CN102756661B - Determination method and device for state of charge of vehicular battery - Google Patents

Determination method and device for state of charge of vehicular battery Download PDF

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CN102756661B
CN102756661B CN201110106951.3A CN201110106951A CN102756661B CN 102756661 B CN102756661 B CN 102756661B CN 201110106951 A CN201110106951 A CN 201110106951A CN 102756661 B CN102756661 B CN 102756661B
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soc
current
vehicular battery
battery
value
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CN102756661A (en
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贾广清
刘璐
赵晓
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BEIJING BAKAI ELECTRIC TECHNOLOGY Co Ltd
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BEIJING BAKAI ELECTRIC TECHNOLOGY Co Ltd
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    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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Abstract

The invention provides a determination method and device for the state of charge of a vehicular battery. The method comprises the following steps of: acquiring a voltage signal, a temperature signal, a current signal and an initial value of the SOC (state of charge) of the vehicular battery; determining the internal resistance of the current vehicular battery according to the voltage signal, the temperature signal, the current signal and the historical data of the SOC; judging the current state of the vehicular battery according to the acquired voltage signal and current signal, wherein the current state comprises the charging state, the discharging state and the stable state; if the current state of the vehicular battery is the charging state or the discharging state, determining the current value of the SOC of the vehicular battery according to the initial value of the SOC, the current signal and the internal resistance of the current vehicular battery; and if the current state of the vehicular battery is the stable state, determining the relation between the SOC and the open-circuit voltage according to the temperature signal and determining the current value of the SOC of the vehicular battery according to the relation between the SOC and the open-circuit voltage. By the invention, the SOC of the vehicular battery can be acquired in real time.

Description

The defining method of Vehicular battery state-of-charge and device
Technical field
The present invention relates to electronlmobil field, particularly, relate to a kind of defining method and device of Vehicular battery state-of-charge.
Background technology
Along with the increasing year by year endangered with green-house effect that increasingly sharpens of world oil shortage problem, various countries more and more pay close attention to the automobile of other new forms of energy power, such as, and electronlmobil.
Current electronlmobil mainly has three types: pure electric automobile, mixed power electric car and fuel cell electric vehicle.These three kinds of electronlmobils are all equipped with energy-storage battery, utilize the electric energy in energy-storage battery in the process of moving.
Need SOC (state of charge in the driving process of electronlmobil, state-of-charge) monitor, ensure that it maintains in rational scope, prevent because overcharge or overdischarge are to the damage of battery, and forecast the state-of-charge of the remaining energy of electronlmobil energy-storage battery or energy-storage battery at any time.Wherein, SOC is also referred to as the state of charge of battery, and be the ratio that energy-storage battery uses the capacity of a period of time or the residual capacity after lying idle for a long time and its fully charged state, conventional percentum represents, controls must consider its state-of-charge when energy-storage battery runs.
SOC is very important parameter in elec. vehicle operational process.For pure electric vehicle, SOC data prevent over-charging of battery and cross the Main Basis put; For hybrid power, elec. vehicle, battery pack SOC data are Main Basiss of integrated vehicle control tactics.The size of SOC value directly reflects the state residing for battery, and can limit the maximum discharge current of battery accordingly and estimate the travelled distance of battery-driven car, such as, namely SOC=1 is expressed as battery full state.
Detection at present to SOC, the method adopted both at home and abroad mainly contains: discharging test method, Ah counting method, open circuit voltage method, load method, electrochemical impedance spectroscopy, internal resistance method, neural network and Kalman filtering method.Wherein, discharging test method is in the lab for determining the common method of on-test and end of test moment SOC, but cannot use in practical operation; Ah counting method is the most conventional on current electronlmobil, but the estimated accuracy of Ah counting method unsatisfactory, mainly contain following three reasons: 1. the initial SOC being difficult to accurately estimate battery; 2. current measurement errors on the impact of method accuracy obviously; 3. must consider the impact of charge discharge efficiency; And open circuit voltage method, load method, electrochemical impedance spectroscopy, internal resistance method, neural network also due to its respective shortcoming, are seldom applied in practical operation.
In sum, also under elec. vehicle mode of operation, SOC cannot be determined in real time at present, thus limit the application of elec. vehicle.
Summary of the invention
The main purpose of the embodiment of the present invention is the defining method and the device that provide a kind of Vehicular battery state-of-charge, with solve of the prior art under elec. vehicle mode of operation, SOC cannot be determined in real time thus restriction electric vehicle applications problem.
To achieve these goals, the embodiment of the present invention provides the defining method of a kind of Vehicular battery SOC, and the method comprises: obtain the voltage signal of described Vehicular battery, temperature signal, current signal and SOC initial value; Current Vehicular battery internal resistance is determined according to the voltage signal obtained, temperature signal, current signal and SOC historical data; Judge the current state of described Vehicular battery according to the voltage signal obtained and current signal, described current state comprises charge condition, discharge regime and stabilized conditions; If the current state of described Vehicular battery is charge condition or discharge regime, then determine the SOC currency of described Vehicular battery according to described SOC initial value, current signal and current Vehicular battery internal resistance; If the current state of described Vehicular battery is stabilized conditions, determine the relation of SOC and open circuit voltage according to described temperature signal, and determine the SOC currency of described Vehicular battery according to the relation of described SOC and open circuit voltage;
Wherein, the current state of described Vehicular battery be charge condition or discharge regime time, determine that the SOC of described Vehicular battery comprises according to described SOC initial value, current signal and current Vehicular battery internal resistance:
In the charge state, according to the SOC of Vehicular battery described in following formulae discovery:
SOC t + Δt = SOC t + ∫ t t + Δt Idt / Q × 100 % + I t × I t × IR 1 t / V × Δt / Q × 100 %
In the discharged condition, according to the SOC of Vehicular battery described in following formulae discovery:
SOC t + Δt = SOC t - ∫ t t + Δt Idt / Q × 100 % + I t × I t × IR 2 t / V × Δt / Q × 100 %
Wherein, SOC tthe SOC value of t, sOC t0sOC initial value, be current accumulation amount, I is the current time current value that system acquisition arrives, and Q is the rated capacity of battery, IR1 tvehicular battery internal resistance, C ahrepresent battery rated capacity value, unit is Ah.
Particularly, judge that the current state of described Vehicular battery comprises according to the voltage signal obtained and current signal: the multiple magnitude of voltage and the current value that periodically obtain described Vehicular battery; One-way analysis of variance is carried out to described multiple magnitude of voltage and current value; The dispersion degree of described Vehicular battery current state is judged according to described one-way analysis of variance result; If dispersion degree is less than predetermined value, then judge that the current state of described Vehicular battery is stabilized conditions, otherwise the current state of described Vehicular battery is charge condition or discharge regime; If described current value is positive current, then judge that the current state of described Vehicular battery is discharge regime, if described current value is negative current, then judge that the current state of described Vehicular battery is charge condition.
By following formula, one-way analysis of variance is carried out to described multiple magnitude of voltage and current value: wherein, X i=ρ (kI i+ V i), ρ is variance estimation coefficient, k compensating factor, I ifor electric current, V ifor battery box average monomer voltage, i is sampling number.
Above-mentionedly determine that the SOC currency of described Vehicular battery comprises according to described SOC initial value, current signal and current Vehicular battery internal resistance: determine SOC changing value according to described current signal and charge or discharge time; According to described current Vehicular battery internal resistance determination dynamic compensation electricity; The SOC currency of described Vehicular battery is determined according to described SOC initial value, SOC changing value and dynamic compensation electricity.
Preferably, determine that current Vehicular battery internal resistance comprises according to the voltage signal obtained, temperature signal, current signal and SOC historical data: adopt the mode of counterpropagation network adaptive model neural network to determine current Vehicular battery internal resistance to described voltage signal, temperature signal, current signal and SOC historical data.
The embodiment of the present invention also provides the determining device of a kind of Vehicular battery SOC, and described device comprises: battery information acquiring unit, for obtaining the voltage signal of described Vehicular battery, temperature signal, current signal and SOC initial value; Internal resistance of cell acquiring unit, for determining current Vehicular battery internal resistance according to the voltage signal obtained, temperature signal, current signal and SOC historical data; Battery status judging unit, for judging the current state of described Vehicular battery according to the voltage signal obtained and current signal, described current state comprises charge condition, discharge regime and stabilized conditions; SOC currency determining unit, if be charge condition or discharge regime for the current state of described Vehicular battery, then determines the SOC currency of described Vehicular battery according to described SOC initial value, current signal and current Vehicular battery internal resistance; If the current state of described Vehicular battery is stabilized conditions, then determine the relation of SOC and open circuit voltage according to described temperature signal, and determine the SOC currency of described Vehicular battery according to the relation of described SOC and open circuit voltage;
Wherein, described SOC currency determining unit specifically for: in the charge state, the SOC according to Vehicular battery described in following formulae discovery:
SOC t + Δt = SOC t + ∫ t t + Δt Idt / Q × 100 % + I t × I t × IR 1 t / V × Δt / Q × 100 %
In the discharged condition, according to the SOC of Vehicular battery described in following formulae discovery:
SOC t + Δt = SOC t - ∫ t t + Δt Idt / Q × 100 % + I t × I t × IR 2 t / V × Δt / Q × 100 %
Wherein, SOC tthe SOC value of t, sOC t0sOC initial value, be current accumulation amount, I is the current time current value that system acquisition arrives, and Q is the rated capacity of battery, IR1 tvehicular battery internal resistance, C ahrepresent battery rated capacity value, unit is Ah.
Particularly, described battery status judging unit comprises: electric current and voltage value acquisition module, for periodically obtaining multiple magnitude of voltage and the current value of described Vehicular battery; One-way analysis of variance module, for carrying out one-way analysis of variance to described multiple magnitude of voltage and current value; Dispersion degree judge module, for judging the dispersion degree of described Vehicular battery current state according to described one-way analysis of variance result; Battery status judge module, if be less than predetermined value for dispersion degree, then judges that the current state of described Vehicular battery is stabilized conditions, otherwise, judge that the current state of described Vehicular battery is charge condition or discharge regime; If described current value is positive current, then judge that the current state of described Vehicular battery is discharge regime, if described current value is negative current, then judge that the current state of described Vehicular battery is charge condition.
Above-mentioned one-way analysis of variance module carries out one-way analysis of variance by following formula: wherein, X i=ρ (kI i+ V i), ρ is variance estimation coefficient, k compensating factor, I ifor electric current, V ifor battery box average monomer voltage, i is sampling number.
Above-mentioned SOC currency determining unit comprises: SOC changing value determination module, for determining SOC changing value according to described current signal and charge or discharge time; Dynamic compensation electricity determination module, for according to described current Vehicular battery internal resistance determination dynamic compensation electricity; SOC currency determination module, for determining the SOC currency of described Vehicular battery according to described SOC initial value, SOC changing value and dynamic compensation electricity.
Above-mentioned current internal resistance determination module specifically for: adopt the mode of counterpropagation network adaptive model neural network to determine current Vehicular battery internal resistance to described voltage signal, temperature signal, current signal and SOC historical data.
By means of above-mentioned technical characteristic one of at least, by determining the current state of Vehicular battery internal resistance and Vehicular battery, then the SOC currency of Vehicular battery is determined according to Vehicular battery internal resistance and current state, thus can the SOC of Real-time Obtaining Vehicular battery, overcome the defect cannot determining Vehicular battery SOC in real time of the prior art, and then the development of elec. vehicle can be advanced.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the diagram of circuit of the defining method of Vehicular battery SOC according to the embodiment of the present invention;
Fig. 2 is the structural representation determining current Vehicular battery internal resistance according to the mode of the employing counterpropagation network adaptive model neural network of the embodiment of the present invention;
Fig. 3 is the open circuit voltage of certain ferric phosphate lithium cell at 25 DEG C and SOC relation curve of approximation;
Fig. 4 is the defining method detail flowchart of the SOC according to the embodiment of the present invention;
Fig. 5 is the structured flowchart of the determining device of Vehicular battery SOC according to the embodiment of the present invention;
Fig. 6 is the structured flowchart of the battery status judging unit according to the embodiment of the present invention;
Fig. 7 is the structured flowchart of the SOC currency determining unit according to the embodiment of the present invention;
Fig. 8 is according to the topological diagram in the battery management system of the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Vehicular battery SOC cannot be determined when elec. vehicle is in running order due to of the prior art, thus limit the development of elec. vehicle, based on this, the embodiment of the present invention provides defining method and the device of a kind of SOC, and below in conjunction with accompanying drawing, the present invention is described in detail.
Embodiment one
The embodiment of the present invention provides the defining method of a kind of Vehicular battery SOC, and Fig. 1 is the diagram of circuit of the method, and as shown in Figure 1, the method comprises:
Step 101, obtains the voltage signal of Vehicular battery, temperature signal, current signal and SOC initial value;
Step 102, determines current Vehicular battery internal resistance according to the voltage signal obtained, temperature signal, current signal and SOC historical data;
Step 103, judge the current state of Vehicular battery according to the voltage signal obtained and current signal, current state comprises charge condition, discharge regime and stabilized conditions;
Step 104, if the current state of Vehicular battery is charge condition or discharge regime, then according to the SOC currency of SOC initial value, current signal and current Vehicular battery internal resistance determination Vehicular battery;
Step 105, if the current state of Vehicular battery is stabilized conditions, then determines the relation of SOC and open circuit voltage according to temperature signal, and the SOC currency of relation determination Vehicular battery according to SOC and open circuit voltage.
As seen from the above description, by determining Vehicular battery internal resistance and judging the current state of Vehicular battery, then the SOC currency of Vehicular battery is determined respectively according to Vehicular battery internal resistance and different current state, thus can the SOC of Real-time Obtaining Vehicular battery, overcome the defect cannot determining Vehicular battery SOC in real time of the prior art, and then the development of elec. vehicle can be advanced.
Above-mentioned SOC historical data refers to the SOC value of the previous moment relative to current time, and such as, current time is the k moment, then previous moment refers to the k-1 moment.
SOC initial condition comprises: battery from off-position to "on" position and charging and discharging state forward the transition stage of startup/off-mode to, wherein:
Battery refers to from off-position to "on" position: battery-driven car is transformed into mode of operation from the state of quitting work (driving engine off position), and battery-driven car starts, and the electric system on car is started working, and powers to battery management system; Battery management system works, and gathers battery information and starts the calculating carrying out SOC initial value;
The transition stage that battery forwards startup/off-mode to from charging and discharging state refers to: automobile start to walk, manned, go up a slope time, cell during discharge works, but on road in case of red light wait time, battery is in stable state, discharge current is very little, can ignore and not remember, be now transition stage, recalculates SOC initial value when this state being detected.
When battery is in initial condition: BMS system and battery-driven car electrification are less than in the time period of 1000 bold and unconstrained seconds, but the electric system closing of circuit electric current of whole battery-driven car is very little, can be approximated to be " 0 " electric current, battery is just started working, polarization phenomena do not occur, the battery of whole BMS system is in stable state; In addition, in battery box working process, a process is had to be that battery box forwards initial condition to from charging and discharging state, at this moment the very little and approximately constant of battery box internal current, the change of voltage is very little, and the SOC initial value of charging and discharging state needs to recalculate due to the change of battery electric quantity and the change of battery behavior.
Charging and discharging state in the embodiment of the present invention refers to: battery box mode of operation, the traveling of corresponding automobile and acceleration, the states such as climbing.
In specific implementation process, step 101 is after obtaining the voltage signal of Vehicular battery, temperature signal, current signal, computation of mean values voltage and calculate initial SOC respectively, that is, the calculating of initial SOC terminates at collection signal and carries out after computation of mean values voltage.
In practical operation, HEV (Hybrid-Electric Vehicle, mixed power plant) in the energy content of battery come from combustion engine completely, in HEV, combustion engine occurs in for the process that battery charges the period that combustion engine runs with higher fuel efficiency, this part energy through combustion engine-electrical generator-battery storage in the battery, when combustion engine fuel efficiency is lower (in such as city time stop the stage when opening, the acceleration phase of automobile), from battery, this part energy is taken out, approach via battery-electrical motor drives automobile, because the energy in battery is free energy completely, and this process of battery-electrical motor does not limit by Carnot's cycle efficiency, conversion efficiency is far away higher than the efficiency of the combustion engine limited by Carnot cycle, so in these periods, battery instead of the work of most combustion engine, combustion engine is made not need in these periods a lot of fuel that burns.Therefore, although the energy of battery comes from fuel and have passed through several roads switching process, but Energy transmission process (the non-carnot's cycle process of battery, 100% in theory) very efficient, when fuel fuel efficiency is high, its portion of energy to be stored in battery and when fuel fuel efficiency is extremely low, this part energy efficient to be exported thus fuel saving, the free energy that the fuel saved can produce is sent to the loss occurred in the process of battery by combustion engine more than energy, the principle that Here it is HEV is fuel-efficient.In addition, battery can carry out partially recycled to automobile kinetic energy when brake, and in conventional internal combustion locomotive, combustion engine cannot reclaim brake kinetic energy, and this part energy has worn away with the form of heat completely.Like this, pass through the comprehensive of these two kinds of fuel-efficient modes, HEV's is more fuel-efficient than regular-grade gasoline car really.
For mixed dynamic and pure electric vehicle, there are the renewable sources of energy, postscript regenerative brake, specifically refer to that acquisition can use but the process of the energy slatterned when orthodox car braking or neutral position sliding.Non-mixed power vehicle is when braking, and the momentum transformation of automobile is heat energy by brake system, and therefore when braking, automobile " storage " kinetic energy in automobile when moving has been wasted.In hybrid power design, a part for these automobile energies slatterned when braking/neutral position sliding is converted into electric energy by electrical motor, electrical motor will as generator operation, electric energy to hybrid power battery charge is produced while making automobile brake, this process of charging is in battery management system, collected and for the calculating of real-time SOC value.
For battery-driven car, battery is adopted to provide energy as the sole energy presentation mode of automobile, when the energy content of battery is depleted to certain SOC value (being generally after being less than 30%SOC), needs charge the battery, the SOC of process of charging also will calculate in real time, record charge capacity and final SOC value of charging, simultaneously control and measuring data, if charge capacity or SOC value are greater than 95%, then change charging control policy or stop charging.
Particularly, the above-mentioned voltage signal according to acquisition and current signal judge that the current state of Vehicular battery comprises: the multiple magnitude of voltage and the current value that periodically obtain Vehicular battery; One-way analysis of variance is carried out to multiple magnitude of voltage and current value; The dispersion degree of Vehicular battery current state is judged according to one-way analysis of variance result; If dispersion degree is less than predetermined value, then represent that the current state of Vehicular battery is stabilized conditions, otherwise the current state of Vehicular battery is charge condition or discharge regime; If current value is positive current, then the current state of Vehicular battery is discharge regime, if current value is negative current, then the current state of Vehicular battery is charge condition.
In specific implementation process, judge that namely the current state of Vehicular battery is that SOC state debates the knowledge stage, mainly carry out identification in the following way: in battery management system, gather the voltage signal of current signal and battery, and mean value computation is carried out to voltage signal, real time recording many groups sampled data, namely started with 0 second time, monomer battery voltage aviation value and battery box current signal is gathered, the equal threshold voltage V of cell every a sampling period (such as, the cycle is 5ms) 1~ V 50(to sample 50 cycles) and battery box input and output current value I 1~ I 50.
One-way analysis of variance is carried out to multiple magnitude of voltage and current value, if: X i=ρ (kI i+ V i), wherein, ρ is variance estimation coefficient, and k compensating factor is relevant with temperature and the internal resistance of cell, I ifor electric current, V ifor battery box average monomer voltage, i is sampling number,
σ ( X i ) = E { [ X i - E ( X i ) ] 2 } 2 ,
Wherein, X ibe above-mentioned sampling array, σ (X) is the mean square error of monomer battery voltage and current function, is used for weighing the statistic of dispersion degree of sampled data.
Following formula determines battery box initial condition in the process of moving according to the mean square error of adopted value,
f ( x ) = 1 , &sigma; < 0.5 0 , &sigma; &GreaterEqual; 0.5
When dispersion degree is very little, that is, system is redefined for one state, represents that battery status is in stable state, then recalculates SOC initial value; When dispersion degree is very large, illustrate that current battery is still in charging and discharging state, then system is redefined for " 0 ", that is, keep the SOC initial value of original state, namely in the SOC value in automobile starting moment.
Carrying out while SOC state debates knowledge, the calculating of SOC value can synchronously be carried out, and can be the process of a concurrent processing;
After completing confirmation initial condition, the SOC initial value under current state can be calculated, and carry out resolving of SOC based on this, therefore in whole vehicle traveling process, probably have several SOC initial value to calculate under different states.That is, SOC initial value can repeatedly refresh according to motoring condition in whole computation process.
Below describe the calculating of SOC initial value in detail.
The above-mentioned SOC currency according to SOC initial value, current signal and current Vehicular battery internal resistance determination Vehicular battery comprises: determine SOC changing value according to current signal and charge or discharge time; According to current Vehicular battery internal resistance determination dynamic compensation electricity; According to the SOC currency of SOC initial value, SOC changing value and dynamic compensation electricity determination Vehicular battery.The following specifically describes the SOC currency of the Vehicular battery under different conditions.
(1) charge condition
Charging current is gathered, by the total electricity Δ Q adopting the algorithm of time integral to resolve charging increase, and compare with the specified electric quantity of battery, obtain the SOC increment size charged, the superposition value of the SOC initial value that this numerical value and upper joint are mentioned is exactly the actual output of SOC.
Usually, the formula calculating SOC value is as follows:
SOC ( t ) = SOC t 0 + 1 C Ah &Integral; t 0 t Idt
Wherein, SOC t0sOC initial condition value, it is current accumulation amount.
When charge condition, SOC increment size generally adopts Ah counting method, i.e. Q=∫ Idt, but this method is not owing to considering the loss of coulombic efficiency, it is generally acknowledged that the efficiency of current acquisition and application is 100%.Have loss in actual applications, the change of major cell internal resistance on the impact of current acquisition and application, make result of calculation along with the accumulated error of time can be increasing.
The embodiment of the present invention is improved Ah counting method, the Dynamic-Recovery electricity part adding internal resistance compensate component and calculate based on it, thus improves the accuracy of Ah counting method.Particularly, the SOC computing formula after improvement is as follows:
SOC t + &Delta;t = SOC t + &Integral; t t + &Delta;t Idt / Q &times; 100 % + I t &times; I t &times; IR 1 t / V &times; &Delta;t / Q &times; 100 %
Wherein, SOC tbe the SOC value of t, I is the current time current value that system acquisition arrives, and Q is the rated capacity (comprising the decay factor with impulse electricity times influence) of battery, IR1 tdynamic resistance, this dynamic resistance due to the electrochemical properties of battery, the internal resistance of process of charging along with electric current, the difference of temperature and current state-of-charge and converting.
On the right of above-mentioned formula equation, Section 2 represents the actual SOC increment being filled with the electricity part conversion of battery, and Section 3 represents the electricity part of dynamic compensation in battery charging process.
Due to the existence of dynamic internal resistance, the process of charging of battery has the loss of electricity, thus the electricity causing ampere-hour method to calculate can not reflect the situation of the true electricity of battery charging and discharging completely, and internal resistance compensation term then reflects difference between the two.
The discharge and recharge of the battery under traditional definition calculates the impact not considering the factors such as discharge and recharge difference, size of current, running temperature.In order to overcome the shortcoming of traditional algorithm, the embodiment of the present invention adopts the mode of counterpropagation network adaptive model neural network to determine current Vehicular battery internal resistance to above-mentioned voltage signal, temperature signal, current signal.
As shown in Figure 2, adopt the neural network of counterpropagation network adaptive model, k represents current time, and k-1 represents previous moment.Its structure is input layer four nodes: terminal voltage, charging and discharging currents, temperature and the SOC value in k-1 moment; Intermediate hidden layers nodes is fixed general at 10-25 node according to actual conditions; The internal resistance of an output layer node.Adopt terminal voltage, electric current, temperature and the SOC value in k-1 moment to be that internal resistance mainly affects by it as the reason of input node, the impact particularly by electric current is comparatively large, and the neural network that adaptive model is carried out in discharge and recharge internal resistance is respectively resolved.
By the process of neuralnetwork estimating internal resistance be: (1) obtains empirical data by experiment; (2) by the empirical data obtained, neural network is trained; (3) the neural network real-time estimation internal resistance will trained.
(2) discharge regime
Discharge current is gathered, by the total electricity Δ Q adopting the algorithm of time integral to resolve electric discharge increase, and compare with the specified electric quantity of battery, obtain the SOC increment size charged, the superposition value of the SOC initial value that this numerical value and upper joint are mentioned is exactly the actual output of SOC.
Be similar to charge condition, the SOC computing formula under discharge regime is as follows:
SOC t + &Delta;t = SOC t - &Integral; t t + &Delta;t Idt / Q &times; 100 % + I t &times; I t &times; IR 2 t / V &times; &Delta;t / Q &times; 100 %
Wherein, SOC tbe the SOC value of t, I is the current time current value that system acquisition arrives, and Q is the rated capacity (comprising the decay factor with impulse electricity times influence) of battery, IR2 tit is dynamic resistance.On the right of this equation, Section 2 represents the actual SOC increment being filled with the electricity part conversion of battery, the increment of this SOC refers to: electricity is generally checked according to the charging and discharging currents of battery, in test process, in the t+dt time period, total the ratio of electric current accumulative total amount in time and battery electricity Q is exactly the increment of SOC.
Section 3 represents the electricity part of dynamic compensation in battery charging process.IR2 tcalculating also can with reference to the IR1 in above-mentioned charge condition tdescription, do not repeat them here.
(3) stabilized conditions
If the current state of Vehicular battery is stabilized conditions, then according to temperature signal test SOC and the relation of open circuit voltage, and the SOC currency of relation determination Vehicular battery according to SOC and open circuit voltage.
Open circuit voltage test data, at different temperatures, carries out test collection to the characteristic curve of battery cell electric discharge.Fig. 3 is the open circuit voltage of certain ferric phosphate lithium cell at 25 DEG C and SOC relation curve of approximation, table 1 is corresponding data sheet, show the temperature battery charge state of battery and relation of open circuit voltage 25 DEG C time, wherein, ACR is the situation that the internal resistance of cell calculated by test data in test process is changed with state-of-charge, as can be seen from following table, under different state-of-charges, the differential resistance values of battery is a variable, namely changes with the change of SOC/ open circuit voltage.
Table 1
Open circuit voltage can pass through following formulae discovery:
V oc＝V avg+IR
Wherein, V avgbe calculate equal threshold voltage in battery box in real time, I is electric current, and R is battery box internal resistance.
For the collection of battery signal, within the sampling precision of voltage can reach 2mv, ensure the guarantee of initial state-of-charge on design accuracy of battery.
Fig. 4 is the determination method flow of the SOC according to the embodiment of the present invention, and as shown in Figure 4, the method specifically comprises:
Step 401, BMS is energized;
Step 402, gathers voltage signal and temperature signal according to the battery acquisition module on battery box, and gathers cell current signal by current sensor battery acquisition module;
Step 403, calculates V avg, for 404 calculation of initial values;
Step 404, calculates SOC initial value;
Step 405, gathers current signal, battery cell voltage signal and temperature signal;
Step 406, AH Cumulate Sum internal resistance compensation calculation, wherein AH accumulation be electric current (unit: ampere) the time integral of each hour, description be the electricity of charge/discharge; This step and step 405 be mainly used in estimating discharge or charge condition time SOC;
Step 407, judges whether out of service, and ceasing and desisting order is sent by entire car controller by CAN communication, receive and cease and desist order, battery management system quits work, and comprises SOC estimation function and stops, if stopped, then carry out step 410, if do not stopped, then carry out step 405;
Step 408, the voltage and current signal according to T moment and T-n (n represents sampling instant, n>=50) moment carries out analysis of variance;
Step 409, according to the results of analysis of variance, carries out SOC state identification, particularly, if be judged to be stabilized conditions in SOC state identification, then need to re-start the estimation of SOC initial value, namely returns step 404 and carry out SOC calculation of initial value; Not stabilized conditions, return 408 continuation and analyze battery status;
Step 410, SOC estimates stopping.
As seen from the above description, by calculation of initial value, containing internal resistance compensate ampere-hour cumulative calculation and SOC state debate knowledge three parts, under elec. vehicle mode of operation, SOC can be determined in real time, thus overcome the problem cannot determining SOC under elec. vehicle mode of operation in real time of the prior art.
It should be noted that, United States advanced battery federation (USABC) definition SOC in its " batteries of electric automobile laboratory manual " is: battery is under certain discharge-rate, the ratio of rated capacity under dump energy and the same terms, namely, SOC=Cr/Cn*100%, wherein Cr is the dump energy of battery, and Cn is the rated capacity of battery.What this formula described is the method for SOC theory calculate, but in embodiments of the present invention, mainly determines the residual capacity of Cr battery, is to realize for the concrete engineering of this formula.
Embodiment two
The embodiment of the present invention also provides the determining device of a kind of Vehicular battery SOC, and as shown in Figure 5, this device comprises:
Battery information acquiring unit 501, for obtaining the voltage signal of Vehicular battery, temperature signal, current signal and SOC initial value;
Internal resistance of cell acquiring unit 502, for determining current Vehicular battery internal resistance according to the voltage signal obtained, temperature signal, current signal and SOC historical data;
Battery status judging unit 503, for judging the current state of Vehicular battery according to the voltage signal obtained and current signal, current state comprises charge condition, discharge regime and stabilized conditions;
SOC currency determining unit 504, if be charge condition or discharge regime for the current state of Vehicular battery, then according to the SOC currency of SOC initial value, current signal and current Vehicular battery internal resistance determination Vehicular battery; If the current state of Vehicular battery is stabilized conditions, then determine the relation of SOC and open circuit voltage according to temperature signal, and the SOC currency of relation determination Vehicular battery according to SOC and open circuit voltage.
As seen from the above description, the current state of Vehicular battery is judged by battery status judging unit 503, SOC currency determining unit 504 determines the SOC currency of Vehicular battery respectively according to different current state, thus can the SOC of Real-time Obtaining Vehicular battery, overcome the defect cannot determining Vehicular battery SOC in real time of the prior art, and then the development of elec. vehicle can be advanced.
Particularly, as shown in Figure 6, battery status judging unit 503 comprises:
Electric current and voltage value acquisition module 5031, for periodically obtaining multiple magnitude of voltage and the current value of Vehicular battery;
One-way analysis of variance module 5032, for carrying out one-way analysis of variance to multiple magnitude of voltage and current value;
Dispersion degree judge module 5033, for judging the dispersion degree of Vehicular battery current state according to one-way analysis of variance result;
Battery status judge module 5034, if be less than predetermined value for dispersion degree, then judges that the current state of Vehicular battery is stabilized conditions, otherwise, judge that the current state of Vehicular battery is charge condition or discharge regime; If current value is positive current, then judge that the current state of Vehicular battery is discharge regime, if current value is negative current, then judge that the current state of Vehicular battery is charge condition.
Preferably, one-way analysis of variance module 5032 can carry out one-way analysis of variance by following formula:
&sigma; ( X i ) = E { [ X i - E ( X i ) ] 2 } 2
Wherein, X i=ρ (kI i+ V i), ρ is variance estimation coefficient, k compensating factor, I ifor electric current, V ifor battery box average monomer voltage, i is sampling number.
As shown in Figure 7, above-mentioned SOC currency determining unit 504 comprises:
SOC changing value determination module 5041, for determining SOC changing value according to current signal and charge or discharge time;
Dynamic compensation electricity determination module 5042, for according to current Vehicular battery internal resistance determination dynamic compensation electricity;
SOC currency determination module 5043, for the SOC currency according to SOC initial value, SOC changing value and dynamic compensation electricity determination Vehicular battery.
Above-mentioned internal resistance of cell acquiring unit 502 specifically for: adopt the mode of counterpropagation network adaptive model neural network to determine current Vehicular battery internal resistance to voltage signal, temperature signal, current signal and SOC historical data.
The specific implementation process of above-mentioned each module can participate in the specific descriptions in above-described embodiment one, repeats no more herein.
Fig. 8 is according to the topological diagram in the battery management system of the embodiment of the present invention, as shown in Figure 8, polylith battery signal collection module is had in battery box, these modules are to each serial battery module (n the cell parallel in battery box, wherein, n=1, 2, 3 ...) carry out the collection of voltage and temperature, each battery signal collection module can gather voltage and the temperature signal of 12 tunnel serial battery modules, and by CAN communication bus, voltage and temperature signal are sent to BMS (battery management system) control module, BMS control module is read in CAN data and then voltage and temperature data is changed into physical quantity, and carry out mean value computation, the voltage of average and temperature signal are as the design conditions of SOC initial value, the collection period of data is 5ms, adopt SOC-OCV method, carry out judgement and the calculating of battery SOC initial condition, simultaneously by current sensor, gather the current signal of inflow and outflow battery box, it is just that battery box electric current is flowed out in general definition, and discharge current, and inflow battery box electric current is negative, is charging current, by acquisition of signal interface, current signal is changed into digital quantity as physical quantity by BMS control module, and as the initial conditions of AH estimation, the sampling period can be 5ms.
By this topological diagram, and in conjunction with the flow process shown in above-mentioned Fig. 4, the SOC under elec. vehicle mode of operation can be determined.
In sum, the embodiment of the present invention is by judging the current state of Vehicular battery, then SOC initial value is determined according to different current states, consider the existence of internal resistance simultaneously, thus estimate SOC value exactly, overcome the problem cannot determining SOC under elec. vehicle mode of operation in real time of the prior art, and then promote the development of elec. vehicle.
One of ordinary skill in the art will appreciate that the hardware that all or part of step realized in above-described embodiment method can carry out instruction relevant by program has come, this program can be stored in a computer read/write memory medium, such as ROM/RAM, magnetic disc, CD etc.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; the protection domain be not intended to limit the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. a defining method of Vehicular battery state-of-charge SOC, is characterized in that, described method comprises:
Obtain the voltage signal of described Vehicular battery, temperature signal, current signal and SOC initial value;
Current Vehicular battery internal resistance is determined according to the voltage signal obtained, temperature signal, current signal and SOC historical data;
Judge the current state of described Vehicular battery according to the voltage signal obtained and current signal, described current state comprises charge condition, discharge regime and stabilized conditions;
If the current state of described Vehicular battery is charge condition or discharge regime, then determine the SOC currency of described Vehicular battery according to described SOC initial value, current signal and current Vehicular battery internal resistance;
If the current state of described Vehicular battery is stabilized conditions, then determine the relation of SOC and open circuit voltage according to described temperature signal, and determine the SOC currency of described Vehicular battery according to the relation of described SOC and open circuit voltage;
Wherein, the current state of described Vehicular battery be charge condition or discharge regime time, determine that the SOC of described Vehicular battery comprises according to described SOC initial value, current signal and current Vehicular battery internal resistance:
In the charge state, according to the SOC of Vehicular battery described in following formulae discovery:
SOC t + &Delta;t = SOC t + &Integral; t t + &Delta;t Idt / Q &times; 100 % + I t &times; I t &times; IR 1 t / V &times; &Delta;t / Q &times; 100 %
In the discharged condition, according to the SOC of Vehicular battery described in following formulae discovery:
SOC t + &Delta;t = SOC t - &Integral; t t + &Delta;t Idt / Q &times; 100 % + I t &times; I t &times; IR 2 t / V &times; &Delta;t / Q &times; 100 %
Wherein, SOC tthe SOC value of t, sOC t0sOC initial value, be current accumulation amount, I is the current time current value that system acquisition arrives, and Q is the rated capacity of battery, IR1 tvehicular battery internal resistance, C ahrepresent battery rated capacity value, unit is Ah.
2. method according to claim 1, is characterized in that, judges that the current state of described Vehicular battery comprises according to the voltage signal obtained and current signal:
Periodically obtain multiple magnitude of voltage and the current value of described Vehicular battery;
One-way analysis of variance is carried out to described multiple magnitude of voltage and current value;
The dispersion degree of described Vehicular battery current state is judged according to described one-way analysis of variance result;
If dispersion degree is less than predetermined value, then judge that the current state of described Vehicular battery is stabilized conditions, otherwise the current state of described Vehicular battery is charge condition or discharge regime; If described current value is positive current, then judge that the current state of described Vehicular battery is discharge regime, if described current value is negative current, then judge that the current state of described Vehicular battery is charge condition.
3. method according to claim 2, is characterized in that, carries out one-way analysis of variance by following formula to described multiple magnitude of voltage and current value:
&sigma; ( X i ) = E { [ X i - E ( X i ) ] 2 } 2
Wherein, X i=ρ (kI i+ V i), ρ is variance estimation coefficient, k compensating factor, I ifor electric current, V ifor battery box average monomer voltage, i is sampling number.
4. method according to claim 1, is characterized in that, determines that the SOC currency of described Vehicular battery comprises according to described SOC initial value, current signal and current Vehicular battery internal resistance:
SOC changing value is determined according to described current signal and charge or discharge time;
According to described current Vehicular battery internal resistance determination dynamic compensation electricity;
The SOC currency of described Vehicular battery is determined according to described SOC initial value, SOC changing value and dynamic compensation electricity.
5. method according to claim 1, is characterized in that, determines that current Vehicular battery internal resistance comprises according to the voltage signal obtained, temperature signal, current signal and SOC historical data:
The mode of counterpropagation network adaptive model neural network is adopted to determine current Vehicular battery internal resistance to described voltage signal, temperature signal, current signal and SOC historical data.
6. a determining device of Vehicular battery state-of-charge SOC, is characterized in that, described device comprises:
Battery information acquiring unit, for obtaining the voltage signal of described Vehicular battery, temperature signal, current signal and SOC initial value;
Internal resistance of cell acquiring unit, for determining current Vehicular battery internal resistance according to the voltage signal obtained, temperature signal, current signal and SOC historical data;
Battery status judging unit, for judging the current state of described Vehicular battery according to the voltage signal obtained and current signal, described current state comprises charge condition, discharge regime and stabilized conditions;
SOC currency determining unit, if be charge condition or discharge regime for the current state of described Vehicular battery, then determines the SOC currency of described Vehicular battery according to described SOC initial value, current signal and current Vehicular battery internal resistance; If the current state of described Vehicular battery is stabilized conditions, then determine the relation of SOC and open circuit voltage according to described temperature signal, and determine the SOC currency of described Vehicular battery according to the relation of described SOC and open circuit voltage;
Wherein, described SOC currency determining unit specifically for: in the charge state, the SOC according to Vehicular battery described in following formulae discovery:
SOC t + &Delta;t = SOC t + &Integral; t t + &Delta;t Idt / Q &times; 100 % + I t &times; I t &times; IR 1 t / V &times; &Delta;t / Q &times; 100 %
In the discharged condition, according to the SOC of Vehicular battery described in following formulae discovery:
SOC t + &Delta;t = SOC t - &Integral; t t + &Delta;t Idt / Q &times; 100 % + I t &times; I t &times; IR 2 t / V &times; &Delta;t / Q &times; 100 %
Wherein, SOC tthe SOC value of t, sOC t0sOC initial value, be current accumulation amount, I is the current time current value that system acquisition arrives, and Q is the rated capacity of battery, IR1 tvehicular battery internal resistance, C ahrepresent battery rated capacity value, unit is Ah.
7. device according to claim 6, is characterized in that, described battery status judging unit comprises:
Electric current and voltage value acquisition module, for periodically obtaining multiple magnitude of voltage and the current value of described Vehicular battery;
One-way analysis of variance module, for carrying out one-way analysis of variance to described multiple magnitude of voltage and current value;
Dispersion degree judge module, for judging the dispersion degree of described Vehicular battery current state according to described one-way analysis of variance result;
Battery status judge module, if be less than predetermined value for dispersion degree, then judges that the current state of described Vehicular battery is stabilized conditions, otherwise, judge that the current state of described Vehicular battery is charge condition or discharge regime; If described current value is positive current, then judge that the current state of described Vehicular battery is discharge regime, if described current value is negative current, then judge that the current state of described Vehicular battery is charge condition.
8. device according to claim 7, is characterized in that, described one-way analysis of variance module carries out one-way analysis of variance by following formula:
&sigma; ( X i ) = E { [ X i - E ( X i ) ] 2 } 2
Wherein, X i=ρ (kI i+ V i), ρ is variance estimation coefficient, k compensating factor, I ifor electric current, V ifor battery box average monomer voltage, i is sampling number.
9. device according to claim 6, is characterized in that, described SOC currency determining unit comprises:
SOC changing value determination module, for determining SOC changing value according to described current signal and charge or discharge time;
Dynamic compensation electricity determination module, for according to described current Vehicular battery internal resistance determination dynamic compensation electricity;
SOC currency determination module, for determining the SOC currency of described Vehicular battery according to described SOC initial value, SOC changing value and dynamic compensation electricity.
10. device according to claim 9, it is characterized in that, described internal resistance of cell acquiring unit specifically for: adopt the mode of counterpropagation network adaptive model neural network to determine current Vehicular battery internal resistance to described voltage signal, temperature signal, current signal and SOC historical data.
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