CN106627225B - Method for predicting residual discharge energy of series battery pack for electric automobile - Google Patents

Method for predicting residual discharge energy of series battery pack for electric automobile Download PDF

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CN106627225B
CN106627225B CN201611200451.5A CN201611200451A CN106627225B CN 106627225 B CN106627225 B CN 106627225B CN 201611200451 A CN201611200451 A CN 201611200451A CN 106627225 B CN106627225 B CN 106627225B
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battery pack
soc
state
voltage
charge
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CN106627225A (en
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任东生
沈萍
卢兰光
冯旭宁
欧阳明高
李建秋
云强
卢艳华
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Tsinghua University
Contemporary Amperex Technology Co Ltd
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Contemporary Amperex Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/18—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules
    • B60L58/21—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules having the same nominal voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/545—Temperature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/547—Voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/549—Current
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/50—Control modes by future state prediction
    • B60L2260/54—Energy consumption estimation
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Secondary Cells (AREA)

Abstract

The invention relates to a method for predicting residual discharge energy of a series battery pack for an electric vehicle, and belongs to the technical field of battery management of electric vehicles. Firstly, collecting the operation condition data of the battery pack, and predicting the future output power and the future temperature change rate of the battery pack; then, identifying the internal resistance parameters of the equivalent circuit models of the battery pack and the single battery with the lowest voltage, and updating the curves of the internal resistance parameters of the battery pack and the single battery with the lowest voltage along with the change of the respective charge states; then determining a charge state prediction interval, and calculating a future charge state sequence of the battery pack and the single battery with the lowest voltage; predicting a future voltage sequence, a future current sequence and a future temperature sequence of the battery pack and a future single voltage sequence of the single battery with the lowest voltage; and finally, calculating the residual discharge energy of the battery pack. The method considers the influence of the inconsistency of the charge states of the single batteries on the discharge cut-off time of the battery pack, and can accurately predict the residual discharge energy of the series battery pack.

Description

A kind of series battery socking out energy predicting method for electric vehicle
Technical field
The present invention relates to a kind of series battery socking out energy predicting methods for electric vehicle, belong to electronic vapour Vehicle technical field of battery management.
Background technology
Current electric vehicle there are continual mileages it is short, remaining mileage estimation is inaccurate the problems such as, user can not be fully met Demand, and can cause driver generate " mileage anxiety ".The power source of electric vehicle is generally by several section monomer power electrics Pond is composed in series, and the discharge energy of battery pack directly affects the continual mileage of vehicle, and the prediction of battery pack socking out energy Precision has prodigious influence to the remaining mileage estimated accuracy of vehicle, and study emphasis is needed to study.
The socking out energy of battery pack is energy of the battery pack from the accumulative releasing of current time to electric discharge cut-off time, i.e., It is the product of battery pack output end voltage and output current to the integral of time.However, in series battery, each section monomer There are a degree of differences for monomer state-of-charge, and in discharge process, individual monomers, which generated, in order to prevent puts, and voltage is in When the monomer voltage or monomer state-of-charge of the single battery of minimum state reach cut-off condition, series battery just cannot continue Electric discharge, the i.e. single battery that electric discharge cut-off time of series battery is in minimum state by voltage determine.Therefore, series-connected cell On the one hand the socking out energy of group is influenced by battery pack operating condition, be on the other hand also in minimum state by voltage Single battery influence.When carrying out series battery socking out energy predicting, need to consider above-mentioned both sides It influences, could realize the accurate prediction of series battery socking out energy.
There are certain methods to regard series battery as an entirety at present, has not considered the inconsistency between monomer, letter The socking out energy of battery pack singly is predicted using the prediction technique of single battery socking out energy, precision of prediction can not Meet vehicle demand.When state-of-charge differs greatly between monomer, the battery power discharge cut-off time of prediction is much later than reality Electric discharge cut-off time, lead to the socking out energy for over-evaluating battery pack, further result in over-evaluating for Remainder Range of Electric Vehicle, When deviation is serious, it would be possible to cause electric vehicle mileage during journey insufficient, midway " sitting " seriously affects user's Plan of travel is more likely to result in safety accident.
Invention content
The purpose of the present invention is to propose to a kind of series battery socking out energy predicting methods for electric vehicle, examine Consider influence of each section single battery state-of-charge inconsistency to battery power discharge cut-off time, there are consistency with real-time prediction The series battery socking out energy of difference can ensure higher precision of prediction in various operating conditions.
Series battery socking out energy predicting method proposed by the present invention for electric vehicle, including following step Suddenly：
(1) the operating condition data that batteries of electric automobile group is acquired with the sample frequency of setting, include the electric current of battery pack I, voltage Utp, output power P, state-of-charge SOCp, temperature T and voltage be in minimum state single battery monomer voltage UtminWith monomer state-of-charge SOCmin；
(2) according to the output power P and temperature T of the battery pack of above-mentioned steps (1) acquisition, the following output of battery pack is predicted Power PpreWith future temperature change rate Δ Tpre, detailed process is as follows：
(2-1) set period of time t, the output power P and temperature T of battery pack in the period acquired according to step (1), Calculate the average output power P of battery packa, a=1, the average ramp rate Δ T of 2 ..., b ... and battery packa, a=1,2, 3 ..., b ..., in tbMoment calculates tb-1~tbIn period, the average output power P of battery packb, that is, calculate step (1) and adopt The t of collectionb-1~tbThe average value of cell stack power output P in period, meanwhile, calculate tb-1~tbIn period, battery pack is put down Equal rate of temperature change Δ Tb, calculation formula is：ΔTb=(T (tb)-T(tb-1))/(tb-tb-1), wherein T (tb) and T (tb-1) respectively For tbAnd tb-1The temperature of moment battery pack is acquired by above-mentioned steps (1)；
(2-2) is in tbMoment, according to the t being calculated in above-mentioned steps (2-1)b-1~tbBattery pack is averaged in period Output power PbWith average ramp rate Δ Tb, calculate battery pack future output power Ppre,bAnd future temperature change rate Δ Tpre,b,
Ppre,b=(1-w) × Ppre,b-1+w×Pb
ΔTpre,b=(1-wT)×ΔTpre,b-1+wT×ΔTb
Wherein, Ppre,b-1With Δ Tpre,b-1Respectively tb-1The average output power for the battery pack that moment is predicted and average Rate of temperature change, w and wTFor coefficient, value range is 0~1；
(3) according to electric current I, the voltage U of the battery pack of above-mentioned steps (1) acquisitiontpWith state-of-charge SOCp, utilize battery pack Equivalent-circuit model carries out the internal resistance parameter in battery pack equivalent-circuit model using the least square method with forgetting factor Identification, obtains the internal resistance parameter in battery pack equivalent-circuit model, updates battery pack equivalent-circuit model with the internal resistance parameter Former internal resistance parameter Rp,ohmWith battery pack state-of-charge SOCpThe curve R of variationp,ohm(i)=f (SOCp(i)), wherein SOCp(i)= 1- (i-1)/(N-1), i=1,2,3 ..., N, N are a positive integer more than 10, and detailed process is as follows：
(3-1) establishes the equivalent-circuit model of battery pack, and the equivalent electricity of battery pack is obtained by battery pack routine inner walkway The internal resistance parameter R of road modelP, ohmWith state-of-charge SOCpThe primitive curve of variation, is denoted as Rp,ohm(i)=f (SOCp(i)), wherein SOCp(i)=1- (i-1)/(N-1), i=1,2,3 ..., N, N are a positive integer more than 10；
Electric current I, the voltage U for the battery pack that (3-2) is acquired according to above-mentioned steps (1)tpWith state-of-charge SOCp, lost using band Forget the internal resistance parameter of the least square method on-line identification battery pack equivalent-circuit model of the factor, iterative calculation formula is：
Wherein, OCVp(tk) it is tkThe open-circuit voltage of the battery pack at moment, Utp(tk) it is tkThe voltage of the battery pack at moment, I (tk) it is tkThe electric current of the battery pack at moment,WithRespectively tkMoment and tk-1The electricity that moment recognizes The internal resistance parameter of pond group equivalent-circuit model, KkFor tkThe iterative calculation coefficient at moment,PkFor tk The iterative calculation coefficient at moment,Pk-1For tk-1The iteration coefficient at moment, λ are forgetting factor, value Ranging from 0.95~1；
(3-3) obtains battery pack equivalent-circuit model internal resistance parameter with on-line identification in above-mentioned steps (3-2) Update the former internal resistance parameter R of battery pack equivalent-circuit modelp,ohmWith state-of-charge SOCpThe curve R of variationp,ohm(i)=f (SOCp (i)), wherein SOCp(i)=1- (i-1)/(N-1), calculation formula when update are：
Wherein, Rp,ohm,k-1(i)=fk-1(SOCp(i)) it is the former internal resistance parameter R of battery pack equivalent-circuit modelp,ohmWith lotus Electricity condition SOCpThe curve of variation, i.e. tk-1The internal resistance parameter R of the battery pack equivalent-circuit model at momentp,ohmWith state-of-charge SOCpThe curve of variation, Rp,ohm,k(i)=fk(SOCp(i)) it is the internal resistance parameter of updated battery pack equivalent-circuit model Rp,ohmWith state-of-charge SOCpThe curve of variation；SOCp(tk) it is tkThe state-of-charge of the battery pack at moment, Rp,ohm,k-1(SOCp (tk)) for according to the former internal resistance parameter R of battery pack equivalent-circuit modelp,ohmWith state-of-charge SOCpThe curve R of variationp,ohm,k-1 (i)=fk-1(SOCp(i)) the battery pack state-of-charge that linear interpolation obtains is SOCp(tk) when internal resistance parameter, wRFor coefficient, Value range is 0~1；
(4) list of the single battery of minimum state is according to electric current I, the voltage of the battery pack of above-mentioned steps (1) acquisition Bulk voltage UtminWith monomer state-of-charge SOCminAnd voltage is in the equivalent-circuit model of the single battery of minimum state, adopts With the least square method with forgetting factor, internal resistance ginseng voltage being in the equivalent-circuit model of the single battery of minimum state Number is recognized, and the internal resistance parameter in the equivalent-circuit model for the single battery that voltage is in minimum state is obtained, with the internal resistance Parameter update voltage is in the former internal resistance parameter R of the equivalent-circuit model of the single battery of minimum statemin,ohmIt is in voltage The monomer state-of-charge SOC of the single battery of minimum statepThe curve R of variationmin,ohm(j)=g (SOCmin(j)), wherein SOCmin (j)=1- (j-1)/(M-1), j=1,2,3 ..., M, M are a positive integer more than 10, and detailed process is as follows：
(4-1) establishes the equivalent-circuit model that voltage is in the single battery of minimum state, is obtained by conventional inner walkway Voltage be in minimum state single battery equivalent-circuit model internal resistance parameter RMin, ohmWith monomer state-of-charge SOCmin The primitive curve of variation, is denoted as Rmin,ohm(j)=g (SOCmin(j)), wherein SOCmin(j)=1- (j-1)/(M-1) (j=1,2, 3 ..., M), M is a positive integer more than 10；
Electric current I, the voltage of the battery pack that (4-2) is acquired according to above-mentioned steps (1) are in the single battery of minimum state Monomer voltage UtminWith monomer state-of-charge SOCmin, it is in most using the least square method on-line identification voltage with forgetting factor The internal resistance parameter of the equivalent-circuit model of the single battery of low state, iterative calculation formula are：
Wherein, OCVmin(tk) it is tkThe voltage at moment is in the open-circuit voltage of the single battery of minimum state, Utmin(tk) For tkThe voltage at moment is in the monomer voltage of the single battery of minimum state, I (tk) it is tkThe battery pack current at moment,WithRespectively tkMoment and tk-1The voltage that moment recognizes is in the single battery of minimum state The internal resistance parameter of equivalent-circuit model, KkFor tkThe iterative calculation coefficient at moment,PkFor tkMoment Iterative calculation coefficient,Pk-1For tk-1The iteration coefficient at moment, λ are forgetting factor, value range It is 0.95~1；
(4-3) obtains the single battery equivalent circuit that voltage is in minimum state with on-line identification in above-mentioned steps (4-2) Model internal resistance parameterUpdate voltage is in the former internal resistance parameter of the single battery equivalent-circuit model of minimum state Rmin,ohmWith monomer state-of-charge SOCminThe curve R of variationmin,ohm(j)=g (SOCmin(j)), wherein SOCmin(j)=1- (j- 1)/(M-1), calculation formula when update are：
Wherein, Rmin,ohm,k-1(j)=gk-1(SOCmin(j)) the single battery equivalent circuit mould of minimum state is in for voltage The former internal resistance parameter R of typemin,ohmWith monomer state-of-charge SOCminThe curve of variation, i.e. tk-1The voltage at moment is in minimum shape The internal resistance parameter R of the single battery equivalent-circuit model of statemin,ohmWith monomer state-of-charge SOCminThe curve of variation, Rmin,ohm,k (j)=gk(SOCmin(j)) the internal resistance parameter of the single battery equivalent-circuit model of minimum state is in for updated voltage Rmin,ohmWith monomer state-of-charge SOCminThe curve of variation, SOCmin(tk) it is tkThe voltage at moment is in the monomer of minimum state The monomer state-of-charge of battery, Rmin,ohm,k-1(SOCmin(tk)) it is the equivalent electricity of single battery that minimum state is according to voltage The former internal resistance parameter R of road modelmin,ohmWith monomer state-of-charge SOCminThe curve R of variationmin,ohm,k-1(j)=gk-1(SOCmin (j)) the monomer state-of-charge that the voltage that linear interpolation obtains is in the single battery of minimum state is SOCmin(tk) when internal resistance Parameter, wRFor coefficient, value range is 0~1；
(5) the state-of-charge predicting interval Δ SOC during a socking out energy predicting is set, according to step (1) State-of-charge SOC of the battery pack of acquisition in t momentp(t), it using state-of-charge predicting interval Δ SOC as tolerance, is calculated One group of battery pack future state-of-charge：
SOCp,pre,m=SOCp(t)-(m-1) × Δ SOC, m=1,2,3 ...
Be denoted as battery pack future state-of-charge sequence, wherein m is sequence number, while according to the voltage of step (1) acquisition at In minimum state single battery t moment state-of-charge SOCmin(t), the monomer that one group of voltage is in minimum state is calculated The following monomer state-of-charge of battery：
SOCmin,pre,m=SOCmin(t)-(m-1) × Δ SOC, m=1,2,3 ...
It is denoted as the following monomer state-of-charge that voltage is in the single battery of minimum state, wherein m is sequence number；
(6) the battery pack future average output power P predicted according to above-mentioned steps (2)pre, future temperature change rate Δ Tpre, the internal resistance parameter R for the battery pack equivalent-circuit model that step (3) obtainsp,ohmWith battery pack state-of-charge SOCpThe song of variation The battery pack future state-of-charge sequence SOC that line and step (5) obtainp,pre,m, predict battery pack future state-of-charge sequence SOCp,pre,m(m=1,2,3 ...) corresponding battery pack future contact potential series Utp,pre,m(m=1,2,3 ...), the following current sequence Ipre,m(m=1,2,3 ...) and future temperature sequence Tpre,m(m=1,2,3 ...), detailed process is as follows：
The battery pack future temperature change rate Δ T that (6-1) is predicted according to above-mentioned steps (2)pre, predict battery pack future lotus Electricity condition SOCp,pre,mCorresponding battery pack future temperature：
Wherein, Δ SOC is the state-of-charge predicting interval, is calculated by above-mentioned steps (5), CminIt is in minimum for voltage The capacity of the single battery of state, Ipre,m-1For with battery pack future state-of-charge SOCp,pre,m-1Corresponding battery pack is not Incoming current；
The battery pack equivalent-circuit model internal resistance parameter internal resistance parameter R that (6-2) is obtained according to above-mentioned steps (3)p,ohmWith lotus Electricity condition SOCpThe curve R of variationp,ohm(i)=f (SOCp(i)) it, is obtained and the following state-of-charge SOC using linear interpolationp,pre,m Corresponding battery pack equivalent-circuit model internal resistance initial parameter values R 'p,ohm(SOCp,pre,m), it is measured in advance according to above-mentioned steps (6-1) The battery pack future temperature T arrivedpre,m, consider influence of the temperature to the internal resistance of cell, calculate the following state-of-charge sequence SOCp,pre,m Corresponding battery pack equivalent-circuit model internal resistance parameter Rp,ohm(SOCp,pre,m)：
Wherein, Ea is the activation energy that battery pack equivalent-circuit model internal resistance parameter varies with temperature, and is obtained by routine experiment , R is gas constant, and T (t) is the temperature of t moment battery pack；
The battery pack future output power P that (6-3) is predicted according to above-mentioned steps (2)pre, calculate the non-incoming current of battery pack Ipre,m：
It further calculates to obtain the following voltage U of battery packtp,pre,m：
Utp,pre,m=OCV (SOCp,pre,m)-Ipre,m×Rp,ohm(SOCp,pre,m)；
(6-4) repeats step (6-1)~(6-3), obtains battery pack future state-of-charge sequence SOCp,pre,m, corresponding electricity The following contact potential series U of pond grouptp,pre,m, the following current sequence Ipre,mAnd future temperature sequence Tpre,m, wherein m is sequence Number, m=1,2,3 ...；
(7) internal resistance of the single battery equivalent-circuit model of minimum state is according to the voltage that above-mentioned steps (4) obtain Parameter Rmin,ohmWith monomer state-of-charge SOCminThe curve of variation, the voltage that above-mentioned steps (5) obtain are in the list of minimum state The following monomer state-of-charge sequence SOC of body batterymin,pre,mAnd the battery pack future current sequence of step (6) prediction Ipre,m, future temperature sequence Tpre,m, predicted voltage is in the following monomer state-of-charge sequence of the single battery of minimum state SOCmin,pre,m(m=1,2,3 ...) corresponding following monomer voltage sequence Utmin,pre,m(m=1,2,3 ...), detailed process is such as Under：
In the equivalent-circuit model for the single battery that (7-1) is in minimum state according to the voltage that above-mentioned steps (4) obtain Hinder parameter Rmin,ohmWith monomer state-of-charge SOCminThe curve R of variationmin,ohm(j)=g (SOCmin(j)) it, is obtained using linear interpolation It obtains and the following monomer state-of-charge sequence SOCmin,pre,mCorresponding voltage is in the equivalent circuit of the single battery of minimum state Model internal resistance initial parameter values R 'min,ohm(SOCmin,pre,m), according to the future temperature sequence for the battery pack that above-mentioned steps (6) obtain Tpre,m, consider influence of the temperature to the internal resistance of cell, calculate the charged shape of the following monomer that voltage is in the single battery of minimum state State sequence SOCmin,pre,mCorresponding voltage is in the equivalent-circuit model internal resistance parameter R of the single battery of minimum statemin,ohm (SOCmin,pre,m)：
Wherein, Ea is that the equivalent-circuit model internal resistance parameter for the single battery that voltage is in minimum state varies with temperature Activation energy is obtained by routine experiment, and R is gas constant, and T (t) is the temperature of battery pack t moment；
(7-2) is according to the following current sequence I for obtaining battery pack in above-mentioned steps (6)pre,m, calculate and be in minimum with voltage The following monomer state-of-charge sequence SOC of the single battery of statemin,pre,mCorresponding future monomer voltage sequence Utmin,pre,m：
Utmin,pre,m=OCV (SOCmin,pre,m)-Ipre,m×Rmin,ohm(SOCmin,pre,m)；
(8) battery pack future temperature sequence T is obtained according to above-mentioned steps (6)pre,m, determine that voltage is in the list of minimum state The electric discharge cut-off condition SOC of body batterylimAnd Vlim, the battery pack future contact potential series U that is then obtained according to step (6)tp,pre,m, Calculate battery pack socking out energy be：
Wherein, m is sequence number, CminThe capacity of the single battery of minimum state is in for voltage, n is that voltage is in minimum When the single battery of state reaches electric discharge cut-off condition, voltage is in the monomer voltage sequence or list of the single battery of minimum state The sequence number of body state-of-charge sequence:
N=max m | Utmin,pre,m＞ Vlim∩SOCmin,pre,m＞ SOClim, m=1,2,3 ... }
Wherein, voltage is in the following monomer state-of-charge sequence SOC of the single battery of minimum statemin,pre,mBy step (5) it obtains, voltage is in the following monomer voltage sequence U of the single battery of minimum statetmin,pre,mIt is obtained by step (7).
Series battery socking out energy predicting method proposed by the present invention for electric vehicle, its advantage is that, this Inventive method considers influence of each section single battery state-of-charge inconsistency to battery power discharge cut-off time, is being gone here and there When joining battery pack socking out energy predicting, predicted based on battery pack future operating condition to calculate battery pack socking out energy Amount, and predicted voltage is in the following monomer voltage sequence of the single battery of minimum state simultaneously, to realize that series battery is put The accurate judgement of electric cut-off time finally realizes the accurate prediction of series battery socking out energy.The protrusion of this method Advantage is to consider influence of each section single battery state-of-charge inconsistency to battery power discharge cut-off time, can be accurate Predict the series battery socking out energy with inconsistency difference, and calculation amount is smaller, may be directly applied to electricity The battery pack socking out energy predicting of electrical automobile, helps to improve Remainder Range of Electric Vehicle estimated accuracy.
Description of the drawings
Fig. 1 is the flow chart element of the series battery socking out energy predicting method proposed by the present invention for electric vehicle Figure.
Fig. 2 is that the battery pack future output power involved in the method for the present invention predicts schematic diagram.
Fig. 3 is the battery pack future temperature change rate forecast schematic diagram involved in the method for the present invention.
Fig. 4 is the battery pack equivalent-circuit model schematic diagram involved in the method for the present invention.
Fig. 5 is that the equivalent-circuit model for the single battery that the voltage involved in the method for the present invention is in minimum state is illustrated Figure.
Fig. 6 is the series battery socking out energy balane process schematic involved in the method for the present invention.
Fig. 7 is the comparison diagram of series battery the socking out energy predicting result and legitimate reading of the method for the present invention.
Specific implementation mode
Series battery socking out energy predicting method proposed by the present invention for electric vehicle, flow diagram is such as Shown in Fig. 1, it is characterised in that include the following steps：
(1) the operating condition data that batteries of electric automobile group is acquired with the sample frequency of setting, include the electric current of battery pack I, voltage Utp, output power P, state-of-charge SOCp, temperature T and voltage be in minimum state single battery monomer voltage UtminWith monomer state-of-charge SOCmin；
(2) according to the output power P and temperature T of the battery pack of above-mentioned steps (1) acquisition, the following output of battery pack is predicted Power PpreWith future temperature change rate Δ Tpre, detailed process is as follows：
(2-1) the set period of time t travel settings of electric vehicle (time period t according to), according to step (1) acquisition should The output power P and temperature T of battery pack, calculate the average output power P of battery pack in perioda, a=1,2 ..., b ..., and The average ramp rate Δ T of battery packa, a=1,2,3 ..., b ..., in Fig. 2, in tbMoment calculates tb-1~tbPeriod It is interior, the average output power P of battery packb, that is, calculate the t that step (1) acquiresb-1~tbCell stack power output P in period Average value, meanwhile, calculate tb-1~tbIn period, the average ramp rate Δ T of battery packb, calculation formula is：ΔTb=(T (tb)-T(tb-1))/(tb-tb-1), wherein T (tb) and T (tb-1) it is respectively tbAnd tb-1The temperature of moment battery pack, by above-mentioned step Suddenly (1) acquires；
(2-2) is in tbMoment, according to the t being calculated in above-mentioned steps (2-1)b-1~tbBattery pack is averaged in period Output power PbWith average ramp rate Δ Tb, calculate battery pack future output power Ppre,bAnd future temperature change rate Δ Tpre,b, as shown in Figures 2 and 3.
Ppre,b=(1-w) × Ppre,b-1+w×Pb
ΔTpre,b=(1-wT)×ΔTpre,b-1+wT×ΔTb
Wherein, Ppre,b-1With Δ Tpre,b-1Respectively tb-1The average output power for the battery pack that moment is predicted and average Rate of temperature change, w and wTFor coefficient, value range is 0~1；In the present embodiment, the value of the two is 0.1.
In tb~tb+1Moment need not predict the average output power and average ramp rate of battery pack, at this time in real time The following output power of battery pack remains Ppre,b, future temperature change rate is Δ Tpre,b, as shown in Figures 2 and 3, until tb+1 Moment predicts battery pack future output power P againpre,b+1With future temperature change rate Δ Tpre,b+1。
(3) according to electric current I, the voltage U of the battery pack of above-mentioned steps (1) acquisitiontpWith state-of-charge SOCp, utilize battery pack Equivalent-circuit model carries out the internal resistance parameter in battery pack equivalent-circuit model using the least square method with forgetting factor Identification, obtains the internal resistance parameter in battery pack equivalent-circuit model, updates battery pack equivalent-circuit model with the internal resistance parameter Former internal resistance parameter Rp,ohmWith battery pack state-of-charge SOCpThe curve R of variationp,ohm(i)=f (SOCp(i)), wherein SOCp(i)= 1- (i-1)/(N-1), i=1,2,3 ..., N, N are a positive integer more than 10, and detailed process is as follows：
(3-1) establishes the equivalent-circuit model of battery pack, as shown in figure 4, wherein OCVpFor the open-circuit voltage of battery pack, with Battery pack state-of-charge SOCpThere are one-to-one relationships, can be obtained by routine test；Rp,ohmFor battery pack internal resistance.According to this Equivalent-circuit model can calculate the voltage U of battery packtp, calculation formula is：Utp=OCVp-I×Rp,ohm.It is normal by battery pack Advise the internal resistance parameter R that inner walkway obtains battery pack equivalent-circuit modelP, ohmWith state-of-charge SOCpThe primitive curve of variation, note For Rp,ohm(i)=f (SOCp(i)), wherein SOCp(i)=1- (i-1)/(N-1), i=1,2,3 ..., N, N are one and are more than 10 Positive integer；
Electric current I, the voltage U for the battery pack that (3-2) is acquired according to above-mentioned steps (1)tpWith state-of-charge SOCp, lost using band Forget the internal resistance parameter of the least square method on-line identification battery pack equivalent-circuit model of the factor, iterative calculation formula is：
Wherein, OCVp(tk) it is tkThe open-circuit voltage of the battery pack at moment, Utp(tk) it is tkThe voltage of the battery pack at moment, I (tk) it is tkThe electric current of the battery pack at moment,WithRespectively tkMoment and tk-1The electricity that moment recognizes The internal resistance parameter of pond group equivalent-circuit model, KkFor tkThe iterative calculation coefficient at moment,PkFor tk The iterative calculation coefficient at moment,Pk-1For tk-1The iteration coefficient at moment, λ are forgetting factor, value Ranging from 0.95~1；In the embodiment of the present invention, it is set as 0.9992；
(3-3) obtains battery pack equivalent-circuit model internal resistance parameter with on-line identification in above-mentioned steps (3-2) Update the former internal resistance parameter R of battery pack equivalent-circuit modelp,ohmWith state-of-charge SOCpThe curve R of variationp,ohm(i)=f (SOCp (i)), wherein SOCp(i)=1- (i-1)/(N-1),
Calculation formula when update is：
Wherein, Rp,ohm,k-1(i)=fk-1(SOCp(i)) it is the former internal resistance parameter R of battery pack equivalent-circuit modelp,ohmWith lotus Electricity condition SOCpThe curve of variation, i.e. tk-1The internal resistance parameter R of the battery pack equivalent-circuit model at momentp,ohmWith state-of-charge SOCpThe curve of variation, Rp,ohm,k(i)=fk(SOCp(i)) it is the internal resistance parameter of updated battery pack equivalent-circuit model Rp,ohmWith state-of-charge SOCpThe curve of variation；SOCp(tk) it is tkThe state-of-charge of the battery pack at moment, Rp,ohm,k-1(SOCp (tk)) for according to the former internal resistance parameter R of battery pack equivalent-circuit modelp,ohmWith state-of-charge SOCpThe curve R of variationp,ohm,k-1 (i)=fk-1(SOCp(i)) the battery pack state-of-charge that linear interpolation obtains is SOCp(tk) when internal resistance parameter, wRFor coefficient, Value range is 0~1；In the embodiment of the present invention, it is set as 0.1.
(4) list of the single battery of minimum state is according to electric current I, the voltage of the battery pack of above-mentioned steps (1) acquisition Bulk voltage UtminWith monomer state-of-charge SOCminAnd voltage is in the equivalent-circuit model of the single battery of minimum state, adopts With the least square method with forgetting factor, internal resistance ginseng voltage being in the equivalent-circuit model of the single battery of minimum state Number is recognized, and the internal resistance parameter in the equivalent-circuit model for the single battery that voltage is in minimum state is obtained, with the internal resistance Parameter update voltage is in the former internal resistance parameter R of the equivalent-circuit model of the single battery of minimum statemin,ohmIt is in voltage The monomer state-of-charge SOC of the single battery of minimum statepThe curve R of variationmin,ohm(j)=g (SOCmin(j)), wherein SOCmin (j)=1- (j-1)/(M-1), j=1,2,3 ..., M, M are a positive integer more than 10, and detailed process is as follows：
(4-1) establishes the equivalent-circuit model that voltage is in the single battery of minimum state, as shown in figure 5, wherein OCVmin The open-circuit voltage of the single battery of minimum state is in for voltage, the monomer that the single battery of minimum state is in voltage is charged State SOCminThere are one-to-one relationships, can be obtained by routine test；Rmin,ohmThe monomer electricity of minimum state is in for voltage The internal resistance in pond.According to the equivalent-circuit model, the voltage U that voltage is in the single battery of minimum state can be calculatedtmin, calculate Formula is：Utmin=OCVmin-I×Rmin,ohm.The single battery of minimum state is in by conventional inner walkway acquisition voltage The internal resistance parameter R of equivalent-circuit modelMin, ohmWith monomer state-of-charge SOCminThe primitive curve of variation, is denoted as Rmin,ohm(j)=g (SOCmin(j)), wherein SOCmin(j)=1- (j-1)/(M-1) (j=1,2,3 ..., M), M is a positive integer more than 10；
Electric current I, the voltage of the battery pack that (4-2) is acquired according to above-mentioned steps (1) are in the single battery of minimum state Monomer voltage UtminWith monomer state-of-charge SOCmin, it is in most using the least square method on-line identification voltage with forgetting factor The internal resistance parameter of the equivalent-circuit model of the single battery of low state, iterative calculation formula are：
Wherein, OCVmin(tk) it is tkThe voltage at moment is in the open-circuit voltage of the single battery of minimum state, Utmin(tk) For tkThe voltage at moment is in the monomer voltage of the single battery of minimum state, I (tk) it is tkThe battery pack current at moment,WithRespectively tkMoment and tk-1The voltage that moment recognizes is in the single battery of minimum state The internal resistance parameter of equivalent-circuit model, KkFor tkThe iterative calculation coefficient at moment,PkFor tkMoment Iterative calculation coefficient,Pk-1For tk-1The iteration coefficient at moment, λ are forgetting factor, value range It is 0.95~1；In the embodiment of the present invention, it is set as 0.9992.
(4-3) obtains the single battery equivalent circuit that voltage is in minimum state with on-line identification in above-mentioned steps (4-2) Model internal resistance parameterUpdate voltage is in the former internal resistance parameter of the single battery equivalent-circuit model of minimum state Rmin,ohmWith monomer state-of-charge SOCminThe curve R of variationmin,ohm(j)=g (SOCmin(j)), wherein SOCmin(j)=1- (j- 1)/(M-1), calculation formula when update are：
Wherein, Rmin, ohm, k-1 (j)=gk-1(SOCmin(j)) the equivalent electricity of single battery of minimum state is in for voltage The former internal resistance parameter R of road modelmin,ohmWith monomer state-of-charge SOCminThe curve of variation, i.e. tk-1The voltage at moment is in most The internal resistance parameter R of the single battery equivalent-circuit model of low statemin,ohmWith monomer state-of-charge SOCminThe curve of variation, Rmin,ohm,k(j)=gk(SOCmin(j)) the interior of the single battery equivalent-circuit model of minimum state is in for updated voltage Hinder parameter Rmin,ohmWith monomer state-of-charge SOCminThe curve of variation, SOCmin(tk) it is tkThe voltage at moment is in minimum state Single battery monomer state-of-charge, Rmin,ohm,k-1(SOCmin(tk)) it is the single battery that minimum state is according to voltage The former internal resistance parameter R of equivalent-circuit modelmin,ohmWith monomer state-of-charge SOCminThe curve R of variationmin,ohm,k-1(j)=gk-1 (SOCmin(j)) the monomer state-of-charge that the voltage that linear interpolation obtains is in the single battery of minimum state is SOCmin(tk) when Internal resistance parameter, wRFor coefficient, value range is 0~1；In the embodiment of the present invention, it is set as 0.1.
(5) the state-of-charge predicting interval Δ SOC during a socking out energy predicting is set, according to step (1) State-of-charge SOC of the battery pack of acquisition in t momentp(t), it using state-of-charge predicting interval Δ SOC as tolerance, is calculated One group of battery pack future state-of-charge：
SOCp,pre,m=SOCp(t)-(m-1) × Δ SOC, m=1,2,3 ...
Be denoted as battery pack future state-of-charge sequence, wherein m is sequence number, while according to the voltage of step (1) acquisition at In minimum state single battery t moment state-of-charge SOCmin(t), the monomer that one group of voltage is in minimum state is calculated The following monomer state-of-charge of battery：
SOCmin,pre,m=SOCmin(t)-(m-1) × Δ SOC, m=1,2,3 ...
It is denoted as the following monomer state-of-charge that voltage is in the single battery of minimum state, wherein m is sequence number；
(6) the battery pack future average output power P predicted according to above-mentioned steps (2)pre, future temperature change rate Δ Tpre, the internal resistance parameter R for the battery pack equivalent-circuit model that step (3) obtainsp,ohmWith battery pack state-of-charge SOCpThe song of variation The battery pack future state-of-charge sequence SOC that line and step (5) obtainp,pre,m, predict battery pack future state-of-charge sequence SOCp,pre,m(m=1,2,3 ...) corresponding battery pack future contact potential series Utp,pre,m(m=1,2,3 ...), the following current sequence Ipre,m(m=1,2,3 ...) and future temperature sequence Tpre,m(m=1,2,3 ...), detailed process is as follows：
The battery pack future temperature change rate Δ T that (6-1) is predicted according to above-mentioned steps (2)pre, predict battery pack future lotus Electricity condition SOCp,pre,mCorresponding battery pack future temperature：
Wherein, Δ SOC is the state-of-charge predicting interval, is calculated by above-mentioned steps (5), CminIt is in minimum for voltage The capacity of the single battery of state, Ipre,m-1For with battery pack future state-of-charge SOCp,pre,m-1Corresponding battery pack is not Incoming current；
The battery pack equivalent-circuit model internal resistance parameter internal resistance parameter R that (6-2) is obtained according to above-mentioned steps (3)p,ohmWith lotus Electricity condition SOCpThe curve R of variationp,ohm(i)=f (SOCp(i)) it, is obtained and the following state-of-charge SOC using linear interpolationp,pre,m Corresponding battery pack equivalent-circuit model internal resistance initial parameter values R 'p,ohm(SOCp,pre,m), it is measured in advance according to above-mentioned steps (6-1) The battery pack future temperature T arrivedpre,m, consider influence of the temperature to the internal resistance of cell, calculate the following state-of-charge sequence SOCp,pre,m Corresponding battery pack equivalent-circuit model internal resistance parameter Rp,ohm(SOCp,pre,m)：
Wherein, Ea is the activation energy that battery pack equivalent-circuit model internal resistance parameter varies with temperature, and is obtained by routine experiment , 24000 are set as in the embodiment of the present invention.R is gas constant, and T (t) is the temperature of t moment battery pack；
The battery pack future output power P that (6-3) is predicted according to above-mentioned steps (2)pre, calculate the non-incoming current of battery pack Ipre,m：
It further calculates to obtain the following voltage U of battery packtp,pre,m：
Utp,pre,m=OCV (SOCp,pre,m)-Ipre,m×Rp,ohm(SOCp,pre,m)；
(6-4) repeats step (6-1)~(6-3), obtains battery pack future state-of-charge sequence SOCp,pre,m, corresponding electricity The following contact potential series U of pond grouptp,pre,m, the following current sequence Ipre,mAnd future temperature sequence Tpre,m, wherein m is sequence Number, m=1,2,3 ...；
(7) internal resistance of the single battery equivalent-circuit model of minimum state is according to the voltage that above-mentioned steps (4) obtain Parameter Rmin,ohmWith monomer state-of-charge SOCminThe curve of variation, the voltage that above-mentioned steps (5) obtain are in the list of minimum state The following monomer state-of-charge sequence SOC of body batterymin,pre,mAnd the battery pack future current sequence of step (6) prediction Ipre,m, future temperature sequence Tpre,m, predicted voltage is in the following monomer state-of-charge sequence of the single battery of minimum state SOCmin,pre,m(m=1,2,3 ...) corresponding following monomer voltage sequence Utmin,pre,m(m=1,2,3 ...), detailed process is such as Under：
In the equivalent-circuit model for the single battery that (7-1) is in minimum state according to the voltage that above-mentioned steps (4) obtain Hinder parameter Rmin,ohmWith monomer state-of-charge SOCminThe curve R of variationmin,ohm(j)=g (SOCmin(j)) it, is obtained using linear interpolation It obtains and the following monomer state-of-charge sequence SOCmin,pre,mCorresponding voltage is in the equivalent circuit of the single battery of minimum state Model internal resistance initial parameter values R 'min,ohm(SOCmin,pre,m), according to the future temperature sequence for the battery pack that above-mentioned steps (6) obtain Tpre,m, consider influence of the temperature to the internal resistance of cell, calculate the charged shape of the following monomer that voltage is in the single battery of minimum state State sequence SOCmin,pre,mCorresponding voltage is in the equivalent-circuit model internal resistance parameter R of the single battery of minimum statemin,ohm (SOCmin,pre,m)：
Wherein, Ea is that the equivalent-circuit model internal resistance parameter for the single battery that voltage is in minimum state varies with temperature Activation energy is obtained by routine experiment, and 24000 are set as in the embodiment of the present invention.R is gas constant, and T (t) is battery pack t moment Temperature；
(7-2) is according to the following current sequence I for obtaining battery pack in above-mentioned steps (6)pre,m, calculate and be in minimum with voltage The following monomer state-of-charge sequence SOC of the single battery of statemin,pre,mCorresponding future monomer voltage sequence Utmin,pre,m：
Utmin,pre,m=OCV (SOCmin,pre,m)-Ipre,m×Rmin,ohm(SOCmin,pre,m)；
(8) battery pack future temperature sequence T is obtained according to above-mentioned steps (6)pre,m, determine that voltage is in the list of minimum state The electric discharge cut-off condition SOC of body batterylimAnd Vlim, the battery pack future contact potential series U that is then obtained according to step (6)tp,pre,m, Calculate battery pack socking out energy be：
Wherein, m is sequence number, CminThe capacity of the single battery of minimum state is in for voltage, n is that voltage is in minimum When the single battery of state reaches electric discharge cut-off condition, voltage is in the monomer voltage sequence or list of the single battery of minimum state The sequence number of body state-of-charge sequence：
N=max m | Utmin,pre,m＞ Vlim∩SOCmin,pre,m＞ SOClim, m=1,2,3 ... }
Wherein, voltage is in the following monomer state-of-charge sequence SOC of the single battery of minimum statemin,pre,mBy step (5) it obtains, voltage is in the following monomer voltage sequence U of the single battery of minimum statetmin,pre,mIt is obtained by step (7).
The schematic diagram of battery pack socking out energy balane process with reference to shown in Fig. 6 carries out step (8) further detailed It describes in detail bright.In Fig. 6, ordinate is voltage, and axis of abscissas has two, wherein with the arrow shown in solid of bottom for battery pack not Carry out state-of-charge sequence coordinate axis, chain-dotted line with the arrow show the single battery future monomer lotus that voltage is in minimum state Electricity condition sequence coordinate axis.Vertical dotted line in Fig. 6 will be electric according to the state-of-charge predicting interval Δ SOC set in step S5 The single battery future monomer state-of-charge that pond group future state-of-charge and voltage are in minimum state is divided into several pieces, every The intersection point of dotted line and two axis of abscissas is the battery pack future state-of-charge sequence SOC obtained in step S5p,pre,m(m= 1,2,3 ...) and voltage be in the following monomer state-of-charge sequence SOC of the single battery of minimum statemin,pre,m(m=1,2, 3,…).There are two voltage curves in Fig. 6, the solid line of top is battery pack future contact potential series with battery pack future state-of-charge The curve of sequence variation is obtained by step (6)；Chain-dotted line is the single battery future monomer voltage sequence that voltage is in minimum state Row are obtained with the curve of the following monomer state-of-charge sequence variation by step (7).Carrying out battery pack socking out energy balane When, as shown in the gray area in Fig. 6, in battery pack future state-of-charge sequence, the following charged shape of two neighboring battery pack State (the SOC in such as Fig. 6p,pre,1And SOCp,pre,2) in battery pack discharge energy be：
ΔE1≈Utp,pre,1×ΔSOC×Cmin
In calculating process, the single battery that electric discharge cut-off time of battery pack is in minimum state by voltage determines, when The electric discharge that voltage is in the following monomer voltage of the single battery of minimum state or the following monomer state-of-charge reaches setting is cut Only condition VlimAnd SOClimWhen, there is overdischarge, the electric discharge of battery pack in the single battery to prevent voltage to be in minimum state Journey stops with regard to this.In the embodiment of the present invention, as shown in fig. 6, being in the following monomer of the single battery of minimum state in voltage In contact potential series, as Serial No. n, the following monomer voltage Utmin,pre,nThe blanking voltage V of setting is reachedlim.Although at this time Battery pack still has higher voltage, but overdischarge, battery pack occurs in the single battery that voltage is in minimum state in order to prevent Discharge process with regard to this stop.To sum up, the socking out energy of battery pack is that battery discharges in each adjacent following state-of-charge The adduction of energy, i.e.,：
Based on above-mentioned steps (1)~(8), the real-time pre- of electric vehicle series battery socking out energy may be implemented It surveys.It is given in one embodiment of the present of invention in Fig. 7, under actual operating mode, the prediction knot of battery pack socking out energy The comparison diagram of fruit and legitimate reading.Wherein, Fig. 7 (a) be the embodiment of the present invention battery pack socking out energy predicting value with it is true The comparison of real value, abscissa are the time, and ordinate is the socking out energy of battery pack, and dotted line is the method using the present invention Predict obtained battery pack socking out energy, and solid line is the real surplus discharge energy of battery pack, it can be seen that in battery In the discharge process of group, the predicted value and actual value of socking out energy are very close.Fig. 7 (b) is battery pack socking out energy Measure the error of prediction result, it can be seen that the series battery socking out energy proposed by the present invention for electric vehicle is pre- The accurate prediction of remaining battery discharge energy may be implemented in survey method, and prediction error is less than 3%.
In addition, those skilled in the art can also do other variations in spirit of that invention, these are spiritual according to the present invention The variation done should be all included in scope of the present invention.

Claims (1)

1. a kind of series battery socking out energy predicting method for electric vehicle, it is characterised in that including following step Suddenly：
(1) the operating condition data that batteries of electric automobile group is acquired with the sample frequency of setting, include electric current I, the electricity of battery pack Press Utp, output power P, state-of-charge SOCp, temperature T and voltage be in minimum state single battery monomer voltage Utmin With monomer state-of-charge SOCmin；
(2) according to the output power P and temperature T of the battery pack of above-mentioned steps (1) acquisition, the following output power of battery pack is predicted PpreWith future temperature change rate Δ Tpre, detailed process is as follows：
(2-1) set period of time t is calculated according to the output power P and temperature T of battery pack in the period of step (1) acquisition The average output power P of battery packa, a=1, the average ramp rate Δ T of 2 ..., b ... and battery packa, a=1,2, 3 ..., b ..., in tbMoment calculates tb-1~tbIn period, the average output power P of battery packb, that is, calculate step (1) and adopt The t of collectionb-1~tbThe average value of cell stack power output P in period, meanwhile, calculate tb-1~tbIn period, battery pack is put down Equal rate of temperature change Δ Tb, calculation formula is：ΔTb=(T (tb)-T(tb-1))/(tb-tb-1), wherein T (tb) and T (tb-1) respectively For tbAnd tb-1The temperature of moment battery pack is acquired by above-mentioned steps (1)；
(2-2) is in tbMoment, according to the t being calculated in above-mentioned steps (2-1)b-1~tbThe average output of battery pack in period Power PbWith average ramp rate Δ Tb, calculate battery pack future output power PPre, b,With future temperature change rate Δ Tpre,b,
Ppre,b=(1-w) × Ppre,b-1+w×Pb
ΔTpre,b=(1-wT)×ΔTpre,b-1+wT×ΔTb
Wherein, Ppre,b-1With Δ Tpre,b-1Respectively tb-1The average output power and mean temperature for the battery pack that moment is predicted Change rate, w and wTFor coefficient, value range is 0~1；
(3) according to electric current I, the voltage U of the battery pack of above-mentioned steps (1) acquisitiontpWith state-of-charge SOCp, equivalent using battery pack Circuit model recognizes the internal resistance parameter in battery pack equivalent-circuit model using the least square method with forgetting factor, The internal resistance parameter in battery pack equivalent-circuit model is obtained, the former internal resistance of battery pack equivalent-circuit model is updated with the internal resistance parameter Parameter Rp,ohmWith battery pack state-of-charge SOCpThe curve R of variationp,ohm(i)=f (SOCp(i)), wherein SOCp(i)=1- (i- 1)/(N-1), i=1,2,3 ..., N, N are a positive integer more than 10, and detailed process is as follows：
(3-1) establishes the equivalent-circuit model of battery pack, and battery pack equivalent circuit mould is obtained by battery pack routine inner walkway The internal resistance parameter R of typeP, ohmWith state-of-charge SOCpThe primitive curve of variation, is denoted as Rp,ohm(i)=f (SOCp(i)), wherein SOCp (i)=1- (i-1)/(N-1), i=1,2,3 ..., N, N are a positive integer more than 10；
Electric current I, the voltage U for the battery pack that (3-2) is acquired according to above-mentioned steps (1)tpWith state-of-charge SOCp, using band forget because The internal resistance parameter of the least square method on-line identification battery pack equivalent-circuit model of son, iterative calculation formula are：
Wherein, OCVp(tk) it is tkThe open-circuit voltage of the battery pack at moment, Utp(tk) it is tkThe voltage of the battery pack at moment, I (tk) For tkThe electric current of the battery pack at moment,WithRespectively tkMoment and tk-1The battery that moment recognizes The internal resistance parameter of group equivalent-circuit model, KkFor tkThe iterative calculation coefficient at moment,PkFor tkWhen The iterative calculation coefficient at quarter,Pk-1For tk-1The iteration coefficient at moment, λ are forgetting factor, value model Enclose is 0.95~1；
(3-3) obtains battery pack equivalent-circuit model internal resistance parameter with on-line identification in above-mentioned steps (3-2)Update The former internal resistance parameter R of battery pack equivalent-circuit modelp,ohmWith state-of-charge SOCpThe curve R of variationp,ohm(i)=f (SOCp (i)), wherein SOCp(i)=1- (i-1)/(N-1),
Calculation formula when update is：
Wherein, Rp,ohm,k-1(i)=fk-1(SOCp(i)) it is the former internal resistance parameter R of battery pack equivalent-circuit modelp,ohmWith charged shape State SOCpThe curve of variation, i.e. tk-1The internal resistance parameter R of the battery pack equivalent-circuit model at momentp,ohmWith state-of-charge SOCpBecome The curve of change, Rp,ohm,k(i)=fk(SOCp(i)) it is the internal resistance parameter R of updated battery pack equivalent-circuit modelp,ohmWith lotus Electricity condition SOCpThe curve of variation；SOCp(tk) it is tkThe state-of-charge of the battery pack at moment, Rp,ohm,k-1(SOCp(tk)) according to The former internal resistance parameter R of battery pack equivalent-circuit modelp,ohmWith state-of-charge SOCpThe curve R of variationp,ohm,k-1(i)=fk-1 (SOCp(i)) the battery pack state-of-charge that linear interpolation obtains is SOCp(tk) when internal resistance parameter, wRFor coefficient, value range It is 0~1；
(4) the monomer electricity of the single battery of minimum state is according to electric current I, the voltage of the battery pack of above-mentioned steps (1) acquisition Press UtminWith monomer state-of-charge SOCminAnd voltage is in the equivalent-circuit model of the single battery of minimum state, using band The least square method of forgetting factor, voltage is in internal resistance parameter in the equivalent-circuit model of the single battery of minimum state into Row identification, obtains the internal resistance parameter in the equivalent-circuit model for the single battery that voltage is in minimum state, with the internal resistance parameter Update voltage is in the former internal resistance parameter R of the equivalent-circuit model of the single battery of minimum statemin,ohmIt is in minimum with voltage The monomer state-of-charge SOC of the single battery of statepThe curve R of variationmin,ohm(j)=g (SOCmin(j)), wherein SOCmin(j) =1- (j-1)/(M-1), j=1,2,3 ..., M, M are a positive integer more than 10, and detailed process is as follows：
(4-1) establishes the equivalent-circuit model that voltage is in the single battery of minimum state, and electricity is obtained by conventional inner walkway The internal resistance parameter R of the equivalent-circuit model of single battery of the pressure in minimum stateMin, ohmWith monomer state-of-charge SOCminVariation Primitive curve, be denoted as Rmin,ohm(j)=g (SOCmin(j)), wherein SOCmin(j)=1- (j-1)/(M-1) (j=1,2, 3 ..., M), M is a positive integer more than 10；
Electric current I, the voltage of the battery pack that (4-2) is acquired according to above-mentioned steps (1) are in the monomer of the single battery of minimum state Voltage UtminWith monomer state-of-charge SOCmin, minimum shape is in using the least square method on-line identification voltage with forgetting factor The internal resistance parameter of the equivalent-circuit model of the single battery of state, iterative calculation formula are：
Wherein, OCVmin(tk) it is tkThe voltage at moment is in the open-circuit voltage of the single battery of minimum state, Utmin(tk) it is tkWhen The voltage at quarter is in the monomer voltage of the single battery of minimum state, I (tk) it is tkThe battery pack current at moment,WithRespectively tkMoment and tk-1The voltage that moment recognizes is in the single battery equivalent circuit mould of minimum state The internal resistance parameter of type, KkFor tkThe iterative calculation coefficient at moment,PkFor tkThe iterative calculation at moment Coefficient,Pk-1For tk-1The iteration coefficient at moment, λ are forgetting factor, and value range is 0.95~1；
(4-3) obtains the single battery equivalent-circuit model that voltage is in minimum state with on-line identification in above-mentioned steps (4-2) Internal resistance parameterUpdate voltage is in the former internal resistance parameter of the single battery equivalent-circuit model of minimum state Rmin,ohmWith monomer state-of-charge SOCminThe curve R of variationmin,ohm(j)=g (SOCmin(j)), wherein SOCmin(j)=1- (j- 1)/(M-1), calculation formula when update are：
Wherein, Rmin,ohm,k-1(j)=gk-1(SOCmin(j)) the single battery equivalent-circuit model of minimum state is in for voltage Former internal resistance parameter Rmin,ohmWith monomer state-of-charge SOCminThe curve of variation, i.e. tk-1The voltage at moment is in minimum state The internal resistance parameter R of single battery equivalent-circuit modelmin,ohmWith monomer state-of-charge SOCminThe curve of variation, Rmin,ohm,k(j) =gk(SOCmin(j)) the internal resistance parameter R of the single battery equivalent-circuit model of minimum state is in for updated voltagemin,ohm With monomer state-of-charge SOCminThe curve of variation, SOCmin(tk) it is tkThe voltage at moment is in the single battery of minimum state Monomer state-of-charge, Rmin,ohm,k-1(SOCmin(tk)) it is the single battery equivalent-circuit model that minimum state is according to voltage Former internal resistance parameter Rmin,ohmWith monomer state-of-charge SOCminThe curve R of variationmin,ohm,k-1(j)=gk-1(SOCmin(j)) linear The monomer state-of-charge that the voltage that interpolation obtains is in the single battery of minimum state is SOCmin(tk) when internal resistance parameter, wRFor Coefficient, value range are 0~1；
(5) the state-of-charge predicting interval Δ SOC during a socking out energy predicting is set, is acquired according to step (1) Battery pack t moment state-of-charge SOCp(t), using state-of-charge predicting interval Δ SOC as tolerance, it is calculated one group Battery pack future state-of-charge：
SOCp,pre,m=SOCp(t)-(m-1) × Δ SOC, m=1,2,3 ...
It is denoted as battery pack future state-of-charge sequence, wherein m is sequence number, while being in most according to the voltage of step (1) acquisition State-of-charge SOC of the single battery of low state in t momentmin(t), the single battery that one group of voltage is in minimum state is calculated The following monomer state-of-charge：
SOCmin,pre,m=SOCmin(t)-(m-1) × Δ SOC, m=1,2,3 ...
It is denoted as the following monomer state-of-charge that voltage is in the single battery of minimum state, wherein m is sequence number；
(6) the battery pack future average output power P predicted according to above-mentioned steps (2)pre, future temperature change rate Δ Tpre, step Suddenly the internal resistance parameter R for the battery pack equivalent-circuit model that (3) obtainp,ohmWith battery pack state-of-charge SOCpThe curve of variation, with And the battery pack future state-of-charge sequence SOC that step (5) obtainsp,pre,m, predict battery pack future state-of-charge sequence SOCp,pre,m(m=1,2,3 ...) corresponding battery pack future contact potential series Utp,pre,m(m=1,2,3 ...), the following current sequence Ipre,m(m=1,2,3 ...) and future temperature sequence Tpre,m(m=1,2,3 ...), detailed process is as follows：
The battery pack future temperature change rate Δ T that (6-1) is predicted according to above-mentioned steps (2)pre, the following charged shape of prediction battery pack State SOCp,pre,mCorresponding battery pack future temperature：
Wherein, Δ SOC is the state-of-charge predicting interval, is calculated by above-mentioned steps (5), CminIt is in minimum state for voltage Single battery capacity, Ipre,m-1For with battery pack future state-of-charge SOCp,pre,m-1Corresponding battery pack is not sent a telegram here Stream；
The battery pack equivalent-circuit model internal resistance parameter internal resistance parameter R that (6-2) is obtained according to above-mentioned steps (3)p,ohmWith charged shape State SOCpThe curve R of variationp,ohm(i)=f (SOCp(i)) it, is obtained and the following state-of-charge SOC using linear interpolationp,pre,mRelatively The battery pack equivalent-circuit model internal resistance initial parameter values R ' answeredp,ohm(SOCp,pre,m), it is obtained according to above-mentioned steps (6-1) prediction Battery pack future temperature Tpre,m, consider influence of the temperature to the internal resistance of cell, calculate the following state-of-charge sequence SOCp,pre,mIt is corresponding Battery pack equivalent-circuit model internal resistance parameter Rp,ohm(SOCp,pre,m)：
Wherein, Ea is the activation energy that battery pack equivalent-circuit model internal resistance parameter varies with temperature, and is obtained by routine experiment, R For gas constant, T (t) is the temperature of t moment battery pack；
The battery pack future output power P that (6-3) is predicted according to above-mentioned steps (2)pre, calculate the non-incoming current I of battery packpre,m：
It further calculates to obtain the following voltage U of battery packtp,pre,m：
Utp,pre,m=OCV (SOCp,pre,m)-Ipre,m×Rp,ohm(SOCp,pre,m)；
(6-4) repeats step (6-1)~(6-3), obtains battery pack future state-of-charge sequence SOCp,pre,m, corresponding battery pack The following contact potential series Utp,pre,m, the following current sequence Ipre,mAnd future temperature sequence Tpre,m, wherein m is sequence number, m= 1,2,3,…；
(7) the internal resistance parameter of the single battery equivalent-circuit model of minimum state is according to the voltage that above-mentioned steps (4) obtain Rmin,ohmWith monomer state-of-charge SOCminThe curve of variation, the voltage that above-mentioned steps (5) obtain are in the monomer electricity of minimum state The following monomer state-of-charge sequence SOC in pondmin,pre,mAnd the battery pack future current sequence I of step (6) predictionpre,m, not Carry out temperature sequence Tpre,m, predicted voltage is in the following monomer state-of-charge sequence SOC of the single battery of minimum statemin,pre,m (m=1,2,3 ...) corresponding following monomer voltage sequence Utmin,pre,m(m=1,2,3 ...), detailed process is as follows：
(7-1) is in the equivalent-circuit model internal resistance ginseng of the single battery of minimum state according to the voltage that above-mentioned steps (4) obtain Number Rmin,ohmWith monomer state-of-charge SOCminThe curve R of variationmin,ohm(j)=g (SOCmin(j)), using linear interpolation obtain with The following monomer state-of-charge sequence SOCmin,pre,mCorresponding voltage is in the equivalent-circuit model of the single battery of minimum state Internal resistance initial parameter values R 'min,ohm(SOCmin,pre,m), according to the future temperature sequence T for the battery pack that above-mentioned steps (6) obtainpre,m, Consider influence of the temperature to the internal resistance of cell, calculates the following monomer state-of-charge sequence that voltage is in the single battery of minimum state SOCmin,pre,mCorresponding voltage is in the equivalent-circuit model internal resistance parameter R of the single battery of minimum statemin,ohm (SOCmin,pre,m)：
Wherein, the activation that the equivalent-circuit model internal resistance parameter for the single battery that Ea is in minimum state for voltage varies with temperature Can, it is obtained by routine experiment, R is gas constant, and T (t) is the temperature of battery pack t moment；
(7-2) is according to the following current sequence I for obtaining battery pack in above-mentioned steps (6)pre,m, calculate and be in minimum state with voltage Single battery the following monomer state-of-charge sequence SOCmin,pre,mCorresponding future monomer voltage sequence Utmin,pre,m：
Utmin,pre,m=OCV (SOCmin,pre,m)-Ipre,m×Rmin,ohm(SOCmin,pre,m)；
(8) battery pack future temperature sequence T is obtained according to above-mentioned steps (6)pre,m, determine that voltage is in the monomer electricity of minimum state The electric discharge cut-off condition SOC in pondlimAnd Vlim, the battery pack future contact potential series U that is then obtained according to step (6)tp,pre,m, calculate The socking out energy of battery pack is：
Wherein, m is sequence number, CminThe capacity of the single battery of minimum state is in for voltage, n is that voltage is in minimum state Single battery reach electric discharge cut-off condition when, voltage is in monomer voltage sequence or the monomer lotus of the single battery of minimum state The sequence number of electricity condition sequence:
N=max m | Utmin,pre,m＞ Vlim∩SOCmin,pre,m＞ SOClim, m=1,2,3 ... }
Wherein, voltage is in the following monomer state-of-charge sequence SOC of the single battery of minimum statemin,pre,mIt is obtained by step (5) It arrives, voltage is in the following monomer voltage sequence U of the single battery of minimum statetmin,pre,mIt is obtained by step (7).
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