CN109774536B - Control method of modular battery equalization system based on multi-agent technology - Google Patents

Control method of modular battery equalization system based on multi-agent technology Download PDF

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CN109774536B
CN109774536B CN201910153098.7A CN201910153098A CN109774536B CN 109774536 B CN109774536 B CN 109774536B CN 201910153098 A CN201910153098 A CN 201910153098A CN 109774536 B CN109774536 B CN 109774536B
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battery module
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CN109774536A (en
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蔡涛
魏芃
段善旭
孙杰懿
朝泽云
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Huazhong University of Science and Technology
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • 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
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Abstract

The invention discloses a modular battery equalization system based on multi-agent technology, wherein a second-stage equalization converter included by a battery management unit is used for non-dissipative and bidirectional equalization control between a corresponding battery module and other battery modules; the controller provides state information in the corresponding battery module for the communication network between the battery modules; the battery management unit not only shares the working pressure of a host of a traditional equalizing system, but also modularizes the battery assembly and is more compatible with equalizing systems of batteries of different systems; the invention also discloses a control method of the modular battery equalization system based on the multi-agent technology, the electric energy transmission among the battery management units is cooperatively controlled through the output bus of the second-stage equalization converter, the SoC equalization speed of the battery module is improved, the global equalization management is realized in a fully distributed mode, and the reliability and the adaptability of the control strategy are further improved.

Description

Control method of modular battery equalization system based on multi-agent technology
Technical Field
The invention belongs to the technical field of power batteries of electric automobiles, and particularly relates to a control method of a modular battery equalization system based on a multi-agent technology.
Background
The traditional fuel oil automobile seriously affects the energy safety, and the exhausted tail gas and the generated noise can cause serious pollution to the urban environment and pose serious threat to the ecological environment. In order to save resources, protect the environment and meet the needs of social sustainable development strategies, new energy vehicles become the focus of attention all over the world. The pure electric vehicle becomes a development hotspot of all large automobile companies in the world, and many problems of the pure electric vehicle still need to be solved in the development.
From the power battery perspective, the problem of non-uniformity of the battery pack is a difficult problem that must be addressed. The inconsistent voltage of battery monomer can lead to whole group battery can not high-efficient operation in the group battery, appears the free overcharge overdischarge phenomenon of battery easily, shortens the life of group battery to a certain extent. Therefore, battery balancing becomes one of important functions of a Battery Management System (BMS). From the view of a topological structure, the battery equalization control method comprises centralized equalization control and distributed equalization control. Centralized equalization control requires a complex, bi-directional, fully connected communication network, and the central controller may be affected by a single point of failure and adversely affect the reliability, scalability, and flexibility of the overall system; the distributed equalization control is mainly realized by adopting a layered structure, can well monitor the single batteries, and is relatively suitable for a long-string battery pack equalization system compared with centralized equalization control. However, the distributed equalization Control is still a master-slave Control mode at present, and each Battery module must be interfaced with a Battery Control Unit (BCU) and depend on the BCU for equalization Control. Currently, the BCU is still centralized, and the wire harnesses of each battery module and the BCU are connected more, so that the expansibility of the battery modules in the system is poor and the reliability is low; the BCU has large calculation amount and is easy to reach the upper limit of the calculation amount of the BCU, so that the existing equalization strategy only can reach the global gradual equalization state and the like, and meanwhile, if the equalization circuit and the algorithm need to be adjusted according to different types and models of batteries, the matching and experiment workload caused by the adjustment is large, the transfer cost of the system is high, the expansion is not easy, and the complete dispersion of each battery module is not realized to adapt to various system faults or changes.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a control method of a modular battery equalization system based on a multi-agent technology, and aims to solve the problems that in the prior art, the access and equalization control of a battery are both dependent on a centralized battery control unit, so that the computation amount of the centralized control unit easily reaches the upper limit, and a battery module is lack of expansibility.
In order to achieve the above object, in one aspect, the present invention provides a modular battery equalization system based on multi-agent technology, including m battery modules, m battery management units, a second-stage equalization converter output bus, and a communication network between the battery modules;
each battery module corresponds to each battery management unit one by one;
the first end of each battery management unit is electrically connected with a battery monomer in the battery module, the second end of each battery management unit is electrically connected with the corresponding battery module, the third end of each battery management unit is electrically connected with the output bus of the second-stage equalizer converter, and the signal end of each battery management unit is connected with the communication network among the battery modules;
each battery module is a balanced object and is used for providing electric energy for electric equipment and each battery management unit;
the battery management unit adopts a multi-agent technology to control the balance of the battery monomer in the battery module and each battery module, disperses the balance task of the traditional BCU, and expands by taking the battery module as a unit, thereby overcoming the problem of low redundancy of the traditional balance system;
the output bus of the second-stage equalizer converter is used for energy transmission among the battery modules;
the inter-battery-module communication network is used for communication among the battery management units.
Preferably, each battery module comprises n battery cells connected in series;
each battery management unit comprises a controller, a first-stage equalizer converter and a second-stage equalizer converter;
one end of the first-stage equalizer converter is electrically connected with each battery monomer in the corresponding battery module, and the other end of the first-stage equalizer converter is electrically connected with the corresponding battery module; the system is used for non-dissipative and bidirectional distributed equalization control between a battery monomer in a corresponding battery module and the battery module;
the input end of the second-stage equalizer converter is electrically connected with the corresponding battery module, and the output end of the second-stage equalizer converter is connected with the output bus of the second-stage equalizer converter in parallel; the device is used for non-dissipative and bidirectional balance control between the corresponding battery module and other battery modules;
the controller is in one-to-one correspondence with each battery module, and the output end of the controller is connected with the communication network among the battery modules and used for providing state information in the corresponding battery modules for the communication network among the battery modules.
Preferably, the state information in the corresponding battery module, which can be detected by each controller, includes a battery cell voltage, a module voltage, an intra-module balancing current, an inter-module balancing current, a temperature, and an SoC.
The inter-battery-module communication network is a sparse communication network.
Another objective of the present invention is to provide a method for controlling equalization of a modular battery based on multi-agent technology, which includes:
(1) sampling the balance current and the output voltage of the battery module i, using the sampled balance current and output voltage as the input of a battery model, and calculating the SoC of the battery module ii；
(2) Weighting factors between the battery module i and other battery modules j in the connected communication network and SoC corresponding to the battery module iiAnd SoC corresponding to other battery modules j in connected communication networkjUpdating the correction quantity of the secondary control reference voltage corresponding to the battery module i by adopting a cooperative consistency control method for input;
(3) calculating an equilibrium current instruction value of the battery module i according to the secondary control reference voltage correction corresponding to the battery module i, the output voltage of the battery module i, the droop control reference voltage and the droop coefficient;
(4) carrying out PI control on the balance current of the battery module i after the low-pass filtering treatment according to the balance current instruction value of the battery module i;
(5) and (4) repeating the steps (1) to (4) until the SoC corresponding to each battery module is consistent with the equalizing current, and the voltage of the output bus of the second-stage equalizing converter is restored to the rated level.
Preferably, the equalization current instruction value and the equalization current have upper and lower limits, and respectively correspond to the maximum charging and discharging equalization current of the battery module;
preferably, the relationship among the secondary control reference voltage correction amount of the battery module i, the output voltage of the battery module i, the droop control reference voltage, and the balancing current command value of the battery module i is as follows:
Ubat,i＝Uref,i-diIref,i+ΔUi
wherein, Ubat,iIs the output voltage, I, of the battery module Iref,iFor the equilibrium current command value, U, of controller iref,iControlling the reference voltage, d, for droop of controller iiFor the droop coefficient, Δ U, of controller iiThe reference voltage correction amount is secondarily controlled for the controller i.
Preferably, the secondary control reference voltage correction amount corresponding to the battery module i includes a current correction term and a voltage regulation term;
the current correction item is used for realizing that the SoC corresponding to each battery module is SoC when the stability criterion of the topological structure of the inter-module communication network is metavgAnd the balance currents are all Iavg；
And the voltage regulating item is used for regulating the voltage deviation of the output bus of the second-stage equalizing converter.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
(1) the battery assembly is divided into a plurality of battery modules, each battery module corresponds to the controller one by one, and a two-stage balance structure is adopted: performing single battery SoC balance control on single batteries in the battery module through the first-stage balance converter, and performing the single battery SoC balance control on the battery modules among the battery modules through the second-stage balance converter; compared with the traditional centralized battery equalization system, the equalization system provided by the invention has the advantages that the centralized controller is not arranged, the working pressure of a host is shared, and meanwhile, the battery modules can be completely packaged and standardized, so that the battery assembly is easier to expand and is better compatible with the battery modules of different systems.
(2) In the invention, each controller monitors the corresponding module equalizing current, acquires the module output voltage and equalizing current information required by control, estimates SoC on line as a multi-agent system state variable based on a battery model, and performs SoC information interaction with other controllers through communication coupling; a Battery Management Unit (BMU) adopts a multi-agent system cooperative consistency control method to provide a secondary control instruction for a voltage droop outer ring of a local controller, and the voltage droop outer ring provides a balance current instruction for a current inner ring; compared with the traditional master-slave balance control method, the balance control method provided by the invention improves the SoC balance convergence speed of the battery module, realizes global cooperative control in a fully distributed mode, and further improves the reliability and adaptability of the control strategy.
Drawings
FIG. 1 is a modular battery equalization system architecture based on multi-agent technology provided by the present invention;
FIG. 2 is a balancing control method of a modular battery balancing system based on multi-agent technology provided by the invention;
FIG. 3 is a block diagram of a specific multi-agent cooperative consistency control provided by the present invention;
fig. 4(a) is a conventional master-slave equalization control system provided by the present invention;
FIG. 4(b) is a schematic diagram of a modular equalization control system based on a multi-agent system according to the present invention;
fig. 5 shows a variation of a communication network of a battery module according to the present invention;
fig. 6(a) is an SoC of a battery module when an output bus of the converter provided by the present invention is connected to a load;
fig. 6(b) shows the balance current of the battery module when the output bus of the converter provided by the present invention is connected to a load.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in FIG. 1, the invention provides a modular Battery equalization system based on multi-agent technology, which comprises a Battery assembly 1, m Battery Management units 2 (BMUs), a second-stage equalization converter output bus 3 and a communication network 4 between Battery modules;
the battery assembly 1 comprises m battery modules;
each battery module corresponds to each battery management unit 2 one by one;
the first end of each battery management unit is electrically connected with a battery monomer in the battery module, the second end of each battery management unit is electrically connected with the corresponding battery module, the third end of each battery management unit is electrically connected with the output bus of the second-stage equalizer converter, and the signal end of each battery management unit is connected with the communication network among the battery modules;
each battery module is a balanced object and is used for providing electric energy for electric equipment and each battery management unit;
the battery management unit adopts a multi-agent technology (MAS) to control the balance of the battery monomer in the battery module and among all the battery modules, disperses the balance task of the traditional BCU, and expands by taking the battery module as a unit, thereby overcoming the problem of low redundancy of the traditional balance system;
the output bus of the second-stage equalizer converter is used for energy transmission among the battery modules;
the inter-battery-module communication network is used for communication among the battery management units.
Preferably, each battery module comprises n battery cells connected in series;
each battery management unit 2 comprises a controller 23, a first-stage equalizer converter 21 and a second-stage equalizer converter 22;
one end of the first-stage equalizer converter 21 is electrically connected with each battery monomer in the corresponding battery module 11, and the other end of the first-stage equalizer converter is electrically connected with the corresponding battery module 11; the method is used for non-dissipative and bidirectional distributed equalization control between the battery monomer in the corresponding battery module 11 and the battery module;
the input end of the second-stage equalizer converter 22 is electrically connected with the corresponding battery module 11, and the output end of the second-stage equalizer converter is connected with the output bus 3 of the second-stage equalizer converter in parallel; the control circuit is used for non-dissipative and bidirectional balance control between the corresponding battery module 11 and other battery modules;
the controller 23 corresponds to each battery module one by one, and the output end of the controller is connected with the inter-battery-module communication network 4 and used for providing state information in the corresponding battery module 11 for the inter-battery-module communication network 4.
Preferably, the state information in the corresponding battery module 11, which can be detected by each controller, includes a cell voltage, a module voltage, an intra-module balancing current, a temperature, and an SoC.
Preferably, the inter-battery-module communication network 4 may be a sparse communication network, and the controller 23 shares information with other controllers having communication connection through the inter-battery-module communication network 4, and controls the working mode of the second-stage balun 22 according to a multi-agent cooperative consistency control strategy. Meanwhile, when the communication network fails or changes, the battery assembly 1 can be balanced under the condition that the convergence principle of the multi-agent cooperative consistency control method is met.
Preferably, in order to improve the stability of the balancing system, the second stage balun output bus 3 may be electrically connected to a load or a voltage source.
As shown in fig. 2 and fig. 3, another object of the present invention is to provide a method for controlling equalization of a modular battery based on a multi-agent technology, comprising:
(1) sampling the balance current and the output voltage of the battery module i, taking the balance current and the output voltage of the battery module i as the input of a battery model, and calculating the SoC of the battery module iiWherein SoCiRepresenting the charge state corresponding to the battery module i;
(2) weighting factors between the battery module i and other battery modules j in the connected communication network and SoC corresponding to the battery module iiAnd SoC corresponding to other battery modules j in connected communication networkjUpdating the correction quantity of the secondary control reference voltage corresponding to the battery module i by adopting a cooperative consistency control method for input;
(3) calculating an equilibrium current instruction value of the battery module i according to the secondary control reference voltage correction corresponding to the battery module i, the output voltage of the battery module i, the droop control reference voltage and the droop coefficient;
(4) carrying out PI control on the balance current of the battery module i after the low-pass filtering treatment according to the balance current instruction value of the battery module i;
(5) and (4) repeating the steps (1) to (4) until the SoC (State of Charge) corresponding to each battery module is consistent with the equalizing current, and the voltage of the output bus of the second-stage equalizing converter is recovered to the rated level.
Preferably, the secondary control reference voltage correction amount of the battery module i, the output voltage of the battery module i, the droop control reference voltage, and the equilibrium current command value of the battery module i satisfy droop curves of the controllers, and a relationship among the secondary control reference voltage correction amount of the battery module i, the output voltage of the battery module i, the droop control reference voltage, and the equilibrium current command value of the battery module i is:
Ubat,i＝Uref,i-diIref,i+ΔUi
wherein, Ubat,iIs the output voltage, I, of the battery module Iref,iFor the equilibrium current command value, U, of controller iref,iControlling the reference voltage, d, for droop of controller iiFor the droop coefficient, Δ U, of controller iiThe reference voltage correction amount is secondarily controlled for the controller i.
Preferably, the equalization current instruction value and the equalization current have upper and lower limits, and respectively correspond to the maximum charging and discharging equalization current of the battery module;
preferably, as shown in fig. 3, the step (3) adopts a SoC estimation algorithm of the battery module, the step (4) adopts a multi-agent system cooperative consistency control method, and the step (3) and the step (4) form a secondary control of the system;
preferably, the step (3) adopts a SoC estimation algorithm for the battery module, and specifically includes:
A. monitoring the balance current I of the corresponding battery module I by the controller I corresponding to the battery module IiAnd the output voltage U of the battery module ibat,iOn-line estimation of SoC of battery module i as input of battery modeli；
B. And SoC information sharing is carried out between the controller i and the controller j with communication between the controller i and the controller j through a communication network between the battery modules.
Preferably, the step (4) adopts a multi-agent system cooperative consistency method to calculate the function f (a)ij,SoCj,SoCi) Determining, wherein the controller j is all controllers, So, having information communication with the local controller iCjSharing SoC information, SoC for controller jiSoC information for local controller i, aijOutputting the second control reference voltage correction quantity delta U as the weight factor between the controller j and the controller ii。
Preferably, as shown in FIG. 3, the function f (a)ij,SoCj,SoCi) Is composed of
Figure GDA0002472018940000081
Wherein h, α, β and gamma are adjustable coefficients respectively, the function sig () is a sign function, j is the number of a battery module j connected with the battery module in the inter-module communication network, and N is the number of the battery module jiThe number of all modules connected with the controller of the battery module i in the inter-module communication network;
preferably, the secondary control reference voltage correction amount corresponding to the battery module i is used as the input of the voltage droop outer ring of the primary control, and comprises a current correction term and a voltage regulation term;
the current correction item is used for realizing that the SoC corresponding to each battery module is SoC when the topological structure stability criterion of the communication network between the modules is metavgAnd the balance currents are all Iavg；
And the voltage regulating item is used for regulating the voltage deviation of the output bus of the second-stage equalizing converter.
It should be particularly pointed out that the multi-agent-based modular battery equalization system provided by the present invention does not require centralized control of a superior centralized control unit (BCU) equalization system, as shown in fig. 4(a), in a conventional master-slave equalization control system, a superior BCU is required to issue a control and request instruction to a subordinate battery management unit 2, the subordinate battery management unit 2 returns collected data and status information to the superior BCU, and the superior BCU fully controls a first-stage equalization converter 21 and a second-stage equalization converter 22 of the subordinate battery management unit 2; as shown in fig. 4(b), in the multi-agent system-based modular equalization control system, BCU tasks in the conventional master-slave control system are distributed to the controllers 23 of the battery management unit 2, each controller 23 monitors the equalization information of the corresponding battery module 11, and shares the equalization information with other controllers 23 through the inter-battery-module communication network 4, and the local controller 23 performs multi-agent cooperative consistency control on the second-stage equalization converter 22 in combination with its own constraint condition.
As shown in fig. 5, the present invention provides a battery module communication network change situation. The communication network of the battery module is changed due to the failure of the controller 1, because of the weight factor aijThe communication topology is reflected, and the communication topology can be changed according to the modularization rule of the battery assembly or the change of the communication network among the battery modules, so that the plug and play requirement is met, and the reliability and the redundancy of the system are enhanced.
As shown in fig. 6, the present invention provides a balancing effect of battery modules, taking 15 groups of battery modules for balancing control as an example, the initial SoC of each group of battery modules is 50% to 64%, the capacity of a battery cell is 20Ah, the balancing current of the battery modules is limited by 20A, and a certain adjustable coefficient is selected. As shown in fig. 6(a) and fig. 6(b), which are respectively SoC and battery module balancing current of the corresponding battery module when the second stage of the balancing converter outputs the bus 4 to the battery assembly 1, it can be seen from fig. 6(a) and fig. 6(b) that the final battery module balancing effect is that the SoC of the battery module tends to be consistent, the balancing current tends to be consistent and supplies power to the load, the power supply of the load is equal to the droop control reference voltage U of the controller iref,iAnd the second stage balun output bus 4 voltage.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (4)

1. A control method of a modular battery equalization system based on multi-agent technology comprises the following steps:
(1) sampling the balance current and the output voltage of the battery module i, using the sampled balance current and output voltage as the input of a battery model, and calculating the SoC of the battery module ii；
(2) With battery module i and other electricity in connected communication networkWeighting factor between battery modules j and SoC corresponding to battery module iiAnd SoC corresponding to other battery modules j in connected communication networkjUpdating the correction quantity of the secondary control reference voltage corresponding to the battery module i by adopting a cooperative consistency control method for input;
(3) calculating an equilibrium current instruction value of the battery module i according to the secondary control reference voltage correction corresponding to the battery module i, the output voltage of the battery module i, the droop control reference voltage and the droop coefficient;
(4) carrying out PI control on the balance current of the battery module i after the low-pass filtering treatment according to the balance current instruction value of the battery module i;
(5) repeating the steps (1) to (4) until the SoC corresponding to each battery module is consistent with the equalizing current, and the voltage of the output bus of the second-stage equalizing converter is restored to the rated level;
the modular battery equalization system of the multi-agent technology comprises m battery modules, m battery management units, a second-stage equalization converter output bus and a communication network among the battery modules;
the first end of each battery management unit is electrically connected with a battery monomer in the battery module, the second end of each battery management unit is electrically connected with the corresponding battery module, the third end of each battery management unit is electrically connected with the output bus of the second-stage equalizer converter, and the signal end of each battery management unit is connected with the communication network among the battery modules;
each battery module is a balanced object and is used for providing electric energy for electric equipment and each battery management unit;
the battery management unit adopts a multi-agent technology to control the balance among the battery monomers in the battery module and each battery module, so as to realize the expansion of the system by taking the battery module as a unit;
the output bus of the second-stage equalizer converter is used for electric energy transmission among the battery modules;
the inter-battery-module communication network is used for communication among the battery management units.
2. The control method according to claim 1, wherein the relationship among the secondary control reference voltage correction amount of the battery module i, the output voltage of the battery module i, the droop control reference voltage, and the equalizing current command value of the battery module i is:
Ubat,i＝Uref,i-diIref,i+ΔUi
wherein, Ubat,iIs the output voltage, I, of the battery module Iref,iFor the equilibrium current command value, U, of controller iref,iControlling the reference voltage, d, for droop of controller iiFor the droop coefficient, Δ U, of controller iiThe reference voltage correction amount is secondarily controlled for the controller i.
3. The control method according to claim 1 or 2, wherein the secondary control reference voltage correction amount corresponding to the battery module i includes a current correction term and a voltage regulation term;
the current correction term is used for converging the SoC corresponding to each battery module into the SoC when the topological structure stability criterion of the inter-module communication network is metavgAnd the equalizing current converges to Iavg；
And the voltage regulating item is used for regulating the voltage deviation of the output bus of the second-stage equalizing converter.
4. The control method according to claim 1, wherein the balancing current command value and the balancing current have upper and lower limits respectively corresponding to maximum charging and discharging balancing currents of the battery module.
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