CN110048444A - A kind of lead-acid battery fuzzy control method based on SOC state estimation - Google Patents
A kind of lead-acid battery fuzzy control method based on SOC state estimation Download PDFInfo
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- CN110048444A CN110048444A CN201910471896.4A CN201910471896A CN110048444A CN 110048444 A CN110048444 A CN 110048444A CN 201910471896 A CN201910471896 A CN 201910471896A CN 110048444 A CN110048444 A CN 110048444A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/28—Arrangements for balancing of the load in a network by storage of energy
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/28—Arrangements for balancing of the load in a network by storage of energy
- H02J3/32—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
- H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
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Abstract
The present invention relates to a kind of lead-acid battery fuzzy control methods based on SOC state estimation, build the physical model of micro-capacitance sensor lead-acid accumulator charge and discharge switching first, and the Nonlinear Dynamic of expression system is gone using neutrality II type T-S blur method.In view of the energy storage state of lead-acid accumulator seems extremely important for the steady operation of micro-capacitance sensor.SOC state estimator is designed for micro-capacitance sensor lead-acid accumulator energy storage state problem.The correct estimation of energy storage state, and design of feedback controller are realized with this, guarantee the stable operation and performance of system.The above true operating condition of present invention consideration, the SOC state estimator of design, so that the correct estimation of energy storage state, and can guarantee the stable operation and performance of system.
Description
Technical field
The present invention relates to accumulator status to estimate field, and especially a kind of lead-acid battery based on SOC state estimation is fuzzy
Control method.
Background technique
A kind of effective means of the micro-capacitance sensor as distributed generation resource access power grid, so that clean energy resource power generating industry obtains fastly
The development of speed.In order to maintain the stabilization of micro-capacitance sensor electric energy, peak load shifting need to be carried out using battery.Lead-acid accumulator is because of its price
Cheap, raw material is easy to get, reliable performance, is easy recycling and is suitable for the features such as being large current discharge, and is the electric energy accumulation of energy of energy internet
Preferably use product.The SOC state estimation of lead-acid accumulator has emphatically the more efficient stable operation for maintaining energy internet
The effect wanted.Since there are non-linear, charge and discharge bulk properties differences for lead-acid accumulator, so that aobvious to its SOC state estimation
It obtains relatively difficult.
Summary of the invention
In view of this, the purpose of the present invention is to propose to a kind of lead-acid battery fuzzy control method based on SOC state estimation,
It is capable of the energy storage state of correct estimating system, design of feedback controller guarantees the stable operation of system.
The present invention is realized using following scheme: a kind of lead-acid battery fuzzy control method based on SOC state estimation, specifically
The following steps are included:
Step S1: micro-capacitance sensor lead-acid accumulator charge-discharge system is built；
Step S2: according to the expression of physics principle and neutrality II type T-S model, micro-capacitance sensor lead acid storage battery is established
Pond charge and discharge switching system model；
Step S3: in view of the energy storage state of lead-acid accumulator seems extremely important for the steady operation of micro-capacitance sensor, needle
Controller based on SOC state estimation is designed to micro-capacitance sensor lead-acid accumulator energy storage state problem, so that energy storage state is correct
Estimation, and can guarantee system stable operation andPerformance.
Further, step S1 specifically: the micro-capacitance sensor lead-acid accumulator charge-discharge system includes micro-capacitance sensor AC female
Line, two-way DC/AC module, lead-acid accumulator, switching SOC estimator and feedback controller.
Further, step S2 specifically includes the following steps:
Step S21: establishing micro-capacitance sensor lead-acid accumulator physical model, as shown in formula (1):
In formula, τ1=R1C1, CθAnd RθIt is the resistance between thermal capacitor and battery and its environment, θaIt is battery ambient environment
Temperature, PsIt is the heat source that inside battery generates；R1It is resistance, C1It is capacitor, I1It is to pass through R1Electric current, ImIt is to flow through R1And C1
Electric current, the Q of parallel brancheIt is additional charge energy, θ is electrolyte temperature；
Define symbol Em, R0, R1, R2Are as follows:
In formula, Em0, KE, R00, A0, R10, R20, A21, A22It is the constant of lead-acid accumulator；SOC refers to battery in given temperature
The full lattice index of the electricity for the maximum capacity being capable of providing under degree θ, DOC are the battery full levels with reference to actual discharge state
Index, the electric current used in the expression of capacity C (I, θ) are Iavg=I1, SOC is charged state, then:
In formula, I*It is reference current, KCIt is given I*Empirical coefficient, DOC is exactly electronic charge depth, it may be assumed that
DOC=1-Qe/C(Iavg, θ) and (4)
The behavior of parasitic branch is actually strong nonlinearity, is used to match the charging or discharging current relationship of Tafel using following formula:
Ip=VPNGp0exp(VPN/Vp0+Ap(1-θ/θf)) (5)
In formula, θfIt is the electrolyte cryogenic temperature for depending primarily on electrolyte density, usually assume that and be equal to -40
℃；, for the parameter G of lead-acid accumulatorp0, Vp0And ApIt is constant；VPNIndicate R2And R0Between end-point voltage；；
Step S22: energy internet lead acid battery charge model is further established；Defining V is end voltage, and I is input
Electric current (electric discharge is positive, and charging is negative),z2=exp (VPN/Vp0+Ap(1-θ/θf)), z3=R1, z4=R2, z5=R0；
It is obtained by (1)-(5):
In formula, τ1=R1C1, θaThe temperature of battery ambient environment, PsIt is the heat source that inside battery generates；
Further definition, x (t)=[I1 Qe θ V]T, and it is non-thread by (6) to obtain energy internet lead acid battery charge
Property model:
Y (t)=Cx (t) (7)
In formula, E=diag { 1,1,1,0 }, u (t)=I,And
And have
Select z1-z5As fuzzy former piece variable, by the following fuzzy system representation of the nonlinear system in (7):
Y (t)=Cx (t) (9)
In formula,Z (t)=[z1, z2...,
z5] it is fuzzy advance variable,G indicates mould
Paste collection quantity, r indicate fuzzy rule quantity,It is the fuzzy set of neutral II type,Indicate the lower bound of fuzzy membership,Indicate the upper bound of fuzzy membership, AlAnd BlIt is nonlinear system mould
Type is in z1-z5It is linearizedObtained sytem matrix:
Step S23: micro-capacitance sensor lead-acid accumulator electric discharge mathematical model is further established；Due to having during electric dischargeWithNegligible resistance device R2With the influence of entire parasitic branch；Therefore, the dynamics side of discharge system is obtained
Journey is as follows:
Definitionz2=R0, z3=R1, x (t)=[I1 Qe θ V]T, and according to Thevenin's theorem, write as state sky
Between expression formula it is as follows:
In formula, E=diag { 1,1,1,0 }, u (t)=I,
Select z1-z3As fuzzy former piece variable, the nonlinear system in formula (11) can use following fuzzy system table
Show,
Y (t)=Cx (t) (12)
In formula,Z (t)=[z1, z2...,
z5],G indicates fuzzy set quantity, and r indicates mould
Regular quantity is pasted,It is the fuzzy set of neutral II type,μ l[z (t)] indicates fuzzy
The lower bound of degree of membership,Indicate the upper bound of fuzzy membership, AlAnd BlIt is nonlinear system model in z1-z3Carry out line
PropertyObtained sytem matrix,
Step S24: micro-capacitance sensor lead-acid accumulator charge and discharge electrical switching operation mathematical model is further established；With formula (9)
(12) it obtains:
X (t)=[I in formula1 Qe θ V]T, u (t)=I,
In formula, A1l、A2l、B1lAnd B2lNumber in middle subscript indicates that system in charged state, indicates when being 2 when being 1
System is in discharge condition.
Further, step S3 specifically includes the following steps:
Step S31: consider that following structure is had based on SOC state estimator:
In formula:It is the state of estimation,It is the system output of estimation, indicates that system is being filled when footmark i is equal to 1
Electricity condition, footmark i indicated when being equal to 2 system in discharge condition, It is the estimation former piece variable of observer,
G indicates fuzzy set quantity, and r indicates fuzzy rule quantity,It is i-th of system
The fuzzy set for neutrality II type of uniting,Indicate the lower bound of i-th of system ambiguous degree of membership,It indicates i-th
The upper bound of system ambiguous degree of membership, AilAnd BilIt is switching system parameter matrix, LilIt is the switching system observer parameter to be designed
Matrix；
Consider that feedback controller has following structure:
In formula:KilIt is the switching system feedback controller parameter square to be designed；
DefinitionSimultaneous formula (13), (14), (15) obtain following error system:
In formula:
Step S32:KilAnd LilDivide the switching system feedback controller parameter matrix and observer parameter square that maybe be designed
Battle array solves MATRIX INEQUALITIES below and obtains:
In formula:It is with the comparable matrix of dimension, γ isPerformance indicator；The symmetrical part of formula (18) internal symbol * representing matrix.
Compared with prior art, the invention has the following beneficial effects: the present invention considers true operating condition, the SOC shape of design
State estimator so that the correct estimation of energy storage state, design of feedback controller, guarantee system stable operation andPerformance.
Detailed description of the invention
Fig. 1 is the micro-capacitance sensor lead-acid accumulator charge-discharge system figure of the embodiment of the present invention.
Fig. 2 is the implementation steps figure of the embodiment of the present invention.
Fig. 3 is the micro-capacitance sensor lead-acid accumulator physical model schematic diagram of the embodiment of the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and embodiments.
It is noted that described further below be all exemplary, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As shown in Figure 1 and Figure 2, a kind of lead-acid battery fuzzy control based on SOC state estimation is present embodiments provided
Method, specifically includes the following steps:
Step S1: micro-capacitance sensor lead-acid accumulator charge-discharge system is built；
Step S2: according to the expression of physics principle and neutrality II type T-S model, micro-capacitance sensor lead acid storage battery is established
Pond charge and discharge switching system model；
Step S3: in view of the energy storage state of lead-acid accumulator seems extremely important for the steady operation of micro-capacitance sensor, needle
Controller based on SOC state estimation is designed to micro-capacitance sensor lead-acid accumulator energy storage state problem, so that energy storage state is correct
Estimation, and can guarantee system stable operation andPerformance.
In the present embodiment, step S1 specifically: the micro-capacitance sensor lead-acid accumulator charge-discharge system includes micro-capacitance sensor AC
Bus 10, two-way DC/AC module 20, lead-acid accumulator 30, switching SOC estimator 40 and feedback controller 50.
In the present embodiment, step S2 specifically includes the following steps:
Step S21: establishing micro-capacitance sensor lead-acid accumulator physical model, as shown in Fig. 3 and formula (1):
In formula, τ1=R1C1, CθAnd RθIt is the resistance between thermal capacitor and battery and its environment, θaIt is battery ambient environment
Temperature, PsIt is the heat source that inside battery generates；R1It is resistance, C1It is capacitor, I1It is to pass through R1Electric current, ImIt is to flow through R1And C1
Electric current, the Q of parallel brancheIt is additional charge energy, θ is electrolyte temperature；
Define symbol Em, R0, R1, R2Are as follows:
In formula, Em0, KE, R00, A0, R10, R20, A21, A22It is the constant of lead-acid accumulator；SOC refers to battery in given temperature
The full lattice index of the electricity for the maximum capacity being capable of providing under degree θ, DOC are the battery full levels with reference to actual discharge state
Index, the electric current used in the expression of capacity C (I, θ) are Iavg=I1, SOC is charged state, then:
In formula, I*It is reference current, KCIt is given I*Empirical coefficient, DOC is exactly electronic charge depth, it may be assumed that
DOC=1-Qe/C(Iavg, θ) and (4)
The behavior of parasitic branch is actually strong nonlinearity, is used to match the charging or discharging current relationship of Tafel using following formula:
Ip=VPNGp0exp(VPN/Vp0+Ap(1-θ/θf)) (5)
In formula, θfIt is the electrolyte cryogenic temperature for depending primarily on electrolyte density, it usually assume that and be equal to -40
℃；, for the parameter G of lead-acid accumulatorp0, Vp0And ApIt is constant；VPNIndicate R2And R0Between end-point voltage；；
Step S22: micro-capacitance sensor lead acid battery charge model is further established；Defining V is end voltage, and I is input current
(electric discharge is positive, and charging is negative),z2=exp (VPN/Vp0+Ap(1-θ/θf)), z3=R1, z4=R2, z5=R0；By
(1)-(5):
In formula, τ1=R1C1, θaThe temperature of battery ambient environment, PsIt is the heat source that inside battery generates；
Further definition, x (t)=[I1 Qe θ V]T, and it is non-thread by (6) to obtain energy internet lead acid battery charge
Property model:
Y (t)=Cx (t) (7)
In formula, E=diag { 1,1,1,0 }, u (t)=I,And
And have
Select z1-z5As fuzzy former piece variable, by the following fuzzy system representation of the nonlinear system in (7):
Y (t)=Cx (t) (9)
In formula,Z (t)=[z1, z2...,
z5] it is fuzzy advance variable,G indicates mould
Paste collection quantity, r indicate fuzzy rule quantity,It is the fuzzy set of neutral II type,μ l[z (t)] indicates the lower bound of fuzzy membership,Indicate the upper bound of fuzzy membership, AlAnd BlIt is nonlinear system mould
Type is in z1-z5It is linearizedObtained sytem matrix:
Step S23: micro-capacitance sensor lead-acid accumulator electric discharge mathematical model is further established；Due to having during electric dischargeWithNegligible resistance device R2With the influence of entire parasitic branch；Therefore, the dynamics side of discharge system is obtained
Journey is as follows:
Definitionz2=R0, z3=R1, x (t)=[I1 Qe θ V]T, and according to Thevenin's theorem, write as state sky
Between expression formula it is as follows:
In formula, E=diag { 1,1,1,0 }, u (t)=I,
Select z1-z3As fuzzy former piece variable, the nonlinear system in formula (11) can use following fuzzy system table
Show,
Y (t)=Cx (t) (12)
In formula,Z (t)=[z1, z2...,
z5],G indicates fuzzy set quantity, and r indicates mould
Regular quantity is pasted,It is the fuzzy set of neutral II type,μ l[z (t)] indicates fuzzy
The lower bound of degree of membership,Indicate the upper bound of fuzzy membership, AlAnd BlIt is nonlinear system model in z1-z3Carry out line
PropertyObtained sytem matrix,
Step S24: micro-capacitance sensor lead-acid accumulator charge and discharge electrical switching operation mathematical model is further established；With formula (9)
(12) it obtains:
X (t)=[I in formula1 Qe θ V]T, u (t)=I,
In formula, A1l、A2l、B1lAnd B2lNumber in middle subscript indicates that system in charged state, indicates when being 2 when being 1
System is in discharge condition.
In the present embodiment, step S3 specifically includes the following steps:
Step S31: consider that following structure is had based on SOC state estimator:
In formula:It is the state of estimation,It is the system output of estimation, indicates that system is being filled when footmark i is equal to 1
Electricity condition, footmark i indicated when being equal to 2 system in discharge condition, It is the estimation former piece variable of observer, G indicates fuzzy set quantity, and r indicates fuzzy rule quantity,It is the fuzzy set of i-th of system neutrality II type,Indicate the
The lower bound of i system ambiguous degrees of membership,Indicate the upper bound of i-th of system ambiguous degree of membership, AilAnd BilIt is switching
System parameter matrix, LilIt is the switching system observer parameter matrix to be designed；
Consider that feedback controller has following structure:
In formula:KilIt is the switching system feedback controller parameter square to be designed；
DefinitionSimultaneous formula (13), (14), (15) obtain following error system:
In formula:
Step S32:KilAnd LilDivide the switching system feedback controller parameter matrix and observer parameter square that maybe be designed
Battle array solves MATRIX INEQUALITIES below and obtains:
In formula:It is with the comparable matrix of dimension, γ isPerformance indicator；The symmetrical part of formula (18) internal symbol * representing matrix.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The above described is only a preferred embodiment of the present invention, being not that the invention has other forms of limitations, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
Imitate embodiment.But without departing from the technical solutions of the present invention, according to the technical essence of the invention to above embodiments institute
Any simple modification, equivalent variations and the remodeling made, still fall within the protection scope of technical solution of the present invention.
Claims (4)
1. a kind of lead-acid battery fuzzy control method based on SOC state estimation, which is characterized in that specifically includes the following steps:
Step S1: lead-acid accumulator charge-discharge system is built；
Step S2: according to the expression of physics principle and neutrality II type T-S model, micro-capacitance sensor lead-acid battery charge and discharge is established
Cutting changes system model；
Step S3: in view of the energy storage state of lead-acid accumulator seems extremely important for the steady operation of micro-capacitance sensor, for micro-
Power grid lead-acid battery energy storage state problem designs the controller based on SOC state estimation, so that the correct estimation of energy storage state, and
Can guarantee system stable operation andPerformance.
2. a kind of lead-acid battery fuzzy control method based on SOC state estimation according to claim 1, feature exist
In step S1 specifically: the micro-capacitance sensor lead-acid accumulator charge-discharge system include micro-capacitance sensor AC bus, two-way DC/AC module,
Lead-acid accumulator, switching SOC estimator and feedback controller.
3. a kind of lead-acid battery fuzzy control method based on SOC state estimation according to claim 1, feature exist
In, step S2 specifically includes the following steps:
Step S21: establishing micro-capacitance sensor lead-acid battery physical model, as shown in formula (1):
In formula, τ1=R1C1, CθAnd RθIt is the resistance between thermal capacitor and battery and its environment, θaIt is the temperature of battery ambient environment
Degree, PsIt is the heat source that inside battery generates；R1It is resistance, C1It is capacitor, I1It is to pass through R1Electric current, ImIt is to flow through R1And C1It is in parallel
Electric current, the Q of brancheIt is additional charge energy, θ is electrolyte temperature；
Define symbol Em, R0, R1, R2Are as follows:
In formula, Em0, KE, R00, A0, R10, R20, A21, A22It is the constant of lead-acid accumulator；SOC refers to battery at given temperature θ
The full lattice index of the electricity for the maximum capacity being capable of providing, DOC are the indexs of the battery full level with reference to actual discharge state,
The electric current used in the expression of capacity C (I, θ) is Iavg=I1, SOC is charged state, then:
In formula, I*It is reference current, KCIt is given I*Empirical coefficient, DOC is exactly electronic charge depth, it may be assumed that
DOC=1-Qe/C(Iavg, θ) and (4)
The behavior of parasitic branch is actually strong nonlinearity, is used to match the charging or discharging current relationship of Tafel using following formula:
Ip=VPNGp0exp(VPN/Vp0+Ap(1-θ/θf)) (5)
In formula, θfIt is the electrolyte cryogenic temperature for depending primarily on electrolyte density, for the parameter G of lead-acid accumulatorp0, Vp0With
ApIt is constant；VPNIndicate R2And R0Between end-point voltage；
Step S22: micro-capacitance sensor lead acid battery charge model is further established；Defining V is end voltage, and I is input current,z2=exp (VPN/Vp0+Ap(1-θ/θf)), z3=R1, z4=R2, z5=R0；It is obtained by (1)-(5):
In formula, τ1=R1C1, θaThe temperature of battery ambient environment, PsIt is the heat source that inside battery generates；
Further definition, x (t)=[I1 Qe θ V]T, and micro-capacitance sensor lead acid battery charge nonlinear model is obtained by (6):
Y (t)=Cx (t) (7)
In formula, E=diag { 1,1,1,0 }, u (t)=I,And have
Select z1-z5As fuzzy former piece variable, by the following fuzzy system representation of the nonlinear system in (7):
Y (t)=Cx (t) (9)
In formula,Z (t)=[z1, z2..., z5]
It is fuzzy advance variable,G indicates fuzzy set
Quantity, r indicate fuzzy rule quantity,It is the fuzzy set of neutral II type,μ l[z
(t)] lower bound of fuzzy membership is indicated,Indicate the upper bound of fuzzy membership, AlAnd BlIt is that nonlinear system model exists
z1-z5It is linearizedObtained sytem matrix:
Step S23: micro-capacitance sensor lead-acid accumulator electric discharge mathematical model is further established；Due to having during electric dischargeWithNegligible resistance device R2With the influence of entire parasitic branch；Therefore, the kinetics equation for obtaining discharge system is as follows:
Definitionz2=R0, z3=R1, x (t)=[I1 Qe θ V]T, and according to Thevenin's theorem, write as state space
Expression formula is as follows:
In formula, E=diag { 1,1,1,0 }, u (t)=I,
Select z1-z3As fuzzy former piece variable, the nonlinear system in formula (11) can use following fuzzy system representation,
Y (t)=Cx (t) (12)
In formula,Z (t)=[z1, z2..., z5],G indicates fuzzy set quantity, and r indicates fuzzy
Regular quantity,It is the fuzzy set of neutral II type,μ l[z (t)] indicates fuzzy and is subordinate to
The lower bound of category degree,Indicate the upper bound of fuzzy membership, AlAnd BlIt is nonlinear system model in z1-z3It carries out linear
ChangeObtained sytem matrix,
Step S24: micro-capacitance sensor lead-acid accumulator charge and discharge electrical switching operation mathematical model is further established；With formula (9) and
(12) it obtains:
X (t)=[I in formula1 Qe θ V]T, u (t)=I,
In formula, A1l、A2l、B1lAnd B2lNumber in middle subscript indicates that system indicates that system exists in charged state, when being 2 when being 1
Discharge condition.
4. a kind of lead-acid battery fuzzy control method based on SOC state estimation according to claim 1, feature exist
In, step S3 specifically includes the following steps:
Step S31: consider that following structure is had based on SOC state estimator:
In formula:It is the state of estimation,It is the system output of estimation, footmark i indicates system in charging shape when being equal to 1
State, footmark i indicated when being equal to 2 system in discharge condition, It is the estimation former piece variable of observer, G indicates fuzzy set quantity, and r indicates fuzzy rule quantity,It is the fuzzy set of i-th of system neutrality II type,It indicates
The lower bound of i-th of system ambiguous degree of membership,Indicate the upper bound of i-th of system ambiguous degree of membership, AilAnd BilIt is to cut
Change system parameter matrix, LilIt is the switching system observer parameter matrix to be designed；
Consider that feedback controller has following structure:
In formula:KilIt is the switching system feedback controller parameter square to be designed；
DefinitionSimultaneous formula (13), (14), (15) obtain following error system:
In formula:
Step S32:KilAnd LilDivide the switching system feedback controller parameter matrix and observer parameter matrix that maybe be designed, asks
MATRIX INEQUALITIES below is solved to obtain:
In formula: It is with the comparable matrix of dimension, γ isPerformance
Index；The symmetrical part of formula (18) internal symbol * representing matrix.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110620392A (en) * | 2019-10-26 | 2019-12-27 | 闽江学院 | Multi-lead-acid battery parallel system fuzzy coordination control method based on SOC state estimation |
| CN112051507A (en) * | 2020-09-15 | 2020-12-08 | 哈尔滨理工大学 | Lithium ion power battery SOC estimation method based on fuzzy control |
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