CN110187180B - Method for detecting vehicle resistance value - Google Patents
Method for detecting vehicle resistance value Download PDFInfo
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- CN110187180B CN110187180B CN201910522157.3A CN201910522157A CN110187180B CN 110187180 B CN110187180 B CN 110187180B CN 201910522157 A CN201910522157 A CN 201910522157A CN 110187180 B CN110187180 B CN 110187180B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
- G01R27/025—Measuring very high resistances, e.g. isolation resistances, i.e. megohm-meters
Abstract
The invention provides a method for detecting a vehicle resistance value. The invention outputs PWM wave to RC circuit through power amplifier, the said detection method includes the following steps: step 1: sampling RC waveforms, collecting PWM waveforms output by the transport amplifier, and meanwhile, inputting the PWM waveforms into a resistance value calculation module to calculate an optimal resistance value Resiso; step 2: the resistance value isoR of the high-voltage battery directly facing the vehicle body ground is calculated through the resistance value calculation module1And the resistance value isoR of the high-voltage battery negative to the vehicle body ground2(ii) a And step 3: and the PWM output module calculates the output duty ratio of the PWM wave and feeds the output duty ratio back to the operational amplifier. The invention can accurately detect the resistance value of the high-voltage battery bus to the vehicle body ground, has short detection time and high detection efficiency and improves the safety of the vehicle.
Description
Technical Field
The invention relates to the field of new energy automobiles, in particular to a method for detecting a vehicle resistance value.
Background
In recent years, domestic new energy automobiles are developed rapidly, and a huge emerging industrial chain surrounding the electric automobile industry is formed. The resistance value of the electric automobile can be reduced along with the aging of the wire harness of the whole automobile, the air humidity or the accidental damage of the electric control unit and other reasons, and after the resistance value is lower than a certain value, life danger can be caused to a driver and passengers. According to the requirements of national standard GBT18384.3, the insulation resistance of the whole vehicle is required to be guaranteed to be more than 1000 omega/V. The insulation detection function is an essential function on new energy automobiles. When the insulation resistance value of the whole vehicle is reduced to a certain degree, an insulation fault is reported, the power supply of the whole vehicle is cut off by the whole vehicle controller, and the safety of a driver and passengers is guaranteed.
The insulation detection device is a device for online real-time detection and management of insulation states of a bus and a branch of a direct current power supply system, and is generally integrated in a BMU (battery management unit), but with changes in the industry, insulation detection tends to be separated from BMU, and the insulation detection device is used as a module unit alone.
The main modes for realizing the insulation detection include a bridge method detection method and a low-frequency waveform injection method.
The bridge method is to switch in and switch off the resistor between the bus and the ground of the vehicle body, and according to the voltage division data of the bus when the bus is switched in and switched off, the voltage division calculation is carried out to obtain the insulation resistance. The measurement method can start measurement after a bus is connected into a battery pack, and the measurement precision of the insulation resistance value is influenced by the total voltage of the battery pack. When in test, the resistor is connected to cause the reduction of the insulation resistance value, and the switch components connected and disconnected by the operation bridge are easy to damage.
The low-frequency waveform injection method is to inject low-frequency PWM waves into the insulation resistor through an output capacitor, and the output capacitor and the insulation resistor form an RC charge-discharge circuit at the moment. The insulation resistance is calculated from the RC voltage waveform. According to the scheme, the detection of a battery pack power supply is not needed, and the insulation resistance value between the bus and the vehicle body can be detected before the battery is connected. The resistor is not required to be connected during testing, the insulativity of the capacitor is not reduced, and the output capacitor has a direct-current isolation effect and is safer than a bridge method. However, when the motor works, the voltage change on the bus is injected back to the test circuit as a clutter, so that the calculation result of the insulation resistance is distorted, error data needs to be filtered and removed, and the detection time is prolonged.
Disclosure of Invention
In order to solve the problems, the invention provides a method for detecting the resistance value of a vehicle, which can accurately detect the resistance value of a high-voltage battery bus to the ground of the vehicle body, has short detection time and high detection efficiency and improves the safety of the vehicle.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for detecting the resistance value of a vehicle outputs PWM waves to an RC circuit through an operational amplifier, the RC circuit is formed by sequentially connecting an output capacitor C, an output resistor R and a measured resistor Re in series, the measured resistor Re is the resistance value of a bus of a high-voltage battery of the vehicle to the ground of the vehicle body, and the method comprises the following steps:
1) step 1: RC waveform sampling is carried out between an output resistor R and an output capacitor C, PWM waveforms output by a transport amplifier are collected, the collected RC waveforms and the collected PWM waveforms are input into the resistance value calculation module, and the optimal resistance value Resiso of the measured resistor Re is calculated through Kalman filtering, wherein the resistance value is the resistance value isoR of the high-voltage battery just facing the ground of the vehicle body1And the resistance value isoR of the high-voltage battery negative to the vehicle body ground2A parallel value of (d);
2) step 2: saidThe resistance value calculation module respectively calculates the resistance value isoR of the high-voltage battery right facing the vehicle body ground1And the resistance value isoR of the high-voltage battery negative to the vehicle body ground2；
3) And step 3: the PWM output module calculates the isoR according to the step 21And isoR2And calculating the output duty ratio of the PWM wave and feeding back to the operational amplifier.
Further, step 1 comprises the following substeps:
1) step 1 a): calculating the single-time calculated resistance value Resiso of the measured resistance Re by mapping the surface function1：
Resiso1＝f(Vamplitude，Vsquare，Temp，PWMcycle，t)
Wherein:
f is a mapping surface function;
Vamplitudethe amplitude of the single PWM waveform output for the operational amplifier;
Vsquarea PWM waveform output for the operational amplifier;
PWMcyclethe period of the PWM wave output by the operational amplifier;
temp is the current temperature;
t is clock timing;
2) step 1 b): calculating another single-time calculated resistance value Resiso of the measured resistance Re by a method different from the method for mapping the surface function2；
3) Step 1 c): according to Resiso1And Resiso2And calculating the optimal resistance value Resiso by using Kalman filtering:
wherein:
k represents the number of calculation returns, and k-1 represents the last calculation;
h is Resiso1The difference between the last-back value and the last-back optimum value,
H＝Resiso(k-1)-Resiso1(k-1)；
MaxT () represents Resiso over multiple PWM waveform periods1A maximum value;
MinT () represents Resiso over multiple PWM waveform periods1A minimum value;
z is Resiso2Noise value of, i.e. Resiso over a number of PWM waveform periods2Maximum and Resiso2The difference of the minimum values.
Further, in the step 2, the resistance value isoR of the high-voltage battery opposite to the vehicle body ground is obtained through the following calculation1And the resistance value isoR of the high-voltage battery negative to the vehicle body ground2：
Wherein:
VBatteryis a measurement value of the total voltage of the high-voltage battery;
Vresisois the measurement value of the high-voltage difference of the high-voltage battery opposite to the ground of the vehicle body.
Further, step 3 obtains the output duty ratio of the PWM wave by the following calculation:
PwmFreq＝f(isoR1，isoR2)+2×C×(Resiso+R)
wherein:
PwmFreqthe frequency of the PWM wave output by the PWM output module is the frequency of the PWM wave;
c is the capacitance value of the output capacitor;
and R is the resistance value of the output resistor.
Further, step 1b) calculates Resiso by the following steps2：
1) Step 1 b-1): calculating the single resistance Resisoi of the measured resistor Re in one RC waveform sampling period during charging of the RC circuit2：
Resisoi2＝(Vwave-Vc)/(Vr/R)
Wherein:
vc is the voltage drop across the output capacitor C;
t is the time period of the PWM wave;
Vwaveis the voltage value between the output capacitor and the output resistor;
Vsquarea voltage value of the PWM wave output from the operational amplifier;
r is the resistance value of the output resistor;
c is the capacitance value of the output capacitor;
vr is the voltage drop across the output resistor R;
Vcmaxthe maximum value of the voltage drop of the output capacitor C in the current PWM wave period;
Vcminthe minimum value of the voltage drop of the output capacitor C in the current PWM wave period is obtained;
Resisoi2is the resistance value of a single time in a sampling period of the RC waveform.
2) Step 1 b-2): calculating the single resistance Resisoi of the measured resistor Re in one RC waveform sampling period when the RC circuit discharges2
Resisoi2＝(Vc-Vwave)/(Vr/R)
3) Step 1 b-3): calculating Resisoi in one PWM waveform period2To obtain a calculated result Resiso2：
Wherein:
Tsamplingis the sampling period of the RC waveform.
Furthermore, the output resistor R is formed by connecting a plurality of resistors in series.
Furthermore, the output resistor R is formed by connecting three resistors in series.
The invention has the beneficial effects that: 1) the insulation resistance value of the whole vehicle can be detected in real time; 2) the PWM waveform feedback module is arranged, the period of the PWM waveform can be changed in real time through the change of the resistance value, the period of the waveform is shortened under the condition of ensuring the precision, the detection time is shortened, and the detection efficiency is improved; 3) and capacitance isolation exists between the insulation resistor and the high-voltage bus, so that the safety is high.
Drawings
1) Fig. 1 is a waveform diagram of a PWM wave in the present invention.
2) Fig. 2 is a diagram of RC waveforms collected between the output resistor R and the output capacitor C in the present invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described in detail below with reference to examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
This embodiment will be described below with reference to the drawings.
Fig. 1 is a waveform diagram of a PWM wave in the present invention, and fig. 2 is a waveform diagram of an RC wave collected between an output resistor R and an output capacitor C in the present invention.
A method for detecting the resistance value of a vehicle outputs PWM waves to an RC circuit through an operational amplifier, the RC circuit is formed by sequentially connecting an output capacitor C, an output resistor R and a measured resistor Re in series, and the measured resistor Re is the resistance value of a bus of a high-voltage battery of the whole vehicle to the ground of a vehicle body, and the method is characterized by comprising the following steps of:
1) step 1: RC waveform sampling is carried out between an output resistor R and an output capacitor C, PWM waveforms output by a transport amplifier are collected, the collected RC waveforms and the collected PWM waveforms are input into the resistance value calculation module, and the optimal resistance value Resiso of the measured resistor Re is calculated through Kalman filtering, wherein the resistance value is the resistance value isoR of the high-voltage battery just facing the ground of the vehicle body1And the resistance value isoR of the high-voltage battery negative to the vehicle body ground2A parallel value of (d);
2) step 2: the resistance value calculation module respectively calculates the resistance value isoR of the high-voltage battery just facing the vehicle body ground1And the resistance value isoR of the high-voltage battery negative to the vehicle body ground2；
3) And step 3: the PWM output module calculates the resistance value isoR according to the step 21And isoR2And calculating the output duty ratio of the PWM wave and feeding back to the operational amplifier.
In this embodiment, step 1 includes the following substeps:
1) step 1 a): single meter for calculating measured resistance Re by mapping surface functionCalculating resistance Resiso1：
Resiso1＝f(Vamplitude，Vsquare，Temp，PWMcycle，t)
Wherein:
f is a mapping surface function;
Vamplitudethe amplitude of the single PWM waveform output for the operational amplifier;
Vsquarea PWM waveform output for the operational amplifier;
PWMcyclethe period of the PWM wave output by the operational amplifier;
temp is the current temperature;
t is clock timing;
2) step 1 b): calculating another single-time calculated resistance value Resiso of the measured resistance Re by a method different from the method for mapping the surface function2In the present embodiment, the resolution is calculated by the following steps2：
Step 1 b-1): when the PWM waveform is in a high voltage state, the RC circuit is in a charging state, and the single resistance value Resisoi of the tested resistor Re in one RC waveform sampling period during charging of the RC circuit is calculated2：
Resisoi2＝(Vwave-Vc)/(Vr/R)
Wherein:
vc is the voltage drop across the output capacitor C;
t is the time period of the PWM wave;
Vwaveis the voltage value between the output capacitor and the output resistor;
Vsquarea voltage value of the PWM wave output from the operational amplifier;
r is the resistance value of the output resistor;
c is the capacitance value of the output capacitor;
vr is the voltage drop across the output resistor R;
Vcmaxthe maximum value of the voltage drop of the output capacitor C in the current PWM wave period;
Vcminthe minimum value of the voltage drop of the output capacitor C in the current PWM wave period is obtained;
Resisoi2is the resistance value of a single time in a sampling period of the RC waveform.
Step 1 b-2): when the PWM waveform is at low voltage, the RC circuit is in a discharge state, and the single resistance value Resisoi of the tested resistor Re in one RC waveform sampling period when the RC circuit discharges is calculated2
Resisoi2＝(Vc-Vwave)/(Vr/R)
Step 1 b-3): calculating Resisoi in one PWM waveform period2To obtain a calculated result Resiso2：
Wherein:
Tsamplingis the sampling period of the RC waveform.
3) Step 1 c): according to Resiso1And Resiso2And calculating the optimal resistance value Resiso by using Kalman filtering:
wherein:
k represents the number of calculation returns, and k-1 represents the last calculation;
h is Resiso1The difference between the last-back value and the last-back optimum value,
H＝Resiso(k-1)-Resiso1(k-1)；
MaxT () represents Resiso over multiple PWM waveform periods1A maximum value;
MinT () represents Resiso over multiple PWM waveform periods1A minimum value;
z is Resiso2Noise value of, i.e. Resiso over a number of PWM waveform periods2Maximum and Resiso2The difference of the minimum values.
In this embodiment, in step 2, the resistance value isoR of the high-voltage battery directly facing the vehicle body ground is obtained by the following calculation1And the resistance value isoR of the high-voltage battery negative to the vehicle body ground2：
Wherein:
VBatteryis a measurement value of the total voltage of the high-voltage battery;
Vresisois the measurement value of the high-voltage difference of the high-voltage battery opposite to the ground of the vehicle body.
And 3, obtaining the output duty ratio of the PWM wave through the following calculation:
PwmFreq＝f(isoR1，isoR2)+2×C×(Resiso+R)
wherein:
PwmFreqthe frequency of the PWM wave output by the PWM output module is the frequency of the PWM wave;
c is the capacitance value of the output capacitor;
and R is the resistance value of the output resistor.
The output resistor R is formed by connecting a plurality of resistors in series, and in the embodiment, the output resistor R is formed by connecting three resistors in series.
The invention provides a method for detecting the resistance value of a vehicle, which can detect the insulation resistance value of the whole vehicle in real time, and can change the period of a PWM (pulse-width modulation) waveform in real time through the change of the resistance value by arranging a PWM waveform feedback module, thereby shortening the period of an injected waveform, shortening the detection time and improving the detection efficiency under the condition of ensuring the precision; in addition, capacitance isolation exists between the insulation resistor and the high-voltage bus, and safety is high.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (6)
1. A method for detecting the resistance value of a vehicle outputs PWM waves to an RC circuit through an operational amplifier, the RC circuit is formed by sequentially connecting an output capacitor C, an output resistor R and a measured resistor Re in series, and the measured resistor Re is the resistance value of a bus of a high-voltage battery of the whole vehicle to the ground of a vehicle body, and the method is characterized by comprising the following steps of:
1) step 1: RC waveform sampling is carried out between an output resistor R and an output capacitor C, PWM waveforms output by an operational amplifier are collected, the collected RC waveforms and the collected PWM waveforms are input into a resistance value calculation module, and the optimal resistance value Resiso of a measured resistor Re is calculated through Kalman filtering, wherein the resistance value is the resistance value isoR of a high-voltage battery just facing the ground of a vehicle body1And the resistance value isoR of the high-voltage battery negative to the vehicle body ground2A parallel value of (d);
2) step 2: the resistance value calculation module respectively calculates the resistance value isoR of the high-voltage battery just facing the vehicle body ground1And the resistance value isoR of the high-voltage battery negative to the vehicle body ground2；
3) And step 3: the PWM output module calculates the isoR according to the step 21And isoR2Calculating the output duty ratio of the PWM wave, feeding back to the operational amplifier,
step 1 comprises the following substeps:
1) step 1 a): calculating the single-time calculated resistance value Resiso of the measured resistance Re by mapping the surface function1：
Resiso1＝f(Vamplitude,Vsquare,Temp,PWMcycle,t)
Wherein:
f is a mapping surface function;
Vamplitudethe amplitude of the single PWM waveform output for the operational amplifier;
Vsquarea PWM waveform output for the operational amplifier;
PWMcyclethe period of the PWM wave output by the operational amplifier;
temp is the current temperature;
t is clock timing;
2) step 1 b): calculating another single-time calculated resistance value Resiso of the measured resistance Re by a method different from the method for mapping the surface function2；
3) Step 1 c): according to Resiso1And Resiso2Calculating the optimal resistance value Resi by using Kalman filteringso：
Wherein:
k represents the number of calculation returns, and k-1 represents the last calculation;
h is Resiso1The difference between the last-back value and the last-back optimum value,
H＝Resiso(k-1)-Resiso1(k-1)；
MaxT () represents Resiso over multiple PWM waveform periods1A maximum value;
MinT () represents Resiso over multiple PWM waveform periods1A minimum value;
z is Resiso2Noise value of, i.e. Resiso over a number of PWM waveform periods2Maximum and Resiso2The difference of the minimum values.
2. The method for detecting the vehicle resistance value according to claim 1, wherein the step 2 is to obtain the resistance value isoR of the high-voltage battery facing the vehicle body through the following calculation1And the resistance value isoR of the high-voltage battery negative to the vehicle body ground2：
Wherein:
VBatteryis a measurement value of the total voltage of the high-voltage battery;
Vresisois the measurement value of the high-voltage difference of the high-voltage battery opposite to the ground of the vehicle body.
3. The method for detecting the vehicle resistance value according to claim 1, wherein the step 3 obtains the output duty ratio of the PWM wave by calculating:
PwmFreq＝f(isoR1,isoR2)+2×C×(Resiso+R)
wherein:
PwmFreqthe frequency of the PWM wave output by the PWM output module is the frequency of the PWM wave;
c is the capacitance value of the output capacitor;
and R is the resistance value of the output resistor.
4. The method for detecting the resistance value of a vehicle according to claim 1, wherein the step 1b) calculates Resiso by the following steps2：
1) Step 1 b-1): calculating the single resistance Resisoi of the measured resistor Re in one RC waveform sampling period during charging of the RC circuit2：
Resisoi2＝(Vwave-Vc)/(Vr/R)
Wherein:
vc is the voltage drop across the output capacitor C;
t is the time period of the PWM wave;
Vwaveis the voltage value between the output capacitor and the output resistor;
Vsquarea voltage value of the PWM wave output from the operational amplifier;
r is the resistance value of the output resistor;
c is the capacitance value of the output capacitor;
vr is the voltage drop across the output resistor R;
Vcmaxthe maximum value of the voltage drop of the output capacitor C in the current PWM wave period;
Vcminthe minimum value of the voltage drop of the output capacitor C in the current PWM wave period is obtained;
Resisoi2the resistance value is a single resistance value in a sampling period of a RC waveform;
2) step 1 b-2): calculating the single resistance Resisoi of the measured resistor Re in one RC waveform sampling period when the RC circuit discharges2
Resisoi2＝(Vc-Vwave)/(Vr/R)
3) Step 1 b-3): calculating Resisoi in one PWM waveform period2To obtain a calculated result Resiso2：
Wherein:
Tsamplingis the sampling period of the RC waveform.
5. The method as claimed in claim 1, wherein the output resistor R is formed by connecting a plurality of resistors in series.
6. The method as claimed in claim 5, wherein said output resistor R is formed by connecting three resistors in series.
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