CN114609565A - Sensor fault diagnosis method and device and vehicle - Google Patents
Sensor fault diagnosis method and device and vehicle Download PDFInfo
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- CN114609565A CN114609565A CN202011435088.1A CN202011435088A CN114609565A CN 114609565 A CN114609565 A CN 114609565A CN 202011435088 A CN202011435088 A CN 202011435088A CN 114609565 A CN114609565 A CN 114609565A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R15/00—Details of measuring arrangements of the types provided for in groups G01R17/00 - G01R29/00, G01R33/00 - G01R33/26 or G01R35/00
- G01R15/14—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks
- G01R15/20—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks using galvano-magnetic devices, e.g. Hall-effect devices, i.e. measuring a magnetic field via the interaction between a current and a magnetic field, e.g. magneto resistive or Hall effect devices
- G01R15/202—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks using galvano-magnetic devices, e.g. Hall-effect devices, i.e. measuring a magnetic field via the interaction between a current and a magnetic field, e.g. magneto resistive or Hall effect devices using Hall-effect devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/389—Measuring internal impedance, internal conductance or related variables
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Abstract
The embodiment of the application provides a sensor fault diagnosis method and device and a vehicle, and belongs to the technical field of automobiles. The battery system is provided with: a battery and a hall sensor for measuring a current of the battery, the method comprising: obtaining comparison internal resistance of a battery at different temperatures, wherein the comparison internal resistance is obtained by off-line training under the condition that the battery does not work in a vehicle; acquiring a first dynamic internal resistance of the battery when the battery works at the current temperature; obtaining a target comparison internal resistance corresponding to the current temperature according to the comparison internal resistances at different temperatures; and determining the working state of the Hall sensor according to the relation between the ratio of the first dynamic internal resistance to the target comparison internal resistance and a preset range. By using the sensor fault diagnosis method provided by the application, the coverage rate of Hall sensor diagnosis can be improved.
Description
Technical Field
The embodiment of the application relates to the technical field of automobiles, in particular to a sensor fault diagnosis method and device and a vehicle.
Background
The hall sensor is a magnetic field sensor made according to the hall effect, and can be used for monitoring the current in the battery. In the battery system, when the Hall sensor monitors the current in the battery, if the Hall sensor has other types of faults or the Hall sensor stops working, the current in the battery cannot be effectively monitored, so that the battery is easy to continuously overflow, and the system has great hidden danger
Therefore, in the prior art, diagnosis of the hall sensor is generally required, and the diagnosis generally adopts a method of diagnosing the power supply of the hall sensor in real time or initializing and diagnosing a current neutral point after sampling to determine whether the hall sensor is in fault. However, the above method cannot detect other types of faults of the hall sensor or fault states of the hall sensor stopping working, which causes a problem of low fault diagnosis coverage rate of the hall sensor.
Disclosure of Invention
The embodiment of the application provides a sensor fault diagnosis method and device and a vehicle, and aims to solve the problem of fault diagnosis coverage rate of a Hall sensor.
A first aspect of an embodiment of the present application provides a sensor fault diagnosis method, including a battery system, where the battery system includes: a battery and a hall sensor for measuring a current of the battery, the method comprising:
obtaining comparison internal resistance of a battery at different temperatures, wherein the comparison internal resistance is obtained by off-line training under the condition that the battery does not work in a vehicle;
acquiring a first dynamic internal resistance of the battery when the battery works at the current temperature;
obtaining a target comparison internal resistance corresponding to the current temperature according to the comparison internal resistances at different temperatures;
and determining the working state of the Hall sensor according to the relation between the ratio of the first dynamic internal resistance to the target comparison internal resistance and a preset range.
Optionally, determining the operating state of the hall sensor according to a relationship between a ratio of the first dynamic internal resistance to the target comparison internal resistance and a preset range, where the relationship includes:
if the ratio of the first dynamic internal resistance to the target comparison internal resistance is smaller than a first preset threshold value or larger than a second preset threshold value, the Hall sensor is abnormal;
and if the ratio of the first dynamic internal resistance to the target comparison internal resistance is higher than the first preset threshold value and lower than the second preset threshold value, the Hall sensor is normal.
Optionally, the comparison internal resistance obtained when the off-line training is performed under the condition that the battery is not operated in the vehicle is obtained according to the following steps:
periodically collecting a first voltage and a first current when the battery works at a preset temperature;
subtracting the first voltages measured in two adjacent times to obtain a first voltage difference;
subtracting the first currents measured in two adjacent times to obtain a first current difference;
obtaining a comparison internal resistance at the preset temperature according to each first voltage difference and each first current difference;
and changing the preset temperature to obtain the comparison internal resistance of the battery at different preset temperatures.
Optionally, obtaining a first dynamic internal resistance of the battery when the battery operates at the current temperature includes:
periodically collecting a second voltage and a second current at the current temperature when the battery works;
subtracting the second voltages measured in two adjacent times to obtain a second voltage difference;
subtracting the second currents measured in two adjacent times to obtain a second current difference;
and obtaining the first dynamic internal resistance at the current temperature according to the second voltage differences and the second current differences.
Optionally, obtaining the first dynamic internal resistance at the current temperature according to each of the second voltage differences and each of the second current differences, including:
obtaining a second dynamic internal resistance at the current temperature according to the second voltage differences and the second current differences;
obtaining the measurement noise at the current temperature according to the second voltage difference, the second current difference and the second dynamic internal resistance;
obtaining a noise expected value at the current temperature according to the measured noise;
judging whether the absolute value of the second voltage difference is larger than a preset threshold value, if so, storing the second voltage difference, the second current difference, the second dynamic internal resistance and the expected noise value at the current temperature into a buffer area;
and when the number of the second dynamic internal resistances in the buffer area is equal to the preset number, calculating the second voltage difference, the second current difference and the expected noise value by a weighted least square method to obtain the first dynamic internal resistance at the current temperature.
Optionally, obtaining a target comparison internal resistance corresponding to the current temperature according to the comparison internal resistances at different temperatures, further comprising:
inquiring the ideal internal resistance corresponding to the current temperature according to the comparison internal resistances at different temperatures;
and carrying out aging coefficient compensation on the ideal internal resistance to obtain the target comparison internal resistance.
Optionally, the method further comprises:
and when the working state of the Hall sensor is normal, emptying the buffer area.
Optionally, the method further comprises:
collecting the temperature around the battery through a plurality of temperature collecting devices;
wherein the current temperature is an average value of the temperatures acquired by the plurality of temperature acquisition devices.
A second aspect of the embodiments of the present application provides a sensor fault diagnosis device, including a battery system, including a battery and a hall sensor in the battery system, the hall sensor is used for measuring a current of the battery, the device includes:
the comparison internal resistance obtaining unit is used for obtaining comparison internal resistance of the battery at different temperatures, wherein the comparison internal resistance is obtained by off-line training under the condition that the battery does not work in a vehicle;
the dynamic internal resistance acquisition unit is used for acquiring a first dynamic internal resistance of the battery when the battery works at the current temperature;
the query unit is used for obtaining a target comparison internal resistance corresponding to the current temperature according to the comparison internal resistances at different temperatures;
and the judging unit is used for determining the working state of the Hall sensor according to the relation between the ratio of the first dynamic internal resistance to the target comparison internal resistance and a preset range.
A third aspect of the embodiments of the present application provides a vehicle including a sensor malfunction diagnosis apparatus as provided in the second aspect of the embodiments of the present application.
By adopting the sensor fault diagnosis method provided by the application, whether the battery is in a normal state or not can be determined according to the relation between the ratio of the first dynamic internal resistance of the battery working at the current temperature to the target comparison internal resistance of the battery after off-line training and the preset range, and the battery and the Hall sensor jointly form a battery system, so that the working state of the Hall sensor can be determined based on the working state of the battery without directly detecting from the Hall sensor, and the diagnosis coverage rate of the Hall sensor is improved. Furthermore, when the Hall sensor breaks down, the fault of the Hall sensor can be found in time based on the working state of the battery, so that the phenomenon that the battery continuously overflows due to the fault of the Hall sensor is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the description of the embodiments of the present application will be briefly described below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings may be obtained according to these drawings without inventive labor.
FIG. 1 is a flow chart illustrating steps of a method for diagnosing sensor faults according to an embodiment of the present application;
fig. 2 is a flowchart illustrating steps of obtaining a first dynamic internal resistance according to an embodiment of the present application;
fig. 3 is a schematic diagram of a sensor failure diagnosis apparatus according to still another embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Example one
Referring to fig. 1, step S1 is to obtain comparison internal resistances of a battery at different temperatures, wherein the comparison internal resistances are obtained by off-line training when the battery is not operated in a vehicle.
The off-line training refers to a process of simulating the working state of the battery on the automobile when the battery is separated from the automobile and is in an independent state.
In addition, the comparison internal resistance obtained when the battery is not operated in the vehicle and is subjected to offline training is obtained according to the following sub-steps:
and step S11, periodically collecting a first voltage and a first current when the battery works at a preset temperature.
In this step, the battery may be charged to a preset electric quantity, for example, 90% electric quantity or 95% electric quantity. And then the battery is placed in a constant temperature device, and the constant temperature device is adjusted to enable the battery to be located in the environment with the preset temperature. After the battery reaches the preset temperature regulated by the constant temperature device, dynamic current is led in at the load end of the battery, and the working temperature of the battery is ensured to be constant through the heat management device, so that the battery is in a working state with constant temperature. And then, periodically acquiring a first voltage of the battery when the battery works at a preset temperature by using the voltage measuring device, and periodically acquiring a first current of the battery when the battery works at the preset temperature by using the current measuring device. The collection period of the first voltage and the first current may be 200 ms.
Wherein the thermostatic device may be a thermostat, and the thermal management device may include a heater, a condenser, a radiator, and the like; the voltage measuring device may be a voltmeter; the current measuring device may be an ammeter.
And step S12, subtracting the first voltages measured in two adjacent times to obtain a first voltage difference.
In this step, the first voltage difference is obtained by the following formula: delta Ui＝Ui-Ui-1
Wherein, Delta UiRepresenting a first voltage difference; u shapeiRepresenting the current measured voltage; u shapei-1Representing the last measured voltage.
And step S13, subtracting the first currents measured in two adjacent times to obtain a first current difference.
In this step,. DELTA.Ii＝Ii-Ii-1
Wherein, Delta IiIs a first current difference; i isiRepresents the current currently measured; i isi-1Representing the current measured last time.
And step S14, obtaining comparison internal resistance at the preset temperature according to the first voltage differences and the first current differences.
In this step, the comparison internal resistance is obtained by the following formula: Δ Ri＝ΔUi/ΔIi
Wherein, Δ RiIndicating the reference internal resistance at the preset temperature.
And step S15, changing the preset temperature to obtain the comparison internal resistance of the battery at different preset temperatures.
Because the plurality of first voltages and the plurality of first currents are periodically collected at the current preset temperature, a plurality of first voltage differences and a plurality of first current differences are generated, and accordingly, a plurality of comparison internal resistances are obtained at the current preset temperature.
And respectively performing off-line training on the plurality of comparison internal resistances by using a gradient descent method of the forgetting factor to obtain the comparison internal resistances at the current preset temperature.
Wherein, the calculation formula of the gradient descent method is as follows:
wherein R (t) is the comparison internal resistance at the preset temperature at the moment t; r (t-1) is the comparison internal resistance at the preset temperature at the t-1 moment; Δ u (t) is the first voltage difference at time t; Δ i (t) is a first current difference at time t; r (t) is the inverse of the convergence step at time t.
In the above calculation formula, the reciprocal of the convergence step is calculated as:
r(t)＝λr(t-1)+‖ΔI(t)‖2
wherein r (t) is the reciprocal of the convergence step at time t; r (t-1) is the inverse of the convergence step at time t-1; lambda is a forgetting factor, and the value of lambda is 0.9; Δ I (t) is the first current difference at time t.
By adjusting the thermostat, a plurality of reference internal resistances at different temperatures can be obtained. For example, when the thermostat is adjusted to a temperature of 10 ℃, the internal resistance is 10 Ω; and when the temperature is 20 ℃, contrasting the internal resistance to 30 omega, and the like, after obtaining a plurality of contrasting internal resistances at different temperatures, corresponding the different temperatures to different contrasting internal resistances to form a data table and storing the data table in a database.
Step S2: and acquiring a first dynamic internal resistance of the battery when the battery works at the current temperature. Wherein, step S2 includes:
substep S21: and periodically acquiring a second voltage and a second current at the current temperature when the battery works.
In the step, a second voltage and a second current at the current temperature are periodically collected through a battery management system; the temperature acquisition device is used for periodically acquiring the temperature of the battery during working. When the battery has a plurality of temperature collection devices, the current temperature is an average value of the temperatures collected by the plurality of temperature collection devices, for example, there are 5 temperature collection devices around the battery, and the temperatures collected by the 5 temperature collection devices are 20 ℃, 21 ℃, 22 ℃, 19 ℃ and 18 ℃, respectively, then the current temperature is (20+21+22+19+18)/5 ═ 20, then the current temperature is 20 ℃. The temperature is acquired by the plurality of temperature acquisition devices, so that the error of determining the current temperature can be reduced.
The period of voltage acquisition, current acquisition and temperature acquisition can be 500 ms.
Substep S22: and subtracting the second voltages measured in two adjacent times to obtain a second voltage difference.
In this step, a second voltage difference is calculated by the battery management system, and the second voltage difference is obtained by the following formula: delta UK＝UK-UK-1；
Wherein, Delta UkRepresenting a second voltage difference; u shapekRepresenting the current measured voltage; u shapek-1Representing the last measured voltage.
Substep S23: and subtracting the second currents measured in two adjacent times to obtain a second current difference.
In this step, a second current difference is calculated by the battery management system, and the second current difference is obtained by the following formula: delta Ik＝Ik-IK-1；
Wherein, Delta IkIs a first current difference; i iskRepresents the current currently measured; i isk-1Representing the current measured last time.
Substep S24: and obtaining the first dynamic internal resistance at the current temperature according to the second voltage differences and the second current differences.
Wherein, step S24 further includes the following substeps:
substep S241: and obtaining a second dynamic internal resistance at the current temperature according to the second voltage differences and the second current differences.
In this step, the comparison internal resistance is obtained by the following formula: Δ Rk2＝ΔUk/ΔIk；
Wherein, Δ Rk2Indicating a second dynamic internal resistance at the present temperature.
Substep S242: and obtaining the measurement noise at the current temperature according to the second voltage difference, the second current difference and the second dynamic internal resistance.
In this step, the measurement noise at the current temperature is obtained by the following formula:
V＝ΔUk-ΔRK2*ΔIk；
wherein, Delta UkRepresenting a second voltage difference; Δ Rk2Representing a second dynamic internal resistance at the current temperature; delta IkIs a first current difference; v represents the measurement noise at the current temperature.
Substep S243: and obtaining the expected noise value at the current temperature according to the measured noise.
In this step, a corresponding relationship between the measurement noise and the expected noise value may be pre-established in the database, and when the expected noise value needs to be obtained, the expected noise value corresponding to the measurement noise is obtained by looking up a table.
Substep S244: and judging whether the absolute value of the second voltage difference is greater than a preset threshold value, and if so, storing the second voltage difference, the second current difference, the second dynamic internal resistance and the expected noise value at the current temperature into a buffer area.
In this step, it is determined whether the absolute value of the second voltage difference is greater than a predetermined threshold, and if not, the process returns to substep S21 and performs the subsequent steps.
Because the value of the second voltage difference is too small, the computer can ignore the too small second voltage difference, thereby causing misjudgment. Therefore, in order to improve the accuracy of calculating the first dynamic internal resistance in the subsequent step, it is determined whether the absolute value of the second voltage difference is greater than the preset threshold, if so, data is stored in the buffer, and if not, the subsequent step is not executed, and accordingly, the sub-step S21 is returned to collect the second voltage and the second current again, thereby avoiding the erroneous determination of the computer.
In addition, the number of the two data types stored in the buffer area is greater than or equal to 10, the number of the three data types stored in the buffer area is greater than or equal to 2, the buffer area is of a queue structure, and the data updating mode is first-in first-out. The data types refer to current, temperature, voltage, noise expectation, and the like.
Substep S245: and when the number of the second dynamic internal resistances in the buffer area is equal to a preset number, calculating the second voltage difference, the second current difference and the expected noise value by a weighted least square method to obtain the first dynamic internal resistance at the current temperature.
In this step, it is determined whether the number of the second dynamic internal resistances in the buffer area is greater than or equal to a preset number n. If so, the first dynamic internal resistance delta R under the current temperature can be obtained by utilizing the second voltage difference, the second current difference and the expected noise value which are stored in the buffer area through the following weighted least square method calculation formulak1(ii) a If not, returning to the substep S21, continuing to periodically collect the second voltage and the second current of the battery at the current temperature, and executing the subsequent steps.
The calculation formula of the weighted least square method is as follows:
ΔRk1＝(HTQ-1H)-1HTQ-1ΔU；
wherein, Δ Rk1Is a first dynamic internal resistance; h is a coefficient matrix formed by the second current difference; hTA transposed matrix which is a coefficient matrix composed of the second current differences; delta U is an observation matrix formed by the second voltage difference; q-1Is the inverse of the weight matrix.
In the above calculation formula of the weighted least square method, the calculation formula of the transpose matrix of the coefficient matrix formed by the second current difference is:
HT＝[ΔIk1ΔIk2…ΔIkn]；
wherein HTA transposed matrix of a matrix of coefficients formed by the second current differences, Δ IknIs the nth second current difference.
In the calculation formula of the weighted least square method, the calculation formula of the weight matrix is as follows:
Q＝diag(σ1 2，σ2 2，…σn 2)；
wherein Q is a weight matrix; sigman 2Is the nth noise expectation.
When the number of the second dynamic internal resistances in the buffer area is equal to the preset number, the first dynamic internal resistances at the current temperature are obtained based on the data in the buffer area, so that the calculation accuracy can be improved, and meanwhile, the first dynamic internal resistances are calculated based on a weighted least square method calculation formula, and the accuracy of obtaining the first dynamic internal resistances can also be improved.
Step S3: and obtaining a target comparison internal resistance corresponding to the current temperature according to the comparison internal resistances at different temperatures.
In this step, since it has been stated in step S15 that different temperatures and different comparison internal resistances are associated with each other and stored in the database, when the target comparison internal resistance is obtained, the database only needs to be queried for the target comparison internal resistance corresponding to the current temperature. For example, there are 5 temperature collection devices around the battery, and the temperatures collected by the 5 temperature collection devices are 20 ℃, 21 ℃, 22 ℃, 19 ℃ and 18 ℃, respectively, then the current temperature is (20+21+22+19+18)/5 is 20, then the current temperature is 20 ℃; then, according to the fact that the current temperature is 20 ℃, in the data table in the step S15, the target comparison internal resistance corresponding to 20 ℃ is found to be 30 Ω.
In consideration of the influence of the service life attenuation of the battery on the internal resistance of the battery, the aging coefficient of the target comparison resistor in an ideal state can be compensated when the battery is shipped, so that the aged target comparison internal resistance can be obtained. Specifically, the aging coefficient is compensated through the following steps:
substep S31: and inquiring the ideal internal resistance corresponding to the current temperature according to the comparison internal resistances at different temperatures.
In this step, the ideal internal resistance refers to the resistance value of the battery when leaving the factory.
Substep S32: and carrying out aging coefficient compensation on the ideal internal resistance to obtain the target comparison internal resistance.
In this step, the target comparison internal resistance refers to the resistance value of the aged battery, that is, the resistance value of the battery after leaving the factory for a period of time, and is specifically calculated by the following formula: Δ Ri＝ΔRoff/SOH；
Wherein, Δ RiComparing the internal resistance as a target, namely the resistance value of the aged battery; Δ RoffThe ideal internal resistance is the battery resistance value when leaving the factory; SOH is the ratio of the current capacity of the battery to the factory capacity.
Step S4: and determining the working state of the Hall sensor according to the relation between the ratio of the first dynamic internal resistance to the target comparison internal resistance and a preset range.
When the working state of the Hall sensor is specifically determined, if the first dynamic internal resistance delta Rk1Comparing the internal resistance with the target value delta RiIf the ratio of the current to the voltage is smaller than a first preset threshold or larger than a second preset threshold, the battery is in an abnormal working state, and the Hall sensor breaks down; if the first dynamic internal resistance Delta Rk1A ratio Δ R to the target reference internal resistanceiAnd when the voltage is higher than the first preset threshold and lower than the second preset threshold, the battery is in a normal working state, and the Hall sensor is normal.
Wherein the first dynamic internal resistance DeltaRk1Comparing the internal resistance with the target value delta RiThe ratio of G to Δ R is the gaink1/ΔRi(ii) a If the value of the gain G is greater than or equal to a first preset threshold value and less than or equal to a second preset threshold value, for example, under the condition that G is greater than or equal to 0.6 and less than or equal to 1.4, it indicates that the battery is in a normal working state, and at this time, the Hall sensor is normal; if the value of the gain G is smaller than the first predetermined threshold or larger than the second predetermined threshold, for example, in the case that G < 0.6, or G is larger than 1.4Under the condition, the battery is in an abnormal working state, and the Hall sensor is in a fault.
In addition, when the value of the gain G is above a first preset threshold and below a second preset threshold, which indicates that the Hall sensor is normal, the data in the buffer area is emptied to store the next data; when the value of the gain G is smaller than a first preset threshold value or larger than a second preset threshold value, which indicates that the Hall sensor is abnormal, the fault of the Hall sensor is reported in time, and a worker is informed to prepare to power off the vehicle.
According to the sensor fault diagnosis method provided by the application, whether the battery is in a normal state or not can be determined according to the relation between the ratio of the first dynamic internal resistance of the battery working at the current temperature to the target comparison internal resistance of the battery after offline training and the preset range, and the battery and the Hall sensor jointly form a battery system, so that whether the Hall sensor is in a fault or not can be determined according to the normal working state of the battery, the detection is not directly carried out from the Hall sensor, and the diagnosis coverage rate of the Hall sensor is improved. Furthermore, when the Hall sensor breaks down, the fault of the Hall sensor can be found in time based on the working state of the battery, so that the continuous overcurrent of the battery caused by the fault of the Hall sensor is avoided.
Example two
Referring to fig. 3, based on the same inventive concept, another embodiment of the present application provides a sensor fault diagnosis apparatus, including a battery system, where the battery system includes a battery and a hall sensor, and the hall sensor is used to measure a current of the battery, and the apparatus includes:
the comparison internal resistance obtaining unit is used for obtaining comparison internal resistance of the battery at different temperatures, wherein the comparison internal resistance is obtained by off-line training under the condition that the battery does not work in a vehicle;
the dynamic internal resistance acquisition unit is used for acquiring a first dynamic internal resistance of the battery when the battery works at the current temperature;
the query unit is used for obtaining a target comparison internal resistance corresponding to the current temperature according to the comparison internal resistances at different temperatures;
and the judging unit is used for determining the working state of the Hall sensor according to the relation between the ratio of the first dynamic internal resistance to the target comparison internal resistance and a preset range.
In a possible implementation, the determining unit includes:
the sensor abnormity determining unit is used for determining that the Hall sensor is abnormal when the ratio of the first dynamic internal resistance to the target comparison internal resistance is smaller than a first preset threshold value or larger than a second preset threshold value;
and the sensor normality determining unit is used for determining that the Hall sensor is normal when the ratio of the first dynamic internal resistance to the target comparison internal resistance is higher than the first preset threshold and lower than the second preset threshold.
In one possible embodiment, the comparison internal resistance obtaining unit includes:
the first acquisition unit is used for periodically acquiring first voltage and first current when the battery works at a preset temperature;
the first voltage calculation unit subtracts the first voltages measured in two adjacent times to obtain a first voltage difference;
the first current calculating unit subtracts the first currents measured in two adjacent times to obtain a first current difference;
the comparison internal resistance determining unit is used for obtaining comparison internal resistance at the preset temperature according to the first voltage differences and the first current differences;
and the temperature changing unit is used for changing the preset temperature and acquiring the comparison internal resistance of the battery at different preset temperatures.
In one possible embodiment, the dynamic internal resistance obtaining unit includes:
the second acquisition unit is used for periodically acquiring a second voltage and a second current at the current temperature when the battery works;
the second voltage calculation unit subtracts the second voltages measured in two adjacent times to obtain a second voltage difference;
the second current calculating unit subtracts the second currents measured in two adjacent times to obtain a second current difference;
and the dynamic internal resistance determining unit is used for obtaining a first dynamic internal resistance at the current temperature according to the second voltage differences and the second current differences.
In one possible embodiment, the query unit includes:
the second dynamic internal resistance calculation unit is used for obtaining a second dynamic internal resistance at the current temperature according to the second voltage differences and the second current differences;
the noise obtaining unit is used for obtaining the measurement noise at the current temperature according to the second voltage difference, the second current difference and the second dynamic internal resistance;
the noise expected value acquisition unit is used for acquiring a noise expected value at the current temperature according to the measured noise;
the voltage judging unit is used for judging whether the absolute value of the second voltage difference is larger than a preset threshold value or not, and if so, storing the second voltage difference, the second current difference, the second dynamic internal resistance and the expected noise value at the current temperature into a buffer area;
and the weighting calculation unit is used for calculating the second voltage difference, the second current difference and the expected noise value by a weighted least square method when the number of the second dynamic internal resistances in the buffer area is equal to a preset number, so as to obtain the first dynamic internal resistance at the current temperature.
In a possible implementation, the query unit further includes:
the ideal internal resistance query unit is used for querying the ideal internal resistance corresponding to the current temperature according to the comparison internal resistances at different temperatures;
and the aging compensation unit is used for carrying out aging coefficient compensation on the ideal internal resistance to obtain the target comparison internal resistance.
In a possible embodiment, the apparatus further comprises:
and the data emptying unit is used for emptying the buffer area when the working state of the Hall sensor is normal.
In a possible embodiment, the apparatus further comprises:
and the temperature acquisition unit acquires the temperature around the battery through a plurality of temperature acquisition devices.
EXAMPLE III
Based on the same inventive concept, another embodiment of the present application provides a vehicle including a sensor fault diagnosis apparatus as provided in the second embodiment of the present application.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one of skill in the art, embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the true scope of the embodiments of the application.
Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The sensor fault diagnosis method, the sensor fault diagnosis device and the vehicle provided by the application are introduced in detail, specific examples are applied in the description to explain the principles and the embodiments of the application, and the description of the embodiments is only used for assisting in understanding the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. A sensor fault diagnosis method, characterized by comprising a battery system including: a battery and a hall sensor for measuring a current of the battery, the method comprising:
obtaining comparison internal resistance of a battery at different temperatures, wherein the comparison internal resistance is obtained by off-line training under the condition that the battery does not work in a vehicle;
acquiring a first dynamic internal resistance of the battery when the battery works at the current temperature;
obtaining a target comparison internal resistance corresponding to the current temperature according to the comparison internal resistances at different temperatures;
and determining the working state of the Hall sensor according to the relation between the ratio of the first dynamic internal resistance to the target comparison internal resistance and a preset range.
2. The method of claim 1, wherein determining the operating state of the hall sensor based on the relationship between the ratio of the first dynamic internal resistance to the target comparative internal resistance and a preset range comprises:
if the ratio of the first dynamic internal resistance to the target comparison internal resistance is smaller than a first preset threshold value or larger than a second preset threshold value, the Hall sensor is abnormal;
and if the ratio of the first dynamic internal resistance to the target comparison internal resistance is higher than the first preset threshold value and lower than the second preset threshold value, the Hall sensor is normal.
3. The method of claim 1, wherein the reference internal resistance obtained when the battery is trained offline without operating in a vehicle is obtained by:
periodically collecting a first voltage and a first current when the battery works at a preset temperature;
subtracting the first voltages measured in two adjacent times to obtain a first voltage difference;
subtracting the first currents measured in two adjacent times to obtain a first current difference;
obtaining a comparison internal resistance at the preset temperature according to each first voltage difference and each first current difference;
and changing the preset temperature to obtain the comparison internal resistance of the battery at different preset temperatures.
4. The method of claim 2, wherein obtaining a first dynamic internal resistance of the battery when operating at a current temperature comprises:
periodically collecting a second voltage and a second current at the current temperature when the battery works;
subtracting the second voltages measured in two adjacent times to obtain a second voltage difference;
subtracting the second currents measured in two adjacent times to obtain a second current difference;
and obtaining the first dynamic internal resistance at the current temperature according to the second voltage differences and the second current differences.
5. The method of claim 4, wherein obtaining a first dynamic internal resistance at the current temperature based on each of the second voltage differences and each of the second current differences comprises:
obtaining a second dynamic internal resistance at the current temperature according to the second voltage differences and the second current differences;
obtaining the measurement noise at the current temperature according to the second voltage difference, the second current difference and the second dynamic internal resistance;
obtaining a noise expected value at the current temperature according to the measured noise;
judging whether the absolute value of the second voltage difference is larger than a preset threshold value, if so, storing the second voltage difference, the second current difference, the second dynamic internal resistance and the expected noise value at the current temperature into a buffer area;
and when the number of the second dynamic internal resistances in the buffer area is equal to a preset number, calculating the second voltage difference, the second current difference and the expected noise value by a weighted least square method to obtain the first dynamic internal resistance at the current temperature.
6. The method of claim 5, wherein obtaining a target comparison internal resistance corresponding to the current temperature from the comparison internal resistances at the different temperatures further comprises:
inquiring the ideal internal resistance corresponding to the current temperature according to the comparison internal resistances at different temperatures;
and carrying out aging coefficient compensation on the ideal internal resistance to obtain the target comparison internal resistance.
7. The method of claim 5, further comprising:
and when the working state of the Hall sensor is normal, emptying the buffer area.
8. The method of claim 1, further comprising:
acquiring the temperature around the battery through a plurality of temperature acquisition devices;
wherein the current temperature is an average value of the temperatures acquired by the plurality of temperature acquisition devices.
9. A sensor fault diagnosis apparatus, characterized by comprising a battery system including a battery and a hall sensor for measuring a current of the battery, the apparatus comprising:
the comparison internal resistance obtaining unit is used for obtaining comparison internal resistance of the battery at different temperatures, wherein the comparison internal resistance is obtained by off-line training under the condition that the battery does not work in a vehicle;
the dynamic internal resistance acquisition unit is used for acquiring a first dynamic internal resistance of the battery when the battery works at the current temperature;
the query unit is used for obtaining a target comparison internal resistance corresponding to the current temperature according to the comparison internal resistances at different temperatures;
and the judging unit is used for determining the working state of the Hall sensor according to the relation between the ratio of the first dynamic internal resistance to the target comparison internal resistance and a preset range.
10. A vehicle characterized by comprising a sensor malfunction diagnosis apparatus according to claim 9.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117214741A (en) * | 2023-11-09 | 2023-12-12 | 杭州高特电子设备股份有限公司 | Battery acquisition temperature abnormality diagnosis method and battery system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117214741A (en) * | 2023-11-09 | 2023-12-12 | 杭州高特电子设备股份有限公司 | Battery acquisition temperature abnormality diagnosis method and battery system |
| CN117214741B (en) * | 2023-11-09 | 2024-05-28 | 杭州高特电子设备股份有限公司 | Battery acquisition temperature abnormality diagnosis method and battery system |
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