managing the power battery, if the negative electrode potential of the power battery does not drop to The negative potential safety threshold and the charging duration of the power battery is greater than the time threshold, the first charging current is adjusted to a fourth charging current, and the fourth charging current is greater than the first charging current.
- an adjustment unit configured to, in the process of thermally managing the power battery, if the negative electrode potential of the power battery does not drop to The negative potential safety threshold and the charging duration of the power battery is greater than the time threshold, the first charging current is adjusted to a fourth charging current, and the fourth charging current is greater than the first charging current.
- the determination unit 510 is further configured to: determine the negative electrode potential safety threshold according to the battery state parameters of the power battery, the battery state parameters include the battery state parameters of the power battery At least one of state of charge SOC, temperature and state of health SOH.
- the BMS 500 can implement the corresponding operations of the BMS in the method 200, and for the sake of brevity, details are not repeated here.
- the BMS 500 can achieve the same technical effect as the aforementioned method 200, and for the sake of brevity, no further description is given here.
- FIG. 6 is a schematic diagram of a hardware structure of a BMS according to an embodiment of the present application.
- BMS 600 includes memory 601, processor 602, communication interface 603 and bus 604. Wherein, the memory 601 , the processor 602 , and the communication interface 603 are connected to each other through a bus 604 .
- the memory 601 may be a read-only memory (read-only memory, ROM), a static storage device and a random access memory (random access memory, RAM).
- the memory 601 may store a program. When the program stored in the memory 601 is executed by the processor 602, the processor 602 and the communication interface 603 are used to execute various steps of the method for charging a power battery according to the embodiment of the present application.
- the processor 602 may be a general-purpose central processing unit (central processing unit, CPU), a microprocessor, an application specific integrated circuit (application specific integrated circuit, ASIC), a graphics processing unit (graphics processing unit, GPU) or one or more
- the integrated circuit is used to execute related programs to realize the functions required by the units in the device of the embodiment of the present application, or to execute the method for charging the power battery of the embodiment of the present application.
- the processor 602 may also be an integrated circuit chip, which has a signal processing capability. During implementation, each step of the method for charging a power battery in the embodiment of the present application may be completed by an integrated logic circuit of hardware in the processor 602 or instructions in the form of software.
- processor 602 can also be general-purpose processor, digital signal processor (digital signal processing, DSP), ASIC, off-the-shelf programmable gate array (field programmable gate array, FPGA) or other programmable logic device, discrete gate or transistor logic devices, discrete hardware components.
- DSP digital signal processor
- ASIC off-the-shelf programmable gate array
- FPGA field programmable gate array
- Various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed.
- a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
- the steps of the methods disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.
- the software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register.
- the storage medium is located in the memory 601, and the processor 602 reads the information in the memory 601, and combines its hardware to complete the functions required by the units included in the BMS of the embodiment of the application, or execute the power battery charging method of the embodiment of the application .
- the communication interface 603 uses a transceiver device such as but not limited to a transceiver to realize communication between the BMS 600 and other devices or communication networks.
- a transceiver device such as but not limited to a transceiver to realize communication between the BMS 600 and other devices or communication networks.
- the BMS 600 can send charging request information to the charging pile through the communication interface 603.
- the bus 604 may include pathways for transferring information between various components of the device 600 (eg, memory 601 , processor 602 , communication interface 603 ).
- BMS 600 only shows a memory, a processor, and a communication interface
- the BMS 600 may also include other devices necessary for normal operation.
- the BMS 600 may also include hardware devices for implementing other additional functions.
- the BMS 600 may only include the devices necessary to realize the embodiment of the present application, and does not necessarily include all the devices shown in FIG. 6 .
- the embodiment of the present application also provides a computer-readable storage medium, which stores program codes for device execution, and the program codes include instructions for executing the steps in the above method for charging a power battery.
- the embodiment of the present application also provides a computer program product, the computer program product includes a computer program stored on a computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by the computer, the The computer executes the above-mentioned method for charging a power battery.
- the computer-readable storage medium mentioned above may be a transitory computer-readable storage medium, or a non-transitory computer-readable storage medium.
- sequence numbers of the processes do not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logic, rather than by the execution order of the embodiments of the present application.
- the implementation process constitutes no limitation.
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
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Abstract
Description
Claims (21)
- 一种动力电池充电的方法,其特征在于,应用于所述动力电池的电池管理***BMS,所述方法包括:确定所述动力电池的第一充电电流;根据所述动力电池的温度,确定是否对所述动力电池进行热管理;若确定对所述动力电池进行热管理,根据所述第一充电电流和充电桩功率,确定热管理电流;向充电桩发送所述第一充电电流和所述热管理电流,所述第一充电电流用于对所述动力电池进行充电,所述热管理电流用于对所述动力电池进行热管理。
- 根据权利要求1所述的方法,其特征在于,所述第一充电电流为在所述动力电池的温度下所允许的最大充电电流。
- 根据权利要求1或2所述的方法,其特征在于,所述动力电池的温度为所述动力电池在充电前的温度。
- 根据权利要求1至3中任一项所述的方法,其特征在于,所述方法还包括:在所述动力电池的充电过程中,获取所述动力电池的负极电位;根据所述负极电位,确定所述动力电池能够以所述充电桩功率进行充电;停止对所述动力电池的热管理;向所述充电桩发送第二充电电流,所述第二充电电流用于对所述动力电池进行充电且为所述充电桩功率对应的充电电流。
- 根据权利要求4所述的方法,其特征在于,所述根据所述负极电位,确定所述动力电池能够以所述充电桩功率进行充电,包括:根据所述动力电池当前时刻的负极电位,确定所述第二充电电流,所述第二充电电流为所述动力电池下一时刻的充电电流;根据所述第二充电电流和所述动力电池的电压,确定所述动力电池在下一时刻能够以所述充电桩功率进行充电。
- 根据权利要求1至5中任一项所述的方法,其特征在于,所述根据所述动力电池的温度,确定是否对所述动力电池进行热管理,包括:将所述动力电池的温度与温度阈值进行比较;若所述动力电池的温度小于所述温度阈值,确定对所述动力电池进行热管理。
- 根据权利要求6所述的方法,其特征在于,所述若所述动力电池的温度小于所述温度阈值,确定对所述动力电池进行热管理,包括:若所述动力电池的温度小于所述温度阈值,且所述充电桩功率与所述动力电池的充电功率之间的差值大于或等于热管理最小开启功率,确定对所述动力电池进行热管理;其中,所述充电功率为所述第一充电电流与所述动力电池的电压之间的乘积。
- 根据权利要求1至7中任一项所述的方法,其特征在于,在对所述动力电池进 行热管理的过程中,所述方法还包括:若所述动力电池的负极电位下降至负极电位安全阈值,将所述第一充电电流调整为第三充电电流,所述第三充电电流小于所述第一充电电流。
- 根据权利要求1至7中任一项所述的方法,其特征在于,在对所述动力电池进行热管理的过程中,所述方法还包括:若所述动力电池的负极电位未下降至负极电位安全阈值且所述动力电池的充电时长大于时间阈值,将所述第一充电电流调整为第四充电电流,所述第四充电电流大于所述第一充电电流。
- 根据权利要求8或9所述的方法,其特征在于,所述方法还包括:根据所述动力电池的电池状态参数,确定所述负极电位安全阈值,所述电池状态参数包括所述动力电池的荷电状态SOC、温度和健康状态SOH中的至少一个。
- 一种动力电池充电的电池管理***,其特征在于,包括:确定单元,用于确定所述动力电池的第一充电电流;所述确定单元还用于,根据所述动力电池的温度,确定是否对所述动力电池进行热管理;所述确定单元还用于,若确定对所述动力电池进行热管理,根据所述第一充电电流和充电桩功率,确定热管理电流;通信单元,用于向充电桩发送所述第一充电电流和所述热管理电流,所述第一充电电流用于对所述动力电池进行充电,所述热管理电流用于对所述动力电池进行热管理。
- 根据权利要求11所述的电池管理***,其特征在于,所述第一充电电流为在所述动力电池的温度下所允许的最大充电电流。
- 根据权利要求11或12所述的电池管理***,其特征在于,所述动力电池的温度为所述动力电池在充电前的温度。
- 根据权利要求11至13中任一项所述的电池管理***,其特征在于,所述电池管理***还包括:获取单元,用于在所述动力电池的充电过程中,获取所述动力电池的负极电位;所述确定单元还用于,根据所述负极电位,确定所述动力电池能够以所述充电桩功率进行充电;管理单元,用于停止对所述动力电池的热管理;所述通信单元还用于,向所述充电桩发送第二充电电流,所述第二充电电流用于对所述动力电池进行充电且为所述充电桩功率对应的充电电流。
- 根据权利要求14所述的电池管理***,其特征在于,所述确定单元具体用于:根据所述动力电池当前时刻的负极电位,确定所述第二充电电流,所述第二充电电流为所述动力电池下一时刻的充电电流;根据所述第二充电电流和所述动力电池的电压,确定所述动力电池在下一时刻能够以所述充电桩功率进行充电。
- 根据权利要求11至15中任一项所述的电池管理***,其特征在于,所述确定 单元具体用于:将所述动力电池的温度与温度阈值进行比较;若所述动力电池的温度小于所述温度阈值,确定对所述动力电池进行热管理。
- 根据权利要求16所述的电池管理***,其特征在于,所述确定单元具体用于:若所述动力电池的温度小于所述温度阈值,且所述充电桩功率与所述动力电池的充电功率之间的差值大于大于或等于热管理最小开启功率,确定对所述动力电池进行热管理;其中,所述充电功率为所述第一充电电流与所述动力电池的电压之间的乘积。
- 根据权利要求11至17中任一项所述的电池管理***,其特征在于,所述电池管理***还包括:调整单元,用于在对所述动力电池进行热管理的过程中,若所述动力电池的负极电位下降至负极电位安全阈值,将所述第一充电电流调整为第三充电电流,所述第三充电电流小于所述第一充电电流。
- 根据权利要求11至17中任一项所述的电池管理***,其特征在于,所述电池管理***还包括:调整单元,用于在对所述动力电池进行热管理的过程中,若所述动力电池的负极电位未下降至负极电位安全阈值且所述动力电池的充电时长大于时间阈值,将所述第一充电电流调整为第四充电电流,所述第四充电电流大于所述第一充电电流。
- 根据权利要求18或19所述的电池管理***,其特征在于,所述确定单元还用于:根据所述动力电池的电池状态参数,确定所述负极电位安全阈值,所述电池状态参数包括所述动力电池的荷电状态SOC、温度和健康状态SOH中的至少一个。
- 一种动力电池的电池管理***,其特征在于,包括处理器和存储器,所述存储器用于存储计算机程序,所述处理器用于调用所述计算机程序,执行如权利要求1至10中任一项所述的动力电池充电的方法。
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CN202180054686.0A CN116569383A (zh) | 2021-11-25 | 2021-11-25 | 动力电池充电的方法和电池管理*** |
PCT/CN2021/133268 WO2023092416A1 (zh) | 2021-11-25 | 2021-11-25 | 动力电池充电的方法和电池管理*** |
EP21965151.0A EP4246662A4 (en) | 2021-11-25 | 2021-11-25 | METHOD FOR CHARGING A TRACTION BATTERY AND BATTERY MANAGEMENT SYSTEM |
KR1020237022510A KR20230115327A (ko) | 2021-11-25 | 2021-11-25 | 파워 배터리의 충전 방법 및 배터리 관리 시스템 |
JP2023541351A JP2024502840A (ja) | 2021-11-25 | 2021-11-25 | 動力電池の充電の方法及び電池管理システム |
US18/340,500 US20230335822A1 (en) | 2021-11-25 | 2023-06-23 | Method for charging power battery and battery management system |
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US18/340,500 Continuation US20230335822A1 (en) | 2021-11-25 | 2023-06-23 | Method for charging power battery and battery management system |
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EP0834977A2 (de) * | 1996-08-08 | 1998-04-08 | Schmidhauser AG | Einrichtung zum Laden mindestens eines Akkumulators, insbesondere eines Akkumulators für ein elektrisch angetriebenes Fahrzeug sowie ein Verfahren zum Betrieb dieser Einrichtung |
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JP5821310B2 (ja) * | 2011-06-14 | 2015-11-24 | 三菱自動車工業株式会社 | 車両の暖機制御装置 |
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CN107472052B (zh) * | 2017-06-28 | 2020-04-07 | 北京长城华冠汽车科技股份有限公司 | 动力电池直流充电管理方法及*** |
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CN112615075B (zh) * | 2020-12-16 | 2021-11-09 | 清华大学 | 电池快速充电方法及计算机设备 |
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CN116569383A (zh) | 2023-08-08 |
US20230335822A1 (en) | 2023-10-19 |
KR20230115327A (ko) | 2023-08-02 |
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