CN105652207A - Electric quantity monitoring device and method for power type lithium battery - Google Patents
Electric quantity monitoring device and method for power type lithium battery Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
- G01R31/3842—Arrangements for monitoring battery or accumulator variables, e.g. SoC combining voltage and current measurements
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- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
- G01R31/3828—Arrangements for monitoring battery or accumulator variables, e.g. SoC using current integration
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Abstract
The invention relates to the electric quantity detection technique and particularly relates to an electric quantity monitoring device and method for a power type lithium battery. By virtue of the electric quantity monitoring device and an estimation method, dynamic behaviors of the battery can be well described by virtue of a battery model, the applicability is relatively good, and the estimation precision of SOC of the power type lithium battery can be improved. According to the specific technical scheme, the electric quantity monitoring device comprises a voltage detection module, a voltage detection electric quantity module, a current detection module, a current integration electric quantity module, an electric quantity parameter correction module, a multi-parameter cycle Kalman filtering core calculation module, a data fitting module, a temperature control module, a battery cycle index counting module and a pulse voltage control module.
Description
Technical field
The present invention relates to electric power detection technology, be specifically related to a kind of power lithium battery electricity quantity monitoring device and monitoring method.
Background technology
In battery bag running, because motor load changes greatly, current fluctuation is violent, and operating ambient temperature often changes so that the power condition changing of battery is very big, brings difficulty to the estimation of battery capacity. Power type lithium electricity requires that output off current HIGH, safety are good, the life-span is long, and lithium battery is more suitable for the power supply requirement of high-power type battery bag. The importance accurately calculating remaining battery power is unquestionable, but existing only it is unable to reach above-mentioned purpose by measuring the straightforward procedure of some data point or even cell voltage, along with the calculation function of single-chip microcomputer is more and more stronger, power consumption is more and more lower, it is possible to apply increasingly complex battery electric quantity policing algorithm.
The method of the two kinds of monitoring electricity commonly used at present: a kind of based on voltage measurement; Another kind of based on current integration. Former approach belongs to method the earliest based on voltage, it is only necessary to measuring the open-circuit voltage of battery two inter-stage, then the empirical relation according to cell voltage and dump energy obtains. During measuring, only after not applying any load and standing a period of time, just there is the simple relation between this cell voltage and electricity, when a load is applied, cell voltage can produce distortion because of the pressure drop that internal battery impedance causes.
Consider that the monitoring cell electricity quantity based on voltage can produce error, assuming that load-carrying voltage can be corrected by internal resistance of cell pressure drop, then pass through the magnitude of voltage after using correction to obtain current battery charge state (stateofcharge, SOC). Battery SOC is defined as under certain discharge-rate state by United States advanced battery community (UnitedStatesAdvancedBatteryConsortium, USABC), dump energy with the ratio of the rated capacity under condition. But, the internal resistance of cell depends on again SOC, if using meansigma methods, then the internal resistance when almost discharging completely is more than 10 times under charged state, and the estimation error to SOC thus caused is up to 100%. Between different batteries, the change of impedance increases the complexity of situation, and new battery also can exist the low-frequency impedance change of upper and lower 15%, and this causes very big-difference in the voltage correction of high capacity. Such as, power lithium battery is 0.15 ohm in the typical impedance of common 0.5C charging and discharging currents, the battery of 2AH, can produce the correction voltage difference of 45mV time worst between battery, ultimately causes SOC estimation difference and reaches 20%.Therefore the method being used alone voltage measurement estimation battery electric quantity has significant limitation.
Battery electric quantity monitoring method based on another kind of current integration, by the charging or discharging current of battery is integrated, calculates the electricity of discharge and recharge altogether. When battery is just charged and is known which are fully charged, the effect using current integration method is very good. If but battery does not work for a long time, or several charging-discharging cycle is all without fully charged, then the self-discharge phenomenon caused by internal chemical reaction will become apparent from. The method of there is presently no can measure self discharge, so must use a predefined method that it is corrected. Different battery models has different self discharge speed, the factor such as this charge and discharge cycles history depending on state-of-charge (SOC), temperature and battery. And the accurate model creating self discharge needs to take an undesirably long time and carry out data collection, even if so still it cannot be guaranteed that the accuracy of result. Current integrating method there is also only fully charged after discharge completely immediately, the shortcoming that total charge value could be updated. If the number of times discharged completely in battery lifetime is little, before difficult charge value updates, the true capacity of battery is likely to have begun to decline to a great extent, this can cause the too high estimation of the electricity to battery, even if battery electric quantity has carried out up-to-date renewal at given temperature and the velocity of discharge, available power still can change with the change of the velocity of discharge and temperature. Therefore the method being used alone current integration estimation battery electric quantity has significant limitation.
Obtaining according to lithium battery use experience for many years and Bibliometric Analysis of Research Papers, the principal element affecting battery electric quantity has: (1) charging and discharging state, (2) polarity effect, (3) battery life, (4) temperature. Through practice summary, the present invention thinks that (2), (3), (4) parameter are slowly varying, and relevant effect from each other. Wherein temperature, battery life all will cause the change of polarity effect, finally affect the change of the internal resistance of cell.
The internal resistance of cell is made up of ohmic internal resistance (representing with R0 below) and polarization resistance (representing with Rp below) two parts, both are added and obtain the full internal resistance of battery, and the ohmic internal resistance R0 of battery is mainly made up of the contact resistance of the electrode material of battery, electrolyte, membrane electrical resistance and other parts of battery. Polarization resistance is caused by concentration polarization and activation polarization, size and the person's character of the active substance of inside battery, the structure of electrode, battery the factor such as manufacturing process relevant, especially relevant with the working condition of battery, wherein it is had the greatest impact by discharge current and temperature. Temperature reduces activation polarization, ion diffusion all by adverse influence, therefore under cryogenic, the internal resistance of battery increases. During heavy-current discharge, the electrochemistry of battery and concentration polarization increase, and cause polarization resistance to increase. According to typical power lithium battery practical experience gained, the internal resistance of cell is relevant with temperature, and along with temperature raises, the ohmic internal resistance R0 and polarization resistance Rp of battery is by reduction, wherein that the impact affecting comparison ohmage of polarization resistance is big. Ohmic internal resistance R0, when low temperature, increases with SOC and reduces; When high temperature, less with SOC change.
The internal resistance of cell is also had a great impact by battery life, when cell degradation, the increase of impedance is significantly more than the reduction of battery electric quantity, and typical power lithium battery is after 70 charge and discharge cycles, impedance can double, the 2%-3% and the non-loaded electricity of same period only can decline.Therefore based on the algorithm of voltage on new battery very practical, but discounting for above-mentioned factor, reach to produce gross error (error is 50%) service life 15% (estimating 500 charging-discharging cycle) at lithium battery.
According to above typical power lithium battery identification result, the present invention adopts Thevenin battery model, model parameter R0 changes along with SOC, the change of battery life and Rp changes along with temperature, the change of battery life, and test obtains empirical regularities by experiment. The present invention is in conjunction with the advantage of voltage measurement and current integration method, using both corrections as subsequent algorithm, introduce multiparameter circular card Kalman Filtering core algorithm, simultaneously On-line Estimation battery charge state SOC and polarization resistance R0, add temperature parameter Ttemp and circulating battery count parameter N. The battery electric quantity method of estimation that the present invention adopts, can make battery model describe the dynamic characteristic of battery preferably, have the good suitability so that the estimation precision of power lithium battery SOC is improved.
Summary of the invention
Present invention is generally directed to existing measuring method and there is the problem of bigger error, invent a kind of power lithium battery electricity quantity monitoring device and monitoring method.
The present invention combines the respective strong point of current method and voltage method, and calculates offer correction for follow-up filtering. Owing to open-circuit voltage and SOC exist point-device dependency, so when battery bag is non-loaded and power supply is in relaxation state, this method can the accurate existing electricity of pre-estimation. Additionally, the present invention utilizes the static condition of battery to find " original position " of SOC pre-estimation, solve the difficult point that self-discharge of battery is estimated. When, after equipment cut-in operation state, transferring Current integrating method to and SOC is carried out pre-estimation. The present invention utilizes voltage method and current method a little, it is not necessary to update electricity when fully charged, and the SOC obtained under different operating mode estimates evaluation, circulates Kalman filter core algorithm for multiparameter of the present invention and provides the correction of SOC pre-evaluation state.
The present invention circulates Kalman filtering algorithm for core with multiparameter, and its meaning is in that except common SOC is as state parameter, also increases battery ohmic internal resistance R0As state parameter, with variable battery polarization electric capacity CpWith polarization resistance RpRepresent temperature TtempChange impact on battery status, by effective for battery initial capacity correspondence circulating battery times N (estimating cell degradation effect), and in conjunction with the advantage that voltage detecting battery electric quantity experience curve method and current integration detect battery power amount calculation method, adopt which kind of method to be circulated correction by pre-estimation SOC parameter correction module automatic decision, eliminate cumulative error and the calculating initial deviation of Kalman filter. Pulse voltage controls module and automatically applies a pulse voltage, the response curve according to variation in voltage and current variation to battery, data fitting module provide the battery model initial parameter value of core algorithm. Nucleus module, in conjunction with the data of circulating battery counting how many times module and temperature detecting module, carries out the multiparameter discrete recursion of circulating Kalman filtering, continuously exports the estimated value of battery capacity.
The present invention above-mentioned technical problem is that and be carried out by the following technical programs: a kind of power lithium battery electricity quantity monitoring device, it is characterised in that including: voltage detection module; Voltage detecting electricity quantity module; Current detection module; Current integration electricity quantity module;Electrical parameter correction module; Multiparameter circular card Kalman Filtering core calculations module; Data fitting module; Temperature control modules; Circulating battery counting how many times module; Pulse voltage controls module.
As preferably, the lithium battery model matched with it, being connected and composed by battery beginning voltage Uoc, battery ohmic internal resistance R0, battery polarization internal resistance Rp, battery polarization electric capacity Cp, wherein battery polarization internal resistance Rp, battery polarization electric capacity Cp are parallel with one another connects with battery beginning voltage Uoc, battery ohmic internal resistance R0 afterwards. Above-mentioned battery model is called employing Thevenin battery model.
Utilizing the power lithium battery electricity quantity monitoring device described in claim 1, carry out electricity monitoring, its monitoring method is:
1. lithium battery is when starting to charge up, and applies pulse voltage to battery, and detection obtains the response curve of voltage and electric current, is provided the iteration initial value of battery R0, Rp, Cp by data fitting module.
2. when battery is in the non-loaded long period, voltage detecting electricity quantity module SOC initial value is provided.
3. when battery is in complete discharge and recharge, current integration electricity quantity module SOC initial value is provided.
When 4. starting to charge up, first carry out constant-current charge, detected voltage by voltage detecting electricity quantity module to change, after voltage raises, battery transfers constant-current charge to, changed by current integration electricity quantity module monitor current, after charging current reduces, battery charging terminates, SOC initial water level values and battery initial quantity of electricity is provided by electrical parameter calibration module integrated voltage measurement method and Current integrating method, it is supplied to multiparameter circular card Germania (Kalman) as initial parameter and filters core calculations module, as the initial parameter of core calculations.
5. in battery regular picture work process, run by voltage detecting electricity quantity module and current integration electricity quantity module simultaneously and preserved electricity by electrical parameter calibration module and change information, as the reference information of multiparameter circular card Germania (Kalman) filtering algorithm.
6. whole monitoring process filters core calculations module for core with multiparameter circular card Germania (Kalman), combination current method and voltage method detection battery electric quantity, and automatically control applying pulse voltage and data the Fitting Calculation, and battery electric quantity estimated information will be exported after data summarization to core algorithm module comprehensive descision.
In sum, the present invention compared with prior art has the advantage that
Invention adopts Thevenin battery model, model parameter R0Change and R along with SOC, the change of battery lifepChanging along with temperature, the change of battery life, test obtains empirical regularities by experiment; The present invention is in conjunction with the advantage of voltage measurement and current integration method, using both corrections as subsequent algorithm, introduces multiparameter circular card Kalman Filtering core algorithm, simultaneously On-line Estimation battery charge state SOC and polarization resistance R0, add temperature parameter TtempWith circulating battery count parameter N; The battery electric quantity that the present invention adopts is monitored and method of estimation, battery model can be made to describe the dynamic characteristic of battery preferably, have the good suitability so that the estimation precision of power lithium battery SOC is improved.
Accompanying drawing explanation
Fig. 1 is electricity quantity monitoring device module map of the present invention;
Fig. 2 is Thevenin battery model of the present invention;
Fig. 3 is electricity quantity monitoring device running figure of the present invention;
Fig. 4 is multiparameter circular card Kalman Filtering recurrence method flowchart of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described.
Embodiment 1:
Power lithium battery electricity quantity monitoring device module map as shown in Figure 1, including: voltage detection module;Voltage detecting electricity quantity module; Current detection module; Current integration electricity quantity module; Electrical parameter correction module; Multiparameter circular card Kalman Filtering core calculations module; Data fitting module; Temperature control modules; Circulating battery counting how many times module.
(wherein the arrow with filled arrows represents flow process to battery electric quantity supervising device running as shown in Figure 2; General arrow represents that data are transmitted; Dotted line represents corresponding relation), lithium battery, when starting to charge up, applies pulse voltage to battery, and detection obtains the response curve of voltage and electric current, provides battery R by data fitting module0��Rp��CpIteration initial value; If battery is in the non-loaded long period, voltage detecting electricity quantity module provide SOC initial value; If battery is in complete discharge and recharge, current integration electricity quantity module provide SOC initial value; When starting to charge up, first carry out constant-current charge, detected voltage by voltage detecting electricity quantity module to change, when voltage is increased to certain level, battery transfers constant-current charge to, changed by current integration electricity quantity module monitor current, when charging current reduces to certain level, battery charging terminates, electrical parameter calibration module integrated voltage measurement method and Current integrating method provide SOC initial water level values and battery initial quantity of electricity and be supplied to the initial parameter of multiparameter circulation Kalman filter core calculations module as initial parameter; In battery regular picture work process, voltage detecting electricity quantity module and current integration electricity quantity module run simultaneously and preserved electricity change information by electrical parameter calibration module and circulate the reference information of Kalman filter algorithm as multiparameter. Whole battery electric quantity supervising device circulates Kalman filter core calculations module for core with multiparameter, the advantage of combination current method and voltage method detection battery electric quantity, and automatically control applying pulse voltage and data the Fitting Calculation, and battery electric quantity estimated information will be exported after data summarization to core algorithm module comprehensive descision.
For realizing the battery electric quantity supervising device of the present invention, it is necessary to solve: (1) provides the lithium battery model of an applicable power type; (2) how to estimate the parameter in battery model, and provide the Changing Pattern between relevant parameter; (3) derivation formula between major cell parameter and battery status is provided; (4) method realizing core filtering algorithm is provided.
(1) the Thevenin model of power lithium battery.
As it is shown on figure 3, most important parameter is battery beginning voltage U in power lithium battery modeloc(indirectly corresponding SOC), battery ohmic internal resistance R0, battery polarization internal resistance Rp, battery polarization electric capacity Cp; Wherein battery polarization internal resistance Rp, battery polarization electric capacity CpParallel with one another after and battery beginning voltage Uoc, battery ohmic internal resistance R0Series connection.
Wherein R0It is expressed as the internal resistance of cell, Rp��CpRepresent polarization resistance and the polarization capacity of battery. According to Kirchhoff's second law and Kirchhoff's current law (KCL), circuit equation can be obtained:
U (t)=Uoc(SOC)-Up(t)-i(t)R0(SOC,I)
I (t)=Up(t)/Rp+Cpd(Up(t))/dt
Solve non-homogeneous differential equation above, and in conjunction with temperature TtempTo Rp, CpImpact, the solution obtaining the differential equation is:
(2) parameter estimation of battery Thevenin model
The multiparameter circulation Kalman filtering algorithm that the present invention adopts estimates that the precision of battery model is had higher dependency by SO, and battery parameter is more sensitive. R0, Rp, CpCan be obtained by the method for battery load pulses voltage, namely by obtaining key parameter to battery load pulses voltage, the electric current of matching test battery and the change of voltage.
Analyze from battery Thevenin model and obtain: 1) transient change of on-load voltage causes by battery ohmic internal resistance, obtains ohmic internal resistance R by measuring the changing value of instantaneous voltage0, test loads transient voltage �� UsChange calculations R0,2) gradual voltage �� UhBy RpAnd CpThe attenuation effect of the non-oscillatory RC circuit combined causes, and by data fitting method, obtains the pulse voltage of matching loading and the best R of current-responsive curvepAnd Cp��
(3) multiparameter circular card Kalman Filtering state transition analysis.
Kalman filtering (KalmanFilter, KF) it is the American engineer Kalman a kind of Stochastic stability method being estimated as basis with linear minimum mean-squared error proposed in nineteen sixty, state space and random estimation theory are intimately associated by it, the input of system and output relation are described by state equation, in estimation process, take full advantage of system state equation, measurement equation and process noise and measurement noise ASSOCIATE STATISTICS characteristic, form the linear filtering algorithm of complete set. His processing procedure has significantly high real-time, it is not necessary to bigger memory data output, and whole calculating process is constantly prediction and the process revised, once measurement data is updated, it is possible to calculate the optimal estimation value obtaining current time system mode or parameter.
When estimating battery SOC, KF is by SOC and R0Regard an internal state variable of battery system as, realize SOC and R by recursive algorithm0Minimum variance estimate. Noise is had very strong inhibitory action and initial value is insensitive by KF, so estimated result has significantly high precision, is particularly suited for the violent high power battery bag SOC of curent change and estimates. The multiparameter circulation Kalman filtering algorithm that the present invention adopts is simultaneously to SOC and battery model inner parameter R0Estimate, both solved the required precision to SOC estimation, calculate again battery model parameter R simultaneously0Update, consider that temperature effects affects C simultaneouslypAnd RpWith battery life internal recycle times N.
Circulating battery number of times is estimated battery SOC as key parameter modified Kalman filtering algorithm by the present invention. The Kalman filter of battery estimates equation (master equation):
The SOC, middle �� in the SOC value calculating k+1 moment wherein estimated with the k moment represents the efficiency for charge-discharge (being 1 during charging, less than 1 during electric discharge) of battery, Cs(N) for the volume change after circulating battery n times, for empirical equation, CgRepresent the renewal battery capacity obtained after discharging completely and being completely filled with by current integration. Owing in a charge and discharge process, battery capacity change is little, available C=Cg-Cs(N) replace the initial quantity of electricity of single discharge and recharge, obtain the discrete space state transition equation of battery model:
Wherein: wk,vkRepresent white Gaussian noise.
(4) the discrete recursion of multiparameter circular card Kalman Filtering.
The discrete space state transition equation of the battery model by obtaining, obtains the core algorithm recursive process of multiparameter circular card Kalman Filtering:
Utilize the optimal result of laststate, add the controlled quentity controlled variable of status praesens, obtain laststate optimal result
X (k | k-1)=AkX(k-1|k-1)+BkI (k-1), R0(k | k-1)=R0(k-1|k-1)
The covariance matrix of laststate optimal result, adds the covariance of system, obtains the covariance matrix of laststate optimal result
Obtain Kalman yield value
If there being observation, in conjunction with predictive value, obtain status praesens optimum estimation value
X (k | k)=X (k | k-1)+Kg (k) (y (k)-H (X (k | k-1), Rp(k), i (k-1))),
R0(k | k)=R0(k|k-1)+Kg(k)(y(k)-H(R0(k|k-1)),Rp(k),i(k-1))
Obtain the covariance matrix of status praesens
Px(k | k)=(I-Kg (k) Ck)Px(k|k-1)
Supplement the temperature impact on polarization resistance, wherein Rp(Ttemp) obtain known empirical equation R for empirical data summaryp(k)=Rp(Ttemp)Rp(k-1)
The above flow chart after the realization of multiparameter circular card Kalman Filtering core algorithm recursive process is as shown in Figure 4.
Specific embodiment described in literary composition is only to present invention spirit explanation for example. Described specific embodiment can be made various amendment or supplements or adopt similar mode to substitute by those skilled in the art, but without departing from the spirit of the present invention or surmount the scope that appended claims is defined.
Claims (3)
1. a power lithium battery electricity quantity monitoring device, it is characterised in that including:
Voltage detection module;
Voltage detecting electricity quantity module;
Current detection module;
Current integration electricity quantity module;
Electrical parameter correction module;
Multiparameter circular card Kalman Filtering core calculations module;
Data fitting module;
Temperature control modules;
Circulating battery counting how many times module;
Pulse voltage controls module.
2. power lithium battery electricity quantity monitoring device according to claim 1, it is characterised in that the lithium battery model matched with it, by battery beginning voltage Uoc, battery ohmic internal resistance R0, battery polarization internal resistance Rp, battery polarization electric capacity CpConnect and compose, wherein battery polarization internal resistance Rp, battery polarization electric capacity CpParallel with one another after and battery beginning voltage Uoc, battery ohmic internal resistance R0Series connection.
3. utilizing the power lithium battery electricity quantity monitoring device described in claim 1, carry out electricity monitoring, its monitoring method is:
1. lithium battery is when starting to charge up, and applies pulse voltage to battery, and detection obtains the response curve of voltage and electric current, is provided the iteration initial value of battery R0, Rp, Cp by data fitting module;
2. when battery is in the non-loaded long period, voltage detecting electricity quantity module SOC initial value is provided;
3. when battery is in complete discharge and recharge, current integration electricity quantity module SOC initial value is provided;
When 4. starting to charge up, first carry out constant-current charge, detected voltage by voltage detecting electricity quantity module to change, after voltage raises, battery transfers constant-current charge to, changed by current integration electricity quantity module monitor current, after charging current reduces, battery charging terminates, SOC initial water level values and battery initial quantity of electricity is provided by electrical parameter calibration module integrated voltage measurement method and Current integrating method, it is supplied to multiparameter circular card Germania (Kalman) as initial parameter and filters core calculations module, as the initial parameter of core calculations;
5. in battery regular picture work process, voltage detecting electricity quantity module and current integration electricity quantity module run simultaneously and are preserved electricity change information by electrical parameter calibration module, as the reference information of multiparameter circular card Germania (Kalman) filtering algorithm;
6. whole monitoring process filters core calculations module for core with multiparameter circular card Germania (Kalman), combination current method and voltage method detection battery electric quantity, and automatically control applying pulse voltage and data the Fitting Calculation, and battery electric quantity estimated information will be exported after data summarization to core algorithm module comprehensive descision.
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