CN110161298B - Redundant current acquisition method based on weighted least square method - Google Patents

Redundant current acquisition method based on weighted least square method Download PDF

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CN110161298B
CN110161298B CN201910597568.9A CN201910597568A CN110161298B CN 110161298 B CN110161298 B CN 110161298B CN 201910597568 A CN201910597568 A CN 201910597568A CN 110161298 B CN110161298 B CN 110161298B
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shunt
shunts
current
noise
vector
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CN110161298A (en
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禹成海
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Suzhou Mewyeah Technology Co ltd
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Suzhou Mewyeah Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • G01R19/0092—Arrangements for measuring currents or voltages or for indicating presence or sign thereof measuring current only
    • 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]
    • G01R31/385—Arrangements for measuring battery or accumulator variables

Abstract

The invention relates to a redundant current acquisition method based on a weighted least square method, which comprises a battery, a plurality of shunts electrically connected with the battery, an acquisition line respectively connected with the shunts, a singlechip connected with the shunts through the acquisition line, and visual terminal equipment.

Description

Redundant current acquisition method based on weighted least square method
Technical Field
The invention relates to the technical field of battery detection, in particular to a redundant current acquisition method based on a weighted least square method.
Background
The real-time measurement technology of the state of the power battery for the electric automobile is one of the key technologies for popularization and application of the electric automobile. In the driving process of an automobile, in order to protect a battery from being damaged by an overcharge state or an overdischarge state and provide reliable information such as the driving range of the automobile for an automobile owner, the state of charge of the battery needs to be accurately estimated in real time. In the method for estimating the state of charge of the battery, an ampere-hour integral method and an open-circuit voltage method are simple and easy to use, but the estimation error is larger; the closed-loop estimation method based on the model, such as the Kelman filtering method, has high estimation accuracy, but has complex calculation process and is not easy to be applied in engineering practice.
The prior art discloses a method for measuring the state of a battery and an application thereof, wherein the application number CN201610372849.0 grant publication number CN105929338B is combined with a least square method (1) to measure the current and the voltage of the battery in operation in real time; (2) extracting the series resistance value, the parallel resistance value and the parallel capacitance value of the first-order RC equivalent circuit model by adopting a least square method according to the measured current and voltage values; (3) according to the method, data acquisition is carried out on a single battery, only single-point numerical values are acquired, the obtained numerical parameters are too single, errors are easily caused, current data of the battery cannot be effectively tested, and the existing battery detection device has large errors in the detection process.
Disclosure of Invention
The invention relates to a redundant current acquisition method based on a weighted least square method.A current acquisition system adopted by the method comprises a battery, n shunts electrically connected with the battery, acquisition lines respectively connected to the shunts, a single chip microcomputer connected with the shunts through the acquisition lines, and visual terminal equipment;
the current acquisition system adopted by the method comprises n current dividers, wherein all the current dividers are mutually independent, and the observation equation of the current acquisition system is as follows: z is Hx + δ;
wherein z is [ z ]1,…zi,…zn]TIs the measurement vector of the shunt; h ═ H1,…Hi…Hn]TIs a measurement matrix of the shunt; delta is [ delta ]1,…δi,…δn]TA noise vector of the splitter, which contains the internal noise and the ambient noise of the splitter;
wherein, the covariance matrix of the measurement noise is:
Figure GDA0003203956860000021
is provided with
Figure GDA0003203956860000022
Wherein the content of the first and second substances,
Figure GDA0003203956860000023
is an estimate of the state quantity x;
derived from the measurement vector z by means of least squares
Figure GDA0003203956860000024
The sum of the squares of the system's individual shunt errors is:
Figure GDA0003203956860000025
when the sum of the squares of the errors is extremely small, the optimum value can be obtained
Figure GDA0003203956860000026
That is, when
Figure GDA0003203956860000027
Then, the following can be obtained:
Figure GDA0003203956860000028
when the current acquisition system is provided with n mutually independent shunts, the output state of each shunt is as follows:
Figure GDA0003203956860000029
Figure GDA00032039568600000210
wherein the content of the first and second substances,
Figure GDA0003203956860000031
for the error vector of the corresponding shunt,
Figure GDA0003203956860000032
in order to be a matrix of the system,
Figure GDA0003203956860000033
in the form of a matrix of the appropriate dimensions,
Figure GDA0003203956860000034
in order to be the noise of the system,
Figure GDA0003203956860000035
is the output of the i-th splitter,
Figure GDA0003203956860000036
in order to measure the noise of the shunt,
Figure GDA0003203956860000037
as a transformation vector in the direction of the sensitive axis of the shunt, ukIs the input of the measurement of the flow divider,
Figure GDA0003203956860000038
and
Figure GDA0003203956860000039
are all row vectors.
Further, the output state expressions of the shunts are simplified and arranged, and are combined into a state expression, then,
Figure GDA00032039568600000310
can be expressed as: xk+1＝AkXk+Bkwk、Zk＝HkXk+Ckuk+vkWherein, in the step (A),
Figure GDA00032039568600000311
for a state vector of a splitter in the system,
Figure GDA00032039568600000312
a matrix is configured for the splitters in the system.
Further, matrix Ak、Bk、CkAre respectively composed of
Figure GDA00032039568600000313
The combination is as follows:
Figure GDA00032039568600000314
and calculating the maximum value and the minimum value of the current respectively collected by the n shunts according to a formula, and taking the average value of the maximum value and the minimum value to obtain the closest current value.
The invention relates to a redundant current acquisition method based on a weighted least square method, which can eliminate uncertainty caused by a conventional measurement method by using the least square method for data fusion to obtain more reliable measurement data.
Detailed Description
The present invention is further described below.
The invention relates to a redundant current acquisition method based on a weighted least square method.A current acquisition system adopted by the method comprises a battery, n shunts electrically connected with the battery, acquisition lines respectively connected to the shunts, a single chip microcomputer connected with the shunts through the acquisition lines, and visual terminal equipment;
the current acquisition system adopted by the method comprises n current dividers, wherein all the current dividers are mutually independent, and the observation equation of the current acquisition system is as follows: z is Hx + δ;
wherein z is [ z ]1,…zi,…zn]TIs the measurement vector of the shunt; h ═ H1,…Hi…Hn]TIs a measurement matrix of the shunt; delta is [ delta ]1,…δi,…δn]TA noise vector of the splitter, which contains the internal noise and the ambient noise of the splitter;
wherein, the covariance matrix of the measurement noise is:
Figure GDA0003203956860000041
is provided with
Figure GDA0003203956860000042
Wherein the content of the first and second substances,
Figure GDA0003203956860000043
is an estimate of the state quantity x;
derived from the measurement vector z by means of least squares
Figure GDA0003203956860000044
The sum of the squares of the system's individual shunt errors is:
Figure GDA0003203956860000045
when the sum of the squares of the errors is extremely small, the optimum value can be obtained
Figure GDA0003203956860000046
That is, when
Figure GDA0003203956860000047
Then, the following can be obtained:
Figure GDA0003203956860000048
when the current acquisition system is provided with n mutually independent shunts, the output state of each shunt is as follows:
Figure GDA0003203956860000049
Figure GDA00032039568600000410
wherein the content of the first and second substances,
Figure GDA00032039568600000411
for the error vector of the corresponding shunt,
Figure GDA00032039568600000412
in order to be a matrix of the system,
Figure GDA00032039568600000413
in the form of a matrix of the appropriate dimensions,
Figure GDA00032039568600000414
in order to be the noise of the system,
Figure GDA00032039568600000415
is the output of the i-th splitter,
Figure GDA0003203956860000051
in order to measure the noise of the shunt,
Figure GDA0003203956860000052
as a transformation vector in the direction of the sensitive axis of the shunt, ukIs the input of the measurement of the flow divider,
Figure GDA0003203956860000053
and
Figure GDA0003203956860000054
are all row vectors.
Further, the output state expressions of the shunts are simplified and arranged, and are combined into a state expression, then,
Figure GDA0003203956860000055
can be expressed as: xk+1＝AkXk+Bkwk、Zk＝HkXk+Ckuk+vkWherein, in the step (A),
Figure GDA0003203956860000056
for a state vector of a splitter in the system,
Figure GDA0003203956860000057
a matrix is configured for the splitters in the system.
Further, matrix Ak、Bk、CkAre respectively composed of
Figure GDA0003203956860000058
The combination is as follows:
Figure GDA0003203956860000059
and calculating the maximum value and the minimum value of the current respectively collected by the n shunts according to a formula, and taking the average value of the maximum value and the minimum value to obtain the closest current value.
The invention relates to a redundant current acquisition method based on a weighted least square method, which can eliminate uncertainty caused by a conventional measurement method by using the least square method for data fusion to obtain more reliable measurement data.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention relates, several simple deductions or substitutions may be made without departing from the spirit of the invention, and all shall be considered as belonging to the scope of the invention.

Claims (3)

1. A redundant current acquisition method based on a weighted least square method is characterized in that: the current acquisition system adopted by the method comprises a battery, n shunts electrically connected with the battery, acquisition lines respectively connected to the shunts, a single chip microcomputer connected with the shunts through the acquisition lines, and visual terminal equipment;
the current acquisition system adopted by the method comprises n current dividers, wherein all the current dividers are mutually independent, and the observation equation of the current acquisition system is as follows: z is Hx + δ;
wherein z is [ z ]1,…zi,…zn]TIs the measurement vector of the shunt; h ═ H1,…Hi…Hn]TIs a measurement matrix of the shunt; delta is [ delta ]1,…δi,…δn]TA noise vector of the splitter, which contains the internal noise and the ambient noise of the splitter;
wherein, the covariance matrix of the measurement noise is:
Figure FDA0003203956850000011
is provided with
Figure FDA0003203956850000012
Wherein the content of the first and second substances,
Figure FDA0003203956850000013
is an estimate of the state quantity x;
derived from the measurement vector z by means of least squares
Figure FDA0003203956850000014
The sum of the squares of the system's individual shunt errors is:
Figure FDA0003203956850000015
；
when the sum of the squares of the errors is extremely small, the optimum value can be obtained
Figure FDA0003203956850000016
That is, when
Figure FDA0003203956850000017
Then, the following can be obtained:
Figure FDA0003203956850000018
；
when the current acquisition system is provided with n mutually independent shunts, the output state of each shunt is as follows:
Figure FDA0003203956850000019
Figure FDA00032039568500000110
；
wherein the content of the first and second substances,
Figure FDA00032039568500000111
for the error vector of the corresponding shunt,
Figure FDA00032039568500000112
in order to be a matrix of the system,
Figure FDA00032039568500000113
in the form of a matrix of the appropriate dimensions,
Figure FDA00032039568500000114
in order to be the noise of the system,
Figure FDA00032039568500000115
is the output of the i-th splitter,
Figure FDA00032039568500000116
in order to measure the noise of the shunt,
Figure FDA00032039568500000117
as a transformation vector in the direction of the sensitive axis of the shunt, ukIs the input of the measurement of the flow divider,
Figure FDA00032039568500000118
and
Figure FDA00032039568500000119
are all row vectors.
2. The method of claim 1, wherein the simplified output state expressions of the shunts are combined into one state expression, and then,
Figure FDA0003203956850000021
can be expressed as: xk+1＝AkXk+Bkwk、Zk＝HkXk+Ckuk+vkWherein, in the step (A),
Figure FDA0003203956850000022
for a state vector of a splitter in the system,
Figure FDA0003203956850000023
a matrix is configured for the splitters in the system.
3. The method of claim 2, wherein the method comprises a weighted least squares based redundant current collectionMatrix Ak、Bk、CkAre respectively composed of
Figure FDA0003203956850000024
The combination is as follows:
Figure FDA0003203956850000025
Figure FDA0003203956850000026
and calculating the maximum value and the minimum value of the current respectively collected by the n shunts according to a formula, and taking the average value of the maximum value and the minimum value to obtain the closest current value.
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101598769A (en) * 2009-06-29 2009-12-09 杭州电子科技大学 A kind of estimation method of battery dump energy based on sampling point Kalman filtering
CN103454592A (en) * 2013-08-23 2013-12-18 中国科学院深圳先进技术研究院 Method and system for estimating charge state of power battery
CN105929338A (en) * 2016-05-30 2016-09-07 北京大学深圳研究生院 Method for measuring states of battery and application of method
CN107205268A (en) * 2017-04-24 2017-09-26 广西大学 A kind of 3-D positioning method based on radio communication base station

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101081087B1 (en) * 2009-07-14 2011-11-07 현대자동차주식회사 Method for measuring internal resistance of a high voltage battery cell of automobile

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101598769A (en) * 2009-06-29 2009-12-09 杭州电子科技大学 A kind of estimation method of battery dump energy based on sampling point Kalman filtering
CN103454592A (en) * 2013-08-23 2013-12-18 中国科学院深圳先进技术研究院 Method and system for estimating charge state of power battery
CN105929338A (en) * 2016-05-30 2016-09-07 北京大学深圳研究生院 Method for measuring states of battery and application of method
CN107205268A (en) * 2017-04-24 2017-09-26 广西大学 A kind of 3-D positioning method based on radio communication base station

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