CN107229018A - A kind of unmanned vehicle electric leakage of battery pack stream detection method - Google Patents

A kind of unmanned vehicle electric leakage of battery pack stream detection method Download PDF

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CN107229018A
CN107229018A CN201710405264.9A CN201710405264A CN107229018A CN 107229018 A CN107229018 A CN 107229018A CN 201710405264 A CN201710405264 A CN 201710405264A CN 107229018 A CN107229018 A CN 107229018A
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msub
mrow
mfrac
msubsup
prime
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不公告发明人
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Shenzhen Jing Zhou Technology Co Ltd
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Shenzhen Jing Zhou Technology Co Ltd
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Priority to CN201710405264.9A priority Critical patent/CN107229018A/en
Priority to PCT/CN2017/090680 priority patent/WO2018218721A1/en
Publication of CN107229018A publication Critical patent/CN107229018A/en
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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]
    • G01R31/3644—Constructional arrangements
    • G01R31/3648—Constructional arrangements comprising digital calculation means, e.g. for performing an algorithm
    • 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]
    • G01R31/396—Acquisition or processing of data for testing or for monitoring individual cells or groups of cells within a battery

Abstract

The invention provides a kind of real electric leakage of battery pack flow measuring method of unmanned vehicle, comprise the following steps：(1) using electric chassis as reference point, S is worked asa、SbWhen incision, 2 points of a, b of setting voltage is respectively Va、Vb, obtain the corresponding relation between voltage and resistance；(2) S is closeda, by SaThe voltage V ' of A points is measured after corresponding resistance interventiona；(3) S is disconnecteda, close Sb, by SbThe voltage V ' of B points is measured after corresponding resistance interventionb；(4) simultaneous equations, try to achieve the most negative and most positive electric current I for locating direct short-circuit over the ground of battery packposAnd Ireg；(5) I is comparedposAnd IregSize, take wherein higher value as the maximum leakage current I of battery packL=max { Ipos,Ireg}；(6) in the case that maximum leakage current is less than certain threshold value, unmanned vehicle battery pack is insulation.

Description

A kind of unmanned vehicle electric leakage of battery pack stream detection method
Technical field
The present invention relates to unmanned vehicle technology, particularly a kind of electric leakage of battery pack stream detection method towards unmanned vehicle.
Background technology
Battery pack is a kind of power resources of unmanned vehicle, however, due to rugged environment on vehicle, and with battery Use, many reasons such as battery pack itself or the connecting line aging between them can cause between battery pack and vehicle electrical chassis Insulation go wrong, due to battery voltage generally in more than 300V, current leakage can cause the whole circuit of unmanned vehicle to go out Existing problem.
Multiple batteries are usually used in series by unmanned vehicle in order to reach certain power requirement, per batteries and chassis it Between be likely to the presence of leakage current, prior art typically uses single-point grounding or positive and negative to the research of straight-flow system leakage current The model of busbar grounding, but the model can not be determined for the maximum leakage electric current of unmanned vehicle battery pack, therefore can not be accurate Detect leakage problem.
The content of the invention
It is an object of the invention to provide a kind of real electric leakage of battery pack flow measuring method of unmanned vehicle, comprise the following steps：
(1) using electric chassis as reference point, S is worked asa、SbWhen incision, 2 points of a, b of setting voltage is respectively Va、 Vb, obtain the corresponding relation between voltage and resistance；
(2) S is closeda, by SaThe voltage V ' of a points is measured after corresponding resistance accessa；
(3) S is disconnecteda, close Sb, by SbThe voltage V ' of b points is measured after corresponding resistance accessb；
(4) simultaneous equations, try to achieve the most negative and most positive electric current I for locating direct short-circuit over the ground of battery packposAnd Ireg；
(5) I is comparedposAnd IregSize, take wherein higher value as the maximum leakage current I of battery packL=max { Ipos, Ireg}；
(6) in the case that maximum leakage current is less than certain threshold value, unmanned vehicle battery pack is insulation.
It is preferred that, set R0-RnFor grounding resistance, I0-InThe leakage current on electric chassis, V are respectively flowed into from battery0-Vn For the voltage between each earth point, it is assumed that someone contacts a points of battery, if the electric current for flowing through human body is Ip, so as to obtain：
I1+...Ip+...In=0 (1),
Define the direct and electric chassis of battery pack point it is short-circuit when battery pack and electric chassis between leakage current be the point now Maximum leakage electric current, when human body resistance is 0, Ip=0, it is now electric if the current potential in electric domain is that 0, a points current potential is also 0 Pond group each point is to the relational expression of the leakage current on electric chassis：
The electric current of human body is flowed through,
It is preferred that, when all electric currents are equidirectional, maximum is obtained by the electric current of human body, now a points are located at The most just or most negative place of battery pack, then
It is preferred that, the voltage and the relation of resistance that the step (1) obtains are：
It is preferred that, the step (2) obtains V 'aRelational expression be：
It is preferred that, the step (3) obtains V 'bRelational expression be：
It is preferred that, step (4) simultaneous equations include：
Formula (6) is substituted into formula (7), arranges and obtains：
Formula (5) is substituted into formula (8), arranges and obtains：
Formula (9) is arranged and obtained：
Formula (6) is substituted into formula (13) to obtain：
Arrangement formula (10) is obtained：
Formula (5) is substituted into formula (15) to obtain：
Simultaneous (11) and (14) are obtained：
Simultaneous (12) and (16) are obtained：
It is preferred that, the threshold value of the step (6) is 2mA.
According to the accompanying drawings to the detailed description of the specific embodiment of the invention, those skilled in the art will be brighter Above-mentioned and other purposes, the advantages and features of the present invention.
Brief description of the drawings
Some specific embodiments of the present invention are described in detail by way of example, and not by way of limitation with reference to the accompanying drawings hereinafter. Identical reference denotes same or similar part or part in accompanying drawing.It should be appreciated by those skilled in the art that these What accompanying drawing was not necessarily drawn to scale.The target and feature of the present invention is considered to will be apparent from below in conjunction with the description of accompanying drawing, In accompanying drawing：
Fig. 1 is the maximum leakage current detection principle diagram according to the embodiment of the present invention；
Fig. 2 method and step flow charts according to embodiments of the present invention.
Embodiment
Referring to Fig. 1, unmanned vehicle reality electric leakage of battery pack flow measuring method uses a kind of insulation model, sets R0-RnFor Grounding resistance, resistance is parallel connection, I0-InThe leakage current on electric chassis, V are respectively flowed into from battery0-VnFor between each earth point Voltage, each grounding resistance is connected respectively, it is assumed that someone contacts a points of battery, if flow through human body electric current be Ip, so that Obtain：
I1+...Ip+...In=0 (1),
Define the direct and electric chassis of battery pack point it is short-circuit when battery pack and electric chassis between leakage current be the point this When maximum leakage electric current, when human body resistance be 0 when, Ip=0, if the current potential in electric domain is that 0, a points current potential is also 0, this When battery pack each point be to the relational expression of the leakage current on electric chassis：
The electric current of human body is flowed through,
When all electric currents are equidirectional, maximum is obtained by the electric current of human body, now a points are located at battery pack Most just or most negative place, then
First, using electric chassis as reference point, S is worked asa、SbWhen incision, 2 points of a, b of setting voltage is respectively Va、 Vb, the corresponding relation between voltage and resistance is obtained,
Then, S is closeda, by SaThe voltage V ' of a points is measured after corresponding resistance accessa, V 'aRelational expression be：
Then, S is disconnecteda, close Sb, by SbThe voltage V ' of b points is measured after corresponding resistance accessb, V 'bRelational expression be：
Hereafter, by simultaneous equations, the most negative and most positive electric current I for locating direct short-circuit over the ground of battery pack is tried to achieveposAnd Ireg, bag Include：
Formula (6) is substituted into formula (7), arranges and obtains：
Formula (5) is substituted into formula (8), arranges and obtains：
Formula (9) is arranged and obtained：
Formula (6) is substituted into formula (13) to obtain：
Arrangement formula (10) is obtained：
Formula (5) is substituted into formula (15) to obtain：
Simultaneous (11) and (14) are obtained：
Simultaneous (12) and (16) are obtained：
Then, I is comparedposAnd IregSize, take wherein higher value as the maximum leakage current I of battery packL=max {Ipos,Ireg, in the case that maximum leakage current is less than 2mA, unmanned vehicle battery pack is insulation.
In order to verify the validity of this method, n=5 is taken to emulate in circuit using MATLAB/simulink, wherein respectively Policy parameter is respectively R0=300k Ω, R1=400k Ω, R2=500k Ω, R3=600k Ω, R4=700k Ω, R5=800k Ω,Rp=100k Ω, Rq=100k Ω, V1=V2=V3=V4=V5The result calculated after=100V, measurement is Ipos= 2.333mA, Ireg=3.746mA, the result of emulation is：Ipos=2.346mA, Ireg=3.74mA, so as to demonstrate this method Correctness and validity.
Although the present invention is described by reference to specific illustrative embodiment, will not be by these embodiments Restriction and only limited by accessory claim.It should be understood by those skilled in the art that can be without departing from the present invention's Embodiments of the invention can be modified and be changed in the case of protection domain and spirit.

Claims (8)

1. the real electric leakage of battery pack flow measuring method of a kind of unmanned vehicle, it is characterised in that comprise the following steps：
(1) using electric chassis as reference point, S is worked asa、SbWhen incision, 2 points of a, b of setting voltage is respectively Va、Vb, obtain Corresponding relation between voltage and resistance；
(2) S is closeda, by SaThe voltage V ' of a points is measured after corresponding resistance accessa；
(3) S is disconnecteda, close Sb, by SbThe voltage V ' of b points is measured after corresponding resistance accessb；
(4) simultaneous equations, try to achieve the most negative and most positive electric current I for locating direct short-circuit over the ground of battery packposAnd Ireg；
(5) I is comparedposAnd IregSize, take wherein higher value as the maximum leakage current I of battery packL=max { Ipos,Ireg}；
(6) in the case that maximum leakage current is less than certain threshold value, unmanned vehicle battery pack is insulation.
2. the real electric leakage of battery pack flow measuring method of a kind of unmanned vehicle according to claim 1, sets R0-RnFor grounding resistance, I0-InThe leakage current on electric chassis, V are respectively flowed into from battery0-VnFor the voltage between each earth point, it is assumed that someone contacts The a points of battery, if the electric current for flowing through human body is Ip, so as to obtain：
I1+...Ip+...In=0 (1),
Define the direct and electric chassis of battery pack point it is short-circuit when battery pack and electric chassis between leakage current be the point now Maximum leakage electric current, when human body resistance is 0, Ip=0, it is now electric if the current potential in electric domain is that 0, a points current potential is also 0 Pond group each point is to the relational expression of the leakage current on electric chassis：
<mrow> <mfrac> <mrow> <msub> <mi>V</mi> <mi>k</mi> </msub> <mo>+</mo> <msub> <mi>V</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>+</mo> <mo>...</mo> <mo>+</mo> <msub> <mi>V</mi> <mi>m</mi> </msub> </mrow> <msub> <mi>R</mi> <mi>m</mi> </msub> </mfrac> <mo>,</mo> <mrow> <mo>(</mo> <mi>m</mi> <mo>&lt;</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>
<mrow> <msub> <mi>I</mi> <mi>m</mi> </msub> <mo>=</mo> <mo>-</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> <mo>+</mo> <mo>...</mo> <mo>+</mo> <msub> <mi>V</mi> <mi>m</mi> </msub> </mrow> <msub> <mi>R</mi> <mi>m</mi> </msub> </mfrac> <mo>,</mo> <mrow> <mo>(</mo> <mi>m</mi> <mo>&gt;</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>
The electric current of human body is flowed through,
<mrow> <msub> <mi>I</mi> <mi>p</mi> </msub> <mo>=</mo> <mo>-</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>m</mi> <mo>=</mo> <mn>0</mn> </mrow> <mrow> <mi>m</mi> <mo>=</mo> <mi>n</mi> </mrow> </munderover> <msub> <mi>I</mi> <mi>m</mi> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow>
3. the real electric leakage of battery pack flow measuring method of a kind of unmanned vehicle according to claim 2, when all electric currents are equidirectional When, maximum is obtained by the electric current of human body, now a points are located at the most just or most negative place of battery pack, then
<mrow> <msub> <mi>I</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>g</mi> </mrow> </msub> <mo>=</mo> <mo>-</mo> <mrow> <mo>(</mo> <mrow> <mfrac> <msub> <mi>V</mi> <mi>n</mi> </msub> <msub> <mi>R</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mfrac> <mo>+</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mi>n</mi> </msub> <mo>+</mo> <msub> <mi>V</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mrow> <msub> <mi>R</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>2</mn> </mrow> </msub> </mfrac> <mo>+</mo> <mn>...</mn> <mo>+</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mi>n</mi> </msub> <mo>+</mo> <msub> <mi>V</mi> <mrow> <mi>n</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> <mo>+</mo> <mn>...</mn> <mo>+</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> </mrow> <msub> <mi>R</mi> <mn>0</mn> </msub> </mfrac> </mrow> <mo>)</mo> </mrow> <mo>=</mo> <mo>-</mo> <munderover> <mi>&amp;Sigma;</mi> <mrow> <mi>k</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <mfrac> <mrow> <msub> <mi>V</mi> <mi>n</mi> </msub> <mo>+</mo> <msub> <mi>V</mi> <mrow> <mi>n</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> <mo>+</mo> <mn>...</mn> <mo>+</mo> <msub> <mi>V</mi> <mi>k</mi> </msub> </mrow> <msub> <mi>R</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>5</mn> <mo>)</mo> </mrow> </mrow>
<mrow> <msub> <mi>I</mi> <mrow> <mi>p</mi> <mi>o</mi> <mi>s</mi> </mrow> </msub> <mo>=</mo> <mfrac> <msub> <mi>V</mi> <mn>1</mn> </msub> <msub> <mi>R</mi> <mn>1</mn> </msub> </mfrac> <mo>+</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>V</mi> <mn>2</mn> </msub> </mrow> <msub> <mi>R</mi> <mn>2</mn> </msub> </mfrac> <mo>+</mo> <mo>...</mo> <mo>+</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>V</mi> <mn>2</mn> </msub> <mo>+</mo> <mo>...</mo> <mo>+</mo> <msub> <mi>V</mi> <mi>n</mi> </msub> </mrow> <msub> <mi>R</mi> <mi>n</mi> </msub> </mfrac> <mo>)</mo> <mo>=</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>k</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <mfrac> <mrow> <msub> <mi>V</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>V</mi> <mn>2</mn> </msub> <mo>+</mo> <mo>...</mo> <mo>+</mo> <msub> <mi>V</mi> <mi>k</mi> </msub> </mrow> <msub> <mi>R</mi> <mi>k</mi> </msub> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>6</mn> <mo>)</mo> </mrow> </mrow>
4. the real electric leakage of battery pack flow measuring method of a kind of unmanned vehicle according to claim 3, the electricity that the step (1) obtains Pressure and the relation of resistance are：
<mrow> <mfrac> <msub> <mi>V</mi> <mi>a</mi> </msub> <msub> <mi>R</mi> <mn>0</mn> </msub> </mfrac> <mo>+</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mi>a</mi> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> </mrow> <msub> <mi>R</mi> <mn>1</mn> </msub> </mfrac> <mo>+</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mi>a</mi> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>2</mn> </msub> </mrow> <msub> <mi>R</mi> <mn>2</mn> </msub> </mfrac> <mo>+</mo> <mo>...</mo> <mo>+</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mi>a</mi> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>2</mn> </msub> <mo>-</mo> <mo>...</mo> <mo>-</mo> <msub> <mi>V</mi> <mi>n</mi> </msub> </mrow> <msub> <mi>R</mi> <mi>n</mi> </msub> </mfrac> <mo>=</mo> <mn>0</mn> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>7</mn> <mo>)</mo> </mrow> </mrow>
<mrow> <mfrac> <msub> <mi>V</mi> <mi>b</mi> </msub> <msub> <mi>R</mi> <mi>n</mi> </msub> </mfrac> <mo>+</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mi>b</mi> </msub> <mo>+</mo> <msub> <mi>V</mi> <mi>n</mi> </msub> </mrow> <msub> <mi>R</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mfrac> <mo>+</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mi>b</mi> </msub> <mo>+</mo> <msub> <mi>V</mi> <mi>n</mi> </msub> <mo>+</mo> <msub> <mi>V</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mrow> <msub> <mi>R</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>2</mn> </mrow> </msub> </mfrac> <mo>+</mo> <mo>...</mo> <mo>+</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mi>b</mi> </msub> <mo>+</mo> <msub> <mi>V</mi> <mi>n</mi> </msub> <mo>+</mo> <msub> <mi>V</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>+</mo> <mo>...</mo> <mo>+</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> </mrow> <msub> <mi>R</mi> <mn>0</mn> </msub> </mfrac> <mo>=</mo> <mn>0</mn> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>8</mn> <mo>)</mo> </mrow> </mrow>
5. a kind of real electric leakage of battery pack flow measuring method of unmanned vehicle according to claim 4, the step (2) obtains V 'a's Relational expression is：
<mrow> <mfrac> <msubsup> <mi>V</mi> <mi>a</mi> <mo>&amp;prime;</mo> </msubsup> <msub> <mi>R</mi> <mi>p</mi> </msub> </mfrac> <mo>+</mo> <mfrac> <msubsup> <mi>V</mi> <mi>a</mi> <mo>&amp;prime;</mo> </msubsup> <msub> <mi>R</mi> <mn>0</mn> </msub> </mfrac> <mo>+</mo> <mfrac> <mrow> <msubsup> <mi>V</mi> <mi>a</mi> <mo>&amp;prime;</mo> </msubsup> <mo>-</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> </mrow> <msub> <mi>R</mi> <mn>1</mn> </msub> </mfrac> <mo>+</mo> <mfrac> <mrow> <msubsup> <mi>V</mi> <mi>a</mi> <mo>&amp;prime;</mo> </msubsup> <mo>-</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>2</mn> </msub> </mrow> <msub> <mi>R</mi> <mn>2</mn> </msub> </mfrac> <mo>+</mo> <mo>...</mo> <mo>+</mo> <mfrac> <mrow> <msubsup> <mi>V</mi> <mi>a</mi> <mo>&amp;prime;</mo> </msubsup> <mo>-</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>V</mi> <mn>2</mn> </msub> <mo>-</mo> <mo>...</mo> <mo>-</mo> <msub> <mi>V</mi> <mi>n</mi> </msub> </mrow> <msub> <mi>R</mi> <mi>n</mi> </msub> </mfrac> <mo>=</mo> <mn>0</mn> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>9</mn> <mo>)</mo> </mrow> </mrow> 1
6. a kind of real electric leakage of battery pack flow measuring method of unmanned vehicle according to claim 5, the step (3) obtains V 'b's Relational expression is：
<mrow> <mfrac> <msubsup> <mi>V</mi> <mi>b</mi> <mo>&amp;prime;</mo> </msubsup> <msub> <mi>R</mi> <mi>q</mi> </msub> </mfrac> <mo>+</mo> <mfrac> <msubsup> <mi>V</mi> <mi>b</mi> <mo>&amp;prime;</mo> </msubsup> <msub> <mi>R</mi> <mi>n</mi> </msub> </mfrac> <mo>+</mo> <mfrac> <mrow> <msubsup> <mi>V</mi> <mi>b</mi> <mo>&amp;prime;</mo> </msubsup> <mo>+</mo> <msub> <mi>V</mi> <mi>n</mi> </msub> </mrow> <msub> <mi>R</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mfrac> <mo>+</mo> <mfrac> <mrow> <msubsup> <mi>V</mi> <mi>b</mi> <mo>&amp;prime;</mo> </msubsup> <mo>+</mo> <msub> <mi>V</mi> <mi>n</mi> </msub> <mo>+</mo> <msub> <mi>V</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mrow> <msub> <mi>R</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>2</mn> </mrow> </msub> </mfrac> <mo>+</mo> <mo>...</mo> <mo>+</mo> <mfrac> <mrow> <msubsup> <mi>V</mi> <mi>b</mi> <mo>&amp;prime;</mo> </msubsup> <mo>+</mo> <msub> <mi>V</mi> <mi>n</mi> </msub> <mo>+</mo> <msub> <mi>V</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>+</mo> <mo>...</mo> <mo>+</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> </mrow> <msub> <mi>R</mi> <mn>0</mn> </msub> </mfrac> <mo>=</mo> <mn>0</mn> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>10</mn> <mo>)</mo> </mrow> </mrow>
7. the real electric leakage of battery pack flow measuring method of a kind of unmanned vehicle according to claim 6, step (4) simultaneous equations Including：
Formula (6) is substituted into formula (7), arranges and obtains：
<mrow> <msub> <mi>V</mi> <mi>a</mi> </msub> <mrow> <mo>(</mo> <mfrac> <mn>1</mn> <msub> <mi>R</mi> <mn>0</mn> </msub> </mfrac> <mo>+</mo> <mfrac> <mn>1</mn> <msub> <mi>R</mi> <mn>1</mn> </msub> </mfrac> <mo>+</mo> <mo>...</mo> <mo>+</mo> <mfrac> <mn>1</mn> <msub> <mi>R</mi> <mi>n</mi> </msub> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>I</mi> <mrow> <mi>p</mi> <mi>o</mi> <mi>s</mi> </mrow> </msub> <mo>=</mo> <mn>0</mn> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>11</mn> <mo>)</mo> </mrow> </mrow>
Formula (5) is substituted into formula (8), arranges and obtains：
<mrow> <msub> <mi>V</mi> <mi>b</mi> </msub> <mrow> <mo>(</mo> <mfrac> <mn>1</mn> <msub> <mi>R</mi> <mn>0</mn> </msub> </mfrac> <mo>+</mo> <mfrac> <mn>1</mn> <msub> <mi>R</mi> <mn>1</mn> </msub> </mfrac> <mo>+</mo> <mo>...</mo> <mo>+</mo> <mfrac> <mn>1</mn> <msub> <mi>R</mi> <mi>n</mi> </msub> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>I</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>g</mi> </mrow> </msub> <mo>=</mo> <mn>0</mn> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>12</mn> <mo>)</mo> </mrow> </mrow>
Formula (9) is arranged and obtained：
<mrow> <mfrac> <msubsup> <mi>V</mi> <mi>a</mi> <mo>&amp;prime;</mo> </msubsup> <msub> <mi>R</mi> <mi>p</mi> </msub> </mfrac> <mo>+</mo> <msubsup> <mi>V</mi> <mi>a</mi> <mo>&amp;prime;</mo> </msubsup> <mrow> <mo>(</mo> <mfrac> <mn>1</mn> <msub> <mi>R</mi> <mn>0</mn> </msub> </mfrac> <mo>+</mo> <mo>...</mo> <mo>+</mo> <mfrac> <mn>1</mn> <msub> <mi>R</mi> <mi>n</mi> </msub> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mrow> <mo>(</mo> <mfrac> <msub> <mi>V</mi> <mn>1</mn> </msub> <msub> <mi>R</mi> <mn>1</mn> </msub> </mfrac> <mo>+</mo> <mo>...</mo> <mo>+</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>V</mi> <mn>2</mn> </msub> <mo>+</mo> <mo>...</mo> <mo>+</mo> <msub> <mi>V</mi> <mi>n</mi> </msub> </mrow> <msub> <mi>R</mi> <mi>n</mi> </msub> </mfrac> <mo>)</mo> </mrow> <mo>=</mo> <mn>0</mn> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>13</mn> <mo>)</mo> </mrow> </mrow>
Formula (6) is substituted into formula (13) to obtain：
<mrow> <mfrac> <msubsup> <mi>V</mi> <mi>a</mi> <mo>&amp;prime;</mo> </msubsup> <msub> <mi>R</mi> <mi>p</mi> </msub> </mfrac> <mo>+</mo> <msubsup> <mi>V</mi> <mi>a</mi> <mo>&amp;prime;</mo> </msubsup> <mrow> <mo>(</mo> <mfrac> <mn>1</mn> <msub> <mi>R</mi> <mn>0</mn> </msub> </mfrac> <mo>+</mo> <mo>...</mo> <mo>+</mo> <mfrac> <mn>1</mn> <msub> <mi>R</mi> <mi>n</mi> </msub> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>I</mi> <mrow> <mi>p</mi> <mi>o</mi> <mi>s</mi> </mrow> </msub> <mo>=</mo> <mn>0</mn> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>14</mn> <mo>)</mo> </mrow> </mrow>
Arrangement formula (10) is obtained：
<mrow> <mfrac> <msubsup> <mi>V</mi> <mi>b</mi> <mo>&amp;prime;</mo> </msubsup> <msub> <mi>R</mi> <mi>q</mi> </msub> </mfrac> <mo>+</mo> <msubsup> <mi>V</mi> <mi>b</mi> <mo>&amp;prime;</mo> </msubsup> <mrow> <mo>(</mo> <mfrac> <mn>1</mn> <msub> <mi>R</mi> <mn>0</mn> </msub> </mfrac> <mo>+</mo> <mo>...</mo> <mo>+</mo> <mfrac> <mn>1</mn> <msub> <mi>R</mi> <mi>n</mi> </msub> </mfrac> <mo>)</mo> </mrow> <mo>+</mo> <mrow> <mo>(</mo> <mfrac> <msub> <mi>V</mi> <mi>n</mi> </msub> <msub> <mi>R</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mfrac> <mo>+</mo> <mo>...</mo> <mo>+</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mi>n</mi> </msub> <mo>+</mo> <msub> <mi>V</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>+</mo> <mo>...</mo> <mo>+</mo> <msub> <mi>V</mi> <mn>1</mn> </msub> </mrow> <msub> <mi>R</mi> <mn>0</mn> </msub> </mfrac> <mo>)</mo> </mrow> <mo>=</mo> <mn>0</mn> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>15</mn> <mo>)</mo> </mrow> </mrow>
Formula (5) is substituted into formula (15) to obtain：
<mrow> <mfrac> <msubsup> <mi>V</mi> <mi>b</mi> <mo>&amp;prime;</mo> </msubsup> <msub> <mi>R</mi> <mi>q</mi> </msub> </mfrac> <mo>+</mo> <msubsup> <mi>V</mi> <mi>b</mi> <mo>&amp;prime;</mo> </msubsup> <mrow> <mo>(</mo> <mfrac> <mn>1</mn> <msub> <mi>R</mi> <mn>0</mn> </msub> </mfrac> <mo>+</mo> <mo>...</mo> <mo>+</mo> <mfrac> <mn>1</mn> <msub> <mi>R</mi> <mi>n</mi> </msub> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>I</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>g</mi> </mrow> </msub> <mo>=</mo> <mn>0</mn> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>16</mn> <mo>)</mo> </mrow> </mrow>
Simultaneous (11) and (14) are obtained：
<mrow> <msub> <mi>I</mi> <mrow> <mi>p</mi> <mi>o</mi> <mi>s</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mi>a</mi> </msub> <mo>&amp;times;</mo> <msubsup> <mi>V</mi> <mi>a</mi> <mo>&amp;prime;</mo> </msubsup> </mrow> <mrow> <msub> <mi>R</mi> <mi>p</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>V</mi> <mi>a</mi> </msub> <mo>-</mo> <msubsup> <mi>V</mi> <mi>a</mi> <mo>&amp;prime;</mo> </msubsup> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>17</mn> <mo>)</mo> </mrow> </mrow>
Simultaneous (12) and (16) are obtained：
<mrow> <msub> <mi>I</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>g</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mi>b</mi> </msub> <mo>&amp;times;</mo> <msubsup> <mi>V</mi> <mi>b</mi> <mo>&amp;prime;</mo> </msubsup> </mrow> <mrow> <msub> <mi>R</mi> <mi>p</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>V</mi> <mi>b</mi> </msub> <mo>-</mo> <msubsup> <mi>V</mi> <mi>b</mi> <mo>&amp;prime;</mo> </msubsup> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>.</mo> </mrow>
8. the real electric leakage of battery pack flow measuring method of a kind of unmanned vehicle according to any one above-mentioned claim, the step (6) threshold value is 2mA.
CN201710405264.9A 2017-05-31 2017-05-31 A kind of unmanned vehicle electric leakage of battery pack stream detection method Pending CN107229018A (en)

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