JP2005332777A - Warm-up control unit of battery - Google Patents
Warm-up control unit of battery Download PDFInfo
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- JP2005332777A JP2005332777A JP2004152449A JP2004152449A JP2005332777A JP 2005332777 A JP2005332777 A JP 2005332777A JP 2004152449 A JP2004152449 A JP 2004152449A JP 2004152449 A JP2004152449 A JP 2004152449A JP 2005332777 A JP2005332777 A JP 2005332777A
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- 238000004364 calculation method Methods 0.000 claims description 32
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- 230000020169 heat generation Effects 0.000 claims description 8
- 230000006866 deterioration Effects 0.000 claims description 6
- 238000010278 pulse charging Methods 0.000 claims description 6
- 238000010792 warming Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 abstract description 3
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- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/24—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries
- B60L58/27—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries by heating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/13—Maintaining the SoC within a determined range
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/54—Drive Train control parameters related to batteries
- B60L2240/545—Temperature
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/54—Drive Train control parameters related to batteries
- B60L2240/547—Voltage
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Secondary Cells (AREA)
- Hybrid Electric Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
Description
本発明は、低温時にバッテリの充放電を制御してバッテリの内部発熱による暖機を行なうバッテリのウォームアップ制御装置に関する。 The present invention relates to a battery warm-up control device that controls charging / discharging of a battery at a low temperature to warm up the battery by internal heat generation.
一般に、バッテリは、温度が低下すると容量が低下するため、電気自動車やハイブリッド自動車等の走行用電力源として用いられた場合、始動不良や制御性の悪化を招く可能性がある。このため、従来から、ヒータやバッテリの内部抵抗を利用した発熱により、低温時にバッテリを暖機する技術が種々提案されている。 In general, since the capacity of a battery decreases when the temperature decreases, there is a possibility that starting failure or deterioration of controllability may be caused when the battery is used as a power source for traveling such as an electric vehicle or a hybrid vehicle. For this reason, conventionally, various techniques for warming up the battery at a low temperature by heat generation utilizing the internal resistance of the heater or the battery have been proposed.
例えば、特許文献1には、バッテリの温度が所定温度未満である場合、バッテリの充電又は放電の少なくとも一方を行ない、また、放電時には、バッテリの側部に配置された抵抗器により放電電力を供給して外部からバッテリを暖める技術が開示されている。
For example, in
特許文献2には、バッテリの温度と電圧と電流とから充電可能電力あるいは放電可能電力を演算し、その演算結果と予め定められた充電電力あるいは放電電力のそれぞれの所望値により、バッテリの暖機運転の可否を決定する技術が開示されている。 In Patent Document 2, chargeable power or dischargeable power is calculated from the temperature, voltage, and current of the battery, and the warm-up of the battery is calculated based on the calculation result and each desired value of the predetermined charge power or discharge power. A technique for determining whether or not to drive is disclosed.
更に、特許文献3には、バッテリの温度が所定値以下の場合、バッテリの充電状態が予め設定された閾値以上のときには、閾値以上の所定領域内で充放電を繰り返し、充電状態が閾値未満のときには、閾値未満の所定領域内で充放電を繰り返す技術が開示されている。
しかしながら、特許文献1に開示の技術は、低温時に充放電の目安として残存容量(充電状態;SOC)100%付近を基準としているため、バッテリ保護の観点から望ましくないばかりでなく、電圧・電流の細かい制御が困難である。また、低温でバッテリの内部抵抗が大きい場合には、最初からフル容量での充電は困難であると推測される。更には、バッテリの外部にヒータを使用した場合、バッテリ本体に霜付きが発生する虞がある。
However, since the technique disclosed in
特許文献2に開示の技術は、電気車のモータ単体での充放電制御であり、ハイブリッド車へ適用する場合には、装置及び制御が複雑化し、適用が困難である。更に、特許文献3に開示の技術は、バッテリの温度上昇のスピードが車両の運転状況によって大きく左右されるため、短時間で或る程度の急激な発熱が継続的に必要な低温時は(例えば、0°C以下)、すぐに熱が奪われてしまい、効率が低下する虞がある。
The technology disclosed in Patent Document 2 is charge / discharge control by a single motor of an electric vehicle, and when applied to a hybrid vehicle, the apparatus and control are complicated and difficult to apply. Furthermore, since the speed of the battery temperature increase greatly depends on the driving condition of the vehicle, the technique disclosed in
本発明は上記事情に鑑みてなされたもので、低温時にバッテリの状態に応じて充放電を効率良く制御して内部発熱による温度上昇を促進し、バッテリ容量を早期に回復させることのできるバッテリのウォームアップ制御装置を提供することを目的としている。 The present invention has been made in view of the above circumstances, and it is possible to efficiently control charging / discharging according to the state of the battery at a low temperature, promote a temperature increase due to internal heat generation, and recover the battery capacity early. An object is to provide a warm-up control device.
上記目的を達成するため、本発明によるバッテリのウォームアップ制御装置は、低温時にバッテリの充放電を制御して上記バッテリの内部発熱による暖機を行なうバッテリのウォームアップ制御装置において、上記バッテリの残存容量を、上記バッテリの充放電電流と開放電圧とに基づいて演算する残存容量演算手段と、上記バッテリの入出力可能パワー量を、上記バッテリの充放電電流と内部インピーダンスとに基づいて演算するパワー量演算手段と、少なくとも上記バッテリの温度と上記残存容量演算手段で演算した残存容量と上記パワー量演算手段で演算した入出力可能パワー量とを含むバッテリ状態に基づいて、上記バッテリの充電と放電とを交互にパルス状に繰返す充放電パターンを可変設定する充放電パターン設定手段と、上記バッテリの温度に応じて、上記充放電パターンの最大振幅を規制するリミッタ値を可変設定するリミッタ値設定手段と、上記バッテリの温度が規定温度未満のとき、上記充放電パターン設定手段で設定した充放電パターンによる上記バッテリの充放電を、上記リミッタ値設定手段で設定したリミッタ値の範囲内で実行させ、上記バッテリの温度を上昇させるウォームアップ制御手段とを備えたことを特徴とする。 In order to achieve the above object, a battery warm-up control device according to the present invention is a battery warm-up control device that controls charging / discharging of a battery at a low temperature to warm up the battery due to internal heat generation. Remaining capacity calculation means for calculating the capacity based on the charge / discharge current and open circuit voltage of the battery, and power for calculating the input / output possible power amount of the battery based on the charge / discharge current and internal impedance of the battery Charge and discharge of the battery based on a battery state including a quantity calculation means, at least a temperature of the battery, a remaining capacity calculated by the remaining capacity calculation means, and an input / output possible power amount calculated by the power amount calculation means Charge / discharge pattern setting means for variably setting a charge / discharge pattern that repeatedly repeats in a pulse shape, and Limiter value setting means for variably setting a limiter value for regulating the maximum amplitude of the charge / discharge pattern according to the battery temperature, and the charge / discharge pattern setting means set by the charge / discharge pattern setting means when the battery temperature is lower than a specified temperature. And a warm-up control unit configured to perform charging / discharging of the battery according to a discharge pattern within a range of a limiter value set by the limiter value setting unit, and to raise the temperature of the battery.
その際、充放電パターンは、残存容量と入出力可能パワー量との少なくとも一方が設定値に達したとき、バッテリを充電するモードとバッテリから放電するモードとを切換えることが望ましく、また、バッテリの充放電開始時に、充放電パターンの振幅及び周期を残存容量を基準とする値に設定し、その後、バッテリ状態に基づいて充放電パターンの振幅及び周期を徐々に大きくすることが望ましい。また、リミッタ値は、バッテリの上下限電圧をバッテリの温度と劣化度とを考慮して補正した値として設定することが望ましい。 At this time, the charge / discharge pattern is preferably switched between a mode for charging the battery and a mode for discharging from the battery when at least one of the remaining capacity and the input / output power amount reaches a set value. At the start of charge / discharge, it is desirable to set the amplitude and period of the charge / discharge pattern to values based on the remaining capacity, and then gradually increase the amplitude and period of the charge / discharge pattern based on the battery state. The limiter value is preferably set as a value obtained by correcting the upper and lower limit voltages of the battery in consideration of the battery temperature and the degree of deterioration.
残存容量は、バッテリの充放電電流の積算値に基づく第1の残存容量とバッテリの開放電圧に基づく第2の残存容量とを、バッテリの使用状況に応じて設定した第1のウェイトを用いて重み付け合成することで、高精度に演算することができる。また、入出力パワー量は、バッテリの内部インピーダンスと開放電圧とに基づく第1のパワー量とバッテリの内部インピーダンスと充放電電流とに基づく第2のパワー量とを、バッテリの使用状況に応じて設定した第2のウェイトを用いて重み付け合成することで、高精度に演算することができる。 The remaining capacity is determined by using a first weight that is set in accordance with the battery usage state, the first remaining capacity based on the integrated value of the charge / discharge current of the battery and the second remaining capacity based on the open circuit voltage of the battery. It is possible to calculate with high accuracy by weighted synthesis. In addition, the input / output power amount includes a first power amount based on the internal impedance and open circuit voltage of the battery, and a second power amount based on the internal impedance and charge / discharge current of the battery, depending on the use state of the battery. By performing weighted synthesis using the set second weight, it is possible to calculate with high accuracy.
本発明によるバッテリのウォームアップ制御装置は、低温時にバッテリの状態に応じて充放電を効率良く制御して内部発熱による温度上昇を促進することができ、低温時に低下したバッテリ容量を早期に回復させることができる。 The battery warm-up control device according to the present invention can efficiently control charging / discharging according to the state of the battery at a low temperature to promote a temperature increase due to internal heat generation, and quickly recover the battery capacity that has decreased at a low temperature. be able to.
以下、図面を参照して本発明の実施の形態を説明する。図1〜図12は本発明の実施の一形態に係わり、図1はハイブリッド車への適用例を示すシステム構成図、図2は残存容量の推定アルゴリズムを示すブロック図、図3は電流容量テーブルの説明図、図4は等価回路モデルを示す回路図、図5はインピーダンステーブルの説明図、図6は残存容量テーブルの説明図、図7はウェイトテーブルの説明図、図8はパワー量の演算アルゴリズムを示すブロック図、図9はバッテリのウォームアップ制御処理を示すフローチャート、図10はパルス充放電処理を示すフローチャート、図11はパルス充放電の概要を示す説明図、図12はパルス充放電によるバッテリ温度の上昇を示す説明図である。 Embodiments of the present invention will be described below with reference to the drawings. 1 to 12 relate to an embodiment of the present invention, FIG. 1 is a system configuration diagram showing an application example to a hybrid vehicle, FIG. 2 is a block diagram showing an estimation algorithm of remaining capacity, and FIG. 3 is a current capacity table. FIG. 4 is a circuit diagram showing an equivalent circuit model, FIG. 5 is an explanatory diagram of an impedance table, FIG. 6 is an explanatory diagram of a remaining capacity table, FIG. 7 is an explanatory diagram of a weight table, and FIG. FIG. 9 is a flowchart showing battery warm-up control processing, FIG. 10 is a flowchart showing pulse charging / discharging processing, FIG. 11 is an explanatory diagram showing an outline of pulse charging / discharging, and FIG. 12 is based on pulse charging / discharging. It is explanatory drawing which shows the raise of battery temperature.
図1は、本発明をエンジンとモータとを併用して走行するハイブリッド車両(HEV)に適用した例を示し、同図において、符号1は、HEVの電源ユニットである。この電源ユニット1には、例えば複数のセルを複数個直列に接続して構成されるバッテリ2と、バッテリ2の残存容量の演算、バッテリ2の冷却や充電の制御、異常検出及び異常検出時の保護動作等のエネルギーマネージメントを行う演算ユニット(演算ECU)3とが1つの筐体内にパッケージされている。
FIG. 1 shows an example in which the present invention is applied to a hybrid vehicle (HEV) that travels using both an engine and a motor. In the figure,
演算ECU3は、マイクロコンピュータ等から構成され、電圧センサ4で測定したバッテリ2の端子電圧V、電流センサ5で測定したバッテリ2の充放電電流I、温度センサ6で測定したバッテリ2の温度(セル温度)Tに基いて、バッテリ2の充電状態(State of charge;SOC)で示される残存容量SOC(t)、バッテリ2における入出力可能な最大電力で示される入出力可能パワー量P(t)を演算する。尚、演算ECU3には、1演算周期前の残存容量SOC(t-1)及び入出力可能パワー量P(t-1)が周期的な演算におけるベース値として入力される。
The
演算ECU3で演算した残存容量SOCや入出力可能パワー量Pは、例えばCAN(Controller Area Network)通信等を介してHEV制御用電子制御ユニット(HEV制御用ECU)10に出力され、制御状態の表示や制御量を決定するための基本データとして使用される。HEV制御用ECU10は、同様にマイクロコンピュータ等から構成され、運転者からの指令に基づいて、HEVの運転、その他、必要な制御を行う。すなわち、HEV制御用ECU10は、電源ユニット1からの信号や図示しないセンサ・スイッチ類からの信号により、車両の状態を検出し、バッテリ2の直流電力を交流電力に変換してモータ15を駆動するインバータ20を初めとして、モータ15に連結されるエンジン30や図示しない自動変速機等を、専用の制御ユニットを介して或いは直接的に制御する。
The remaining capacity SOC and the input / output possible power amount P calculated by the
例えば、演算ECU3で演算した残存容量SOCからは、バッテリ容量の表示用データやバッテリ容量低下を警告するための警告用データが生成され、運転者に対するバッテリ情報として用いられる。また、演算ECU3で演算した入出力可能パワー量Pからは、モータ15から出力可能な駆動トルク、モータ15の発電による充電・回生量等が演算され、HEVの運転に必要な制御量を演算する上での直接的なパラメータとして用いられる。
For example, from the remaining capacity SOC calculated by the
また、演算ECU3は、低温時に、バッテリ2を暖機(ウォームアップ)し、温度低下によって低下したバッテリ容量を早期に回復させ、始動不良や制御性の悪化を防止するようにしている。このバッテリのウォームアップは、本形態においては、インバータ20を介した充電と放電装置25を介した放電とを繰返して内部抵抗による発熱を生じさせ、セル温度を上昇させる方式を採用している。
Further, the
そして、演算ECU3は、充放電パターン設定手段としての機能により、少なくともセル温度Tと残存容量SOCと入出力可能パワー量Pとを含むバッテリ状態に基づいて、充電と放電とを交互にパルス状に繰返す充放電パターンを可変設定すると共に、リミッタ値設定手段としての機能により、充放電パターンの最大振幅を規制するリミッタ値を可変設定し、バッテリの温度が規定温度未満のとき、ウォームアップ制御手段としての機能により、充放電パターンによるバッテリの充放電をリミッタ値の範囲内で実行させ、バッテリの温度を上昇させるようにしている。これにより、充放電を効率良く制御することができ、バッテリ本来の容量を急速に回復させることができる。
Then, the
この場合、バッテリのウォームアップを効率的に行うためには、高精度の残存容量SOC及び入出力可能パワー量Pが必要とされる。本形態においては、残存容量SOCや入出力可能パワー量Pを、特有のアルゴリズムに従って高精度に演算しており、次に、本形態における残存容量SOC及び入出力可能パワー量Pの演算処理について説明する。 In this case, in order to efficiently warm up the battery, a highly accurate remaining capacity SOC and an input / output possible power amount P are required. In the present embodiment, the remaining capacity SOC and the input / output possible power amount P are calculated with high accuracy according to a specific algorithm. Next, the calculation process of the remaining capacity SOC and the input / output possible power amount P in the present embodiment will be described. To do.
先ず、残存容量SOCの演算は、図2に示す推定アルゴリズムに従って実行される。このSOC推定アルゴリズムでは、バッテリ2で測定可能なパラメータ、すなわち、端子電圧V、電流I、温度Tを用い、残存容量演算手段としての機能により、電流積算に基づく第1の残存容量としての残存容量SOCcと、バッテリ開放電圧Voの推定値に基づく第2の残存容量としての残存容量SOCvとを並行して演算し、それぞれを重み付けして合成した残存容量SOCを、バッテリ2の残存容量として出力する。 First, the remaining capacity SOC is calculated according to the estimation algorithm shown in FIG. In this SOC estimation algorithm, the remaining capacity as the first remaining capacity based on the current integration is obtained by using the parameters measurable by the battery 2, that is, the terminal voltage V, the current I, and the temperature T, and the function as the remaining capacity calculating means. The SOCc and the remaining capacity SOCv as the second remaining capacity based on the estimated value of the battery open voltage Vo are calculated in parallel, and the remaining capacity SOC synthesized by weighting each is output as the remaining capacity of the battery 2. .
電流Iの積算による残存容量SOCcと、開放電圧Voの推定による残存容量SOCvとは、それぞれに一長一短があり、電流積算による残存容量SOCcは、誤差が累積し易く、特に高負荷継続時の誤差が大きい反面、突入電流等の負荷変動に強い。一方、開放電圧推定による残存容量SOCvは、通常の使用時において、略正確な値を求めることが可能であるが、負荷が短時間で大きく変動したときに値が振動する可能性がある。 The remaining capacity SOCc obtained by integrating the current I and the remaining capacity SOCv obtained by estimating the open-circuit voltage Vo have advantages and disadvantages, respectively. On the other hand, it is strong against load fluctuations such as inrush current. On the other hand, the remaining capacity SOCv based on the open-circuit voltage estimation can be obtained as a substantially accurate value during normal use, but the value may oscillate when the load greatly fluctuates in a short time.
従って、本SOC推定アルゴリズムでは、電流Iを積算して求めた残存容量SOCc(t)と、バッテリ開放電圧Voの推定値から求めた残存容量SOCv(t)とを、バッテリ2の使用状況に応じて随時変化させる第1のウェイト(重み係数)としてのウェイトwにより重み付けして合成することにより、残存容量SOCc,SOCv双方の欠点を打消して互いの利点を最大限に引き出すようにしている。ウェイトwは、w=0〜1の間で変化させ、合成後の最終的な残存容量SOC(t)は、以下の(1)式で与えられる。
SOC(t)=w・SOCc(t)+(1−w)・SOCv(t)…(1)
Therefore, in the present SOC estimation algorithm, the remaining capacity SOCc (t) obtained by integrating the current I and the remaining capacity SOCv (t) obtained from the estimated value of the battery open voltage Vo are determined according to the usage state of the battery 2. Thus, the weights w as the first weight (weighting coefficient) that is changed as needed are weighted and combined, so that the disadvantages of both the remaining capacities SOCc and SOCv are canceled out and the mutual advantages are maximized. The weight w is changed between w = 0 and 1, and the final remaining capacity SOC (t) after synthesis is given by the following equation (1).
SOC (t) = w.SOCc (t) + (1-w) .SOCv (t) (1)
ウェイトwは、現在のバッテリの使用状況を的確に表すことのできるパラメータを用いて決定する必要があり、そのパラメータとしては、単位時間当たりの電流の変化率や残存容量SOCc,SOCvの間の偏差等を用いることが可能である。単位時間当たりの電流変化率は、バッテリの負荷変動を直接的に反映しているが、単なる電流変化率では、スパイク的に発生する電流の急激な変化の影響を受けてしまう。 The weight w needs to be determined by using a parameter that can accurately represent the current battery usage status, and the parameters include a current change rate per unit time and a deviation between the remaining capacities SOCc and SOCv. Etc. can be used. The current change rate per unit time directly reflects the load fluctuation of the battery, but the mere current change rate is affected by a sudden change in current that occurs in a spike manner.
従って、本形態においては、瞬間的に発止する電流の変化の影響を防止するため、所定のサンプリング数の単純平均、移動平均、加重平均等の処理を施した電流変化率を用いるようにしており、特に、電流の遅れを考慮した場合、バッテリの充放電状態の変化に対して、過去の履歴を過剰となることなく適切に反映することのできる移動平均を用いてウェイトwを決定するようにしている。 Therefore, in this embodiment, in order to prevent the influence of a change in current that instantaneously stops, a current change rate that has been processed by a simple average, a moving average, a weighted average, or the like of a predetermined sampling number is used. In particular, when considering a delay in current, the weight w is determined using a moving average that can appropriately reflect the past history without excessively changing the charge / discharge state of the battery. I have to.
この電流Iの移動平均値に基づいてウェイトwを決定することにより、電流Iの移動平均値が大きいときには、電流積算のウェイトを高くして開放電圧推定のウェイトを下げ、負荷変動の影響を電流積算によって正確に反映すると共に、開放電圧推定時の振動を防止することができる。逆に、電流Iの移動平均値が小さいときには、電流積算のウェイトを下げ、開放電圧推定のウェイトを高くすることにより、電流積算時の誤差の累積による影響を回避し、開放電圧の推定により正確な残存容量を算出することができる。 By determining the weight w based on the moving average value of the current I, when the moving average value of the current I is large, the weight of the current integration is increased to lower the weight of the open circuit voltage estimation, and the influence of the load fluctuation is While accurately reflecting by integration, vibration during open circuit voltage estimation can be prevented. Conversely, when the moving average value of current I is small, the effect of error accumulation during current integration is avoided by reducing the current integration weight and increasing the open-circuit voltage estimation weight. The remaining capacity can be calculated.
すなわち、電流Iの移動平均は、電流の高周波成分に対するローパスフィルタとなり、この移動平均のフィルタリングにより、走行中の負荷変動で発生する電流のスパイク成分を、遅れ成分を助長することなく除去することができる。これにより、バッテリ状態をより的確に把握することができ、残存容量SOCc,SOCv双方の欠点を打消して互いの利点を最大限に引き出し、残存容量の推定精度を大幅に向上することができる。 That is, the moving average of the current I becomes a low-pass filter with respect to the high frequency component of the current, and the moving average filtering can remove the spike component of the current generated by the load fluctuation during traveling without promoting the delay component. it can. As a result, the battery state can be grasped more accurately, the disadvantages of both the remaining capacities SOCc and SOCv can be canceled, the mutual advantages can be maximized, and the estimation accuracy of the remaining capacities can be greatly improved.
更に、本SOC推定アルゴリズムの特徴として、電池理論に基づいてバッテリ内部状況を電気化学的に把握し、バッテリ開放電圧Voに基づく残存容量SOCvの演算精度の向上を図っている。以下、SOC推定アルゴリズムによる残存容量SOCc,SOCvの演算について詳述する。 Furthermore, as a feature of the present SOC estimation algorithm, the internal state of the battery is grasped electrochemically based on the battery theory, and the calculation accuracy of the remaining capacity SOCv based on the battery open voltage Vo is improved. Hereinafter, the calculation of the remaining capacities SOCc and SOCv by the SOC estimation algorithm will be described in detail.
先ず、電流積算による残存容量SOCcは、以下の(2)式に示すように、ウェイトwを用いて合成した残存容量SOCをベース値として、所定時間毎に電流Iを積算して求められる。
SOCc(t)=SOC(t-1)−∫[(100ηI/Ah)+SD]dt/3600…(2)
但し、η :電流効率
Ah:電流容量(温度による変数)
SD :自己放電率
First, as shown in the following equation (2), the remaining capacity SOCc by current integration is obtained by integrating the current I every predetermined time with the remaining capacity SOC synthesized using the weight w as a base value.
SOCc (t) = SOC (t−1) −∫ [(100ηI / Ah) + SD] dt / 3600 (2)
Where η: current efficiency
Ah: Current capacity (variable depending on temperature)
SD: Self-discharge rate
(2)式における電流効率η及び自己放電率SDは、それぞれ定数と見なすことができるが(例えば、η=1、SD=0)、電流容量Ahは、温度に依存して変化する。従って、この電流積算による残存容量SOCcの算出に際しては、温度によるセル容量の変動を関数化して算出した電流容量Ahを用いる。 Although the current efficiency η and the self-discharge rate SD in the equation (2) can be regarded as constants (for example, η = 1, SD = 0), the current capacity Ah varies depending on the temperature. Therefore, when calculating the remaining capacity SOCc by this current integration, the current capacity Ah calculated by functionalizing the variation of the cell capacity with temperature is used.
図3は、温度Tをパラメータとして、所定の基準とする定格容量(例えば、所定セル数を基準単位とした場合の定格電流容量)に対する容量比Ah’を格納した電流容量テーブルの例を示すものであり、常温(25°C)における容量比Ah’(=1.00)に対し、低温になる程、電流容量が減少するため、容量比Ah’の値が大きくなる。この電流容量テーブルから参照した容量比Ah’を用い、計測対象毎の温度Tにおける電流容量Ahを算出することができる。 FIG. 3 shows an example of a current capacity table storing a capacity ratio Ah ′ with respect to a rated capacity with a temperature T as a parameter (for example, a rated current capacity with a predetermined number of cells as a reference unit). Since the current capacity decreases as the temperature becomes lower than the capacity ratio Ah ′ (= 1.00) at room temperature (25 ° C.), the value of the capacity ratio Ah ′ increases. Using the capacity ratio Ah ′ referred to from this current capacity table, the current capacity Ah at the temperature T for each measurement target can be calculated.
また、(2)式による残存容量SOCc(t)の演算は、具体的には演算ECU3における離散時間処理によって実行され、1演算周期前の合成残存容量SOC(t-1)を、電流積算のベース値として入力している(図2のブロック図における遅延演算子Z-1)。従って、誤差が累積したり、発散することがなく、万一、初期値が真値と大きく異なっていても、所定の時間経過後(例えば、数分後)には、真値に収束させることができる。
Further, the calculation of the remaining capacity SOCc (t) by the equation (2) is specifically executed by discrete time processing in the
一方、開放電圧Voの推定に基づく残存容量SOCvを求めるには、先ず、図4に示す等価回路モデルを用いてバッテリの内部インピーダンスZを求める。この等価回路は、抵抗分R1〜R3、容量分C1,CPE1,CPE2(但し、CPE1,CPE2は二重層容量分)の各パラメータを、直列及び並列に組合わせた等価回路モデルであり、交流インピーダンス法における周知のCole-Coleプロットをカーブフィッティングすることにより、各パラメータを決定する。 On the other hand, in order to obtain the remaining capacity SOCv based on the estimation of the open circuit voltage Vo, first, the internal impedance Z of the battery is obtained using the equivalent circuit model shown in FIG. This equivalent circuit is an equivalent circuit model in which parameters of resistance components R1 to R3 and capacitance components C1, CPE1, and CPE2 (where CPE1 and CPE2 are double layer capacitance components) are combined in series and in parallel. Each parameter is determined by curve fitting a well-known Cole-Cole plot in the method.
これらのパラメータから求められるインピーダンスZは、バッテリの温度や電気化学的な反応速度、充放電電流の周波数成分によって大きく変化する。従って、インピーダンスZを決定するパラメータとして、前述の単位時間当たりの電流Iの移動平均値を周波数成分の置き換えとして採用し、電流Iの移動平均値と温度Tとを条件とするインピーダンス測定を行ってデータを蓄積した後、温度Tと単位時間当たりの電流Iの移動平均値とに基づいてインピーダンスZのテーブルを作成する。そして、このテーブルを利用してインピーダンスZを求め、このインピーダンスZと、実測した端子電圧Vと電流Iとから、以下の(3)式を用いて開放電圧Voの推定値を求める。
V=Vo−I・Z…(3)
The impedance Z obtained from these parameters varies greatly depending on the temperature of the battery, the electrochemical reaction rate, and the frequency component of the charge / discharge current. Accordingly, the moving average value of the current I per unit time described above is used as a frequency component replacement as a parameter for determining the impedance Z, and impedance measurement is performed on the condition of the moving average value of the current I and the temperature T. After storing the data, a table of impedance Z is created based on the temperature T and the moving average value of the current I per unit time. Then, the impedance Z is obtained using this table, and the estimated value of the open circuit voltage Vo is obtained from the impedance Z, the measured terminal voltage V, and the current I using the following equation (3).
V = Vo-I · Z (3)
尚、電流Iの移動平均値は、例えば、電流Iのサンプリングを0.1sec毎、電流積算の演算周期を0.5sec毎とした場合、5個のデータを移動平均して求められる。前述したように、電流Iの移動平均値は、ウェイトwを決定するパラメータとしても用いられ、ウェイトw、インピーダンスZの演算を容易としているが、詳細には、低温になる程、バッテリの内部インピーダンスが増加して電流変化率が小さくなるため、後述するように、ウェイトw、インピーダンスZは、直接的には、電流Iの移動平均値を温度補正した補正後電流変化率KΔI/Δtを用いて決定する。 Note that the moving average value of the current I is obtained, for example, by moving and averaging five pieces of data when the sampling of the current I is performed every 0.1 sec and the calculation cycle of current integration is performed every 0.5 sec. As described above, the moving average value of the current I is also used as a parameter for determining the weight w and facilitates the calculation of the weight w and the impedance Z. In detail, the internal impedance of the battery decreases as the temperature decreases. As will be described later, the weight w and the impedance Z are directly calculated using the corrected current change rate KΔI / Δt obtained by correcting the moving average value of the current I with temperature, as will be described later. decide.
図5は、電流変化率ΔI/Δt(単位時間当たりの電流Iの移動平均値)を温度補正した補正後電流変化率KΔI/Δtと温度Tとをパラメータとして、等価回路のインピーダンスZを格納したインピーダンステーブルの例を示すものであり、概略的には、補正後電流変化率KΔI/Δtが同じ場合には、温度Tが低くなる程、インピーダンスZが増加し、同じ温度では、補正後電流変化率KΔI/Δtが小さくなる程、インピーダンスZが増加する傾向を有している。 FIG. 5 shows the impedance Z of the equivalent circuit with the corrected current change rate KΔI / Δt obtained by correcting the temperature of the current change rate ΔI / Δt (moving average value of the current I per unit time) and the temperature T as parameters. An example of an impedance table is shown. Generally, when the corrected current change rate KΔI / Δt is the same, the impedance Z increases as the temperature T decreases, and at the same temperature, the corrected current change As the rate KΔI / Δt decreases, the impedance Z tends to increase.
尚、図5及び後述する図6に示すテーブルにおいては、通常の条件下で使用される範囲のデータを示し、他の範囲のデータは記載を省略してある。 In the table shown in FIG. 5 and FIG. 6 to be described later, data in a range used under normal conditions is shown, and data in other ranges is omitted.
開放電圧Voの推定後は、バッテリ内の電気化学的な関係に基づいて残存容量SOCvを演算する。具体的には、平衡状態での電極電位とイオンの活量との関係を記述した周知のネルンストの式を適用し、開放電圧Voと残存容量SOCvとの関係を表すと、以下の(4)式を得ることができる。
Vo=E+[(Rg・T/Ne・F)×lnSOCv/(100−SOCv)]+Y…(4)
但し、E :標準電極電位(本形態のリチウムイオン電池では、E=3.745)
Rg:気体定数(8.314J/mol−K)
T :温度(絶対温度K)
Ne:イオン価数(本形態のリチウムイオン電池では、Ne=1)
F :ファラデー定数(96485C/mol)
After the open circuit voltage Vo is estimated, the remaining capacity SOCv is calculated based on the electrochemical relationship in the battery. Specifically, a well-known Nernst equation describing the relationship between the electrode potential and the ion activity in an equilibrium state is applied, and the relationship between the open-circuit voltage Vo and the remaining capacity SOCv is expressed as the following (4). The formula can be obtained.
Vo = E + [(Rg · T / Ne · F) × lnSOCv / (100−SOCv)] + Y (4)
However, E: Standard electrode potential (E = 3.745 in the lithium ion battery of this embodiment)
Rg: Gas constant (8.314 J / mol-K)
T: temperature (absolute temperature K)
Ne: Ion valence (Ne = 1 in the lithium ion battery of this embodiment)
F: Faraday constant (96485 C / mol)
尚、(4)式におけるYは補正項であり、常温における電圧−SOC特性をSOCの関数で表現したものである。SOCv=Xとすると、以下の(5)式に示すように、SOCの三次関数で表すことができる。
Y=−10-6X3+9・10-5X2+0.013X−0.7311…(5)
Note that Y in the equation (4) is a correction term and expresses the voltage-SOC characteristic at normal temperature as a function of SOC. If SOCv = X, it can be expressed by a cubic function of SOC as shown in the following equation (5).
Y = −10 −6 X 3 + 9 · 10 −5 X 2 + 0.013X−0.7311 (5)
以上の(4)式により、残存容量SOCvには、開放電圧Voのみならず温度Tとの間にも強い相関性があることがわかる。この場合、開放電圧Voと温度Tとをパラメータとして、直接、(4)式を用いて残存容量SOCvを算出することも可能であるが、実際には、使用する電池特有の充放電特性や使用条件等に対する考慮が必要となる。 From the above equation (4), it can be seen that the remaining capacity SOCv has a strong correlation not only with the open circuit voltage Vo but also with the temperature T. In this case, the remaining capacity SOCv can be calculated directly using the equation (4) using the open-circuit voltage Vo and the temperature T as parameters. Consideration of conditions is necessary.
従って、以上の(4)式の関係から実際の電池の状態を把握する場合には、常温でのSOC−Vo特性を基準として、各温度域での充放電試験或いはシミュレーションを行い、実測データを蓄積する。そして、蓄積した実測データから開放電圧Voと温度Tとをパラメータする残存容量SOCvのテーブルを作成しておき、このテーブルを利用して残存容量SOCvを求める。図6は、残存容量テーブルの例を示すものであり、概略的には、温度T及び開放電圧Voが低くなる程、残存容量SOCvが小さくなり、温度T及び開放電圧Voが高くなる程、残存容量SOCvが大きくなる傾向を有している。 Therefore, when grasping the actual state of the battery from the relationship of the above equation (4), a charge / discharge test or simulation in each temperature range is performed based on the SOC-Vo characteristics at room temperature, and the measured data is obtained. accumulate. Then, a table of the remaining capacity SOCv that parameters the open circuit voltage Vo and the temperature T is created from the accumulated measured data, and the remaining capacity SOCv is obtained using this table. FIG. 6 shows an example of the remaining capacity table. Generally, the lower the temperature T and the open circuit voltage Vo, the smaller the remaining capacity SOCv, and the higher the temperature T and the open circuit voltage Vo, the remaining capacity. The capacity SOCv tends to increase.
そして、残存容量SOCc,SOCvを算出した後は、前述の(1)式に示したように、残存容量SOCc,SOCvを、テーブル参照等によって決定したウェイトwを用いて重み付け合成し、残存容量SOCを算出する。図7は、ウェイトwを決定するためのウェイトテーブルの例を示し、補正後電流変化率KΔI/Δtをパラメータとする一次元テーブルである。このウェイトテーブルは、概略的には、補正後電流変化率KΔI/Δtが小さくなる程、すなわち、バッテリ負荷変動が小さい程、ウェイトwの値を小さくして電流積算による残存容量SOCcの重みを小さくする傾向を有している。 After calculating the remaining capacities SOCc and SOCv, as shown in the above equation (1), the remaining capacities SOCc and SOCv are weighted and synthesized using the weight w determined by referring to the table or the like, and the remaining capacities SOC are obtained. Is calculated. FIG. 7 shows an example of a weight table for determining the weight w, and is a one-dimensional table using the corrected current change rate KΔI / Δt as a parameter. This weight table generally indicates that the smaller the corrected current change rate KΔI / Δt, that is, the smaller the battery load fluctuation, the smaller the value of the weight w and the smaller the weight of the remaining capacity SOCc due to current integration. Have a tendency to
一方、入出力可能パワー量Pの演算は、SOC推定アルゴリズムと同様の図8に示す演算アルゴリズムに従って実行される。この演算アルゴリズムでは、バッテリ2で測定可能なパラメータ、すなわち、端子電圧V、電流I、温度Tを用い、パワー量演算手段としての機能により、バッテリ2の開放電圧Voに基づくパワー量PVと、バッテリ2の電流Iに基づくパワー量PCとを並行して演算し、それぞれを重み付けして合成した値をバッテリ2のパワー量Pとして出力する。 On the other hand, the calculation of the input / output possible power amount P is executed according to the calculation algorithm shown in FIG. 8 similar to the SOC estimation algorithm. In this calculation algorithm, parameters that can be measured by the battery 2, that is, the terminal voltage V, the current I, and the temperature T are used, and the power amount PV based on the open voltage Vo of the battery 2 and the battery by the function as the power amount calculation means A power amount PC based on the current I of 2 is calculated in parallel, and a value obtained by weighting and combining each is output as the power amount P of the battery 2.
すなわち、バッテリ2の開放電圧Voに基づくパワー量PVは、通常の使用時において、略正確な値を求めることが可能であるが、負荷が短時間で大きく変動したときに値が振動する可能性がある。一方、バッテリ2の電流Iに基づくパワー量PCは、誤差が累積し易く、特に高負荷継続時の誤差が大きい反面、突入電流等の負荷変動に強い。従って、本パワー量演算アルゴリズムでは、開放電圧Voに基づいて求めたパワー量PVと電流Iに基づいて求めたパワー量PCとを、バッテリ2の使用状況に応じて随時変化させる第2のウェイトとしてのウェイトwpにより重み付けして合成し、双方の欠点を打消して互いの利点を最大限に引き出すようにしている。 That is, the power amount PV based on the open-circuit voltage Vo of the battery 2 can be obtained as a substantially accurate value during normal use, but the value may vibrate when the load greatly fluctuates in a short time. There is. On the other hand, the power amount PC based on the current I of the battery 2 tends to accumulate errors, and is particularly resistant to load fluctuations such as inrush currents, while the error during high load continuation is large. Therefore, in the present power amount calculation algorithm, the power amount PV obtained based on the open circuit voltage Vo and the power amount PC obtained based on the current I are used as second weights that change as needed depending on the usage state of the battery 2. The weights wp are combined and combined, and both disadvantages are canceled to maximize each other's advantages.
ウェイトwpは、残存容量SOCの合成に用いるウェイトwと同様、電流Iの移動平均に基づいて決定されるものであり(wp=0〜1)、合成後の最終的なパワー量Pは、以下の(6)式で与えられる。
P=wp・PC+(1−wp)・PV…(6)
The weight wp is determined based on the moving average of the current I as in the case of the weight w used for the synthesis of the remaining capacity SOC (wp = 0 to 1). The final power amount P after the synthesis is as follows: (6).
P = wp * PC + (1-wp) * PV (6)
電流Iの移動平均値に基づいてウェイトwpを決定することにより、電流Iの移動平均値が大きいときには、電流Iに基づくパワー量PCのウェイトを高くして開放電圧Voに基づくパワー量PVのウェイトを下げ、負荷変動の影響を電流によって正確に反映すると共に振動を防止することができる。逆に、電流Iの移動平均値が小さいときには、電流Iに基づくパワー量PCのウェイトを下げ、開放電圧Voに基づくパワー量PVのウェイトを高くすることにより、電流の誤差の累積による影響を回避し、開放電圧に基づく正確なパワー量を算出することができる。 By determining the weight wp based on the moving average value of the current I, when the moving average value of the current I is large, the weight of the power amount PC based on the open voltage Vo is increased by increasing the weight of the power amount PC based on the current I. , And the effect of load fluctuation can be accurately reflected by the current and vibration can be prevented. Conversely, when the moving average value of the current I is small, the weight of the power amount PC based on the current I is lowered, and the weight of the power amount PV based on the open circuit voltage Vo is increased, thereby avoiding the influence due to accumulation of current errors. In addition, an accurate power amount based on the open circuit voltage can be calculated.
(6)式に示すパワー量Pは、詳細には、バッテリ2に入力(充電)可能な最大電力量で示される入力可能パワー量Pchargeと、バッテリ2から出力(放電)可能な最大電力量で示される出力可能パワー量Pdischargeとを総称するものであり、それぞれ、(6)式を基本とする以下の(7),(8)式により個別に演算される。 Specifically, the power amount P shown in the equation (6) is an input possible power amount Pcharge indicated by the maximum power amount that can be input (charged) to the battery 2 and a maximum power amount that can be output (discharged) from the battery 2. The output possible power amount Pdischarge shown is a generic name, and is calculated individually by the following equations (7) and (8) based on the equation (6).
すなわち、入力可能パワー量Pchargeは、以下の(7)式により、開放電圧Voに基づく第1の入力可能パワー量としてのパワー量PVchargeと、電流Iの移動平均に基づく第2の入力可能パワー量としてのパワー量PCchargeとを重み付け合成した値として求められる。また、出力可能パワー量Pdischargeは、以下の(8)式により、開放電圧Voに基づく第1の出力可能パワー量としてのパワー量PVdischargeと、電流Iの移動平均に基づく第2の出力可能パワー量としてのパワー量PCdischargeとを重み付け合成した値として求められる。
Pcharge=wp・PCcharge+(1−wp)・PVcharge…(7)
Pdischarge=wp・PCdischarge+(1−wp)・PVdischarge…(8)
That is, the input possible power amount Pcharge is obtained by the following equation (7), the power amount PVcharge as the first input possible power amount based on the open circuit voltage Vo and the second input possible power amount based on the moving average of the current I. As a value obtained by weighted synthesis of the power amount PCcharge. Further, the output possible power amount Pdischarge is expressed by the following equation (8), the second output possible power amount based on the power amount PVdischarge as the first outputable power amount based on the open circuit voltage Vo and the moving average of the current I. As a value obtained by weighting and combining the power amount PCdischarge.
Pcharge = wp / PCcharge + (1-wp) / PVcharge (7)
Pdischarge = wp / PCdischarge + (1-wp) / PVdischarge (8)
各パワー量PVcharge,PVdischarge,PCcharge,PCdischargeは、具体的には、バッテリ2の内部インピーダンスZ、開放電圧Vo、予め定められたバッテリの特性を保証する上下限のバッテリ電圧である上限電圧Vmax及び下限電圧Vmin、電流Iの移動平均値、1演算周期前の入力可能パワー量Pcharge(t)、1演算期前の出力可能パワー量Pdischarge(t)を用いて演算される。 Specifically, each of the power amounts PVcharge, PVdischarge, PCcharge, and PCdischarge includes the internal impedance Z of the battery 2, the open circuit voltage Vo, the upper limit voltage Vmax that is the upper and lower limit battery voltage that guarantees predetermined battery characteristics, and the lower limit. The calculation is performed using the moving average value of the voltage Vmin and the current I, the input power amount Pcharge (t) before the calculation cycle, and the output power amount Pdischarge (t) before the calculation period.
上限電圧Vmax、下限電圧Vminは、それぞれ、残存容量SOCの上限(100%)を与える電圧、下限(0%)を与える電圧として定義することができ、温度に依存して変化することから、温度Tをパラメータとするテーブルを参照して求める。上限電圧Vmax及び下限電圧Vminのテーブルは、温度Tをパラメータとして上限電圧Vmax及び下限電圧Vminを格納した専用のテーブルを作成しておき、この専用のテーブルを参照して求めても良いが、残存容量SOCの演算で用いる残存容量テーブル(図6参照)を利用し、所定の温度Tにおける開放電圧Voの上下限を参照することにより、その温度Tでの上限電圧Vmax,下限電圧Vminを知ることができる。 The upper limit voltage Vmax and the lower limit voltage Vmin can be defined as a voltage that gives an upper limit (100%) and a voltage that gives a lower limit (0%), respectively, and changes depending on the temperature. It is obtained by referring to a table having T as a parameter. The table of the upper limit voltage Vmax and the lower limit voltage Vmin may be obtained by creating a dedicated table storing the upper limit voltage Vmax and the lower limit voltage Vmin using the temperature T as a parameter and referring to this dedicated table. The upper limit voltage Vmax and the lower limit voltage Vmin at the temperature T are known by using the remaining capacity table (see FIG. 6) used in the calculation of the capacity SOC and referring to the upper and lower limits of the open circuit voltage Vo at the predetermined temperature T. Can do.
そして、入力可能パワー量PVchargeは、以下の(9)式に示すように、上限電圧Vmaxと開放電圧Voとの差をインピーダンスZで除算して得られる電流値に、上限電圧Vmaxを乗算した電力量として求められる。また、出力可能パワー量PVdischargeは、以下の(10)式に示すように、開放電圧Voと下限電圧Vminとの差をインピーダンスZで除算して得られる電流値に、下限電圧Vminを乗算した電力量として求められる。
PVcharge=[(Vmax−Vo)/Z]・Vmax…(9)
PVdischarge=[(Vo−Vmin)/Z]・Vmin…(10)
The input power amount PVcharge is a power obtained by multiplying the current value obtained by dividing the difference between the upper limit voltage Vmax and the open circuit voltage Vo by the impedance Z by the upper limit voltage Vmax, as shown in the following equation (9). As a quantity. Further, the output possible power amount PVdischarge is a power obtained by multiplying the current value obtained by dividing the difference between the open circuit voltage Vo and the lower limit voltage Vmin by the impedance Z by the lower limit voltage Vmin, as shown in the following equation (10). As a quantity.
PVcharge = [(Vmax−Vo) / Z] · Vmax (9)
PVdischarge = [(Vo−Vmin) / Z] · Vmin (10)
一方、電流Iの移動平均に基づくパワー量PCcharge,PCdischargeは、離散時間処理における1演算周期前の合成パワー量P(t-1)をベース値として用いており(図8のブロック図における遅延演算子Z-1)、誤差が累積したり、発散することがなく、万一、初期値が真値と大きく異なっていても、所定の時間経過後(例えば、数分後)には、真値に収束させることができる。 On the other hand, the power amounts PCcharge and PCdischarge based on the moving average of the current I use the combined power amount P (t−1) one cycle before the discrete time processing as a base value (delay calculation in the block diagram of FIG. 8). Child Z -1 ), errors do not accumulate or diverge, and even if the initial value is significantly different from the true value, the true value is reached after a predetermined time (for example, after several minutes). Can be converged to.
すなわち、電流Iの移動平均値をI’とすると、以下の(11)式に示すように、1演算周期前の合成入力可能パワー量Pcharge(t-1)と、移動平均値I’にインピーダンスZをを乗算した入力電力量I'2Zとにより、現時点での入力可能パワー量PCchargeを求める。また、以下の(12)式に示すように、1演算周期前の合成出力可能パワー量PCdischargeと、移動平均値I’にインピーダンスZを乗算した出力電力量I'2Zとにより、現時点での出力可能パワー量PCdischargeを求める。
PCcharge=Pcharge(t-1)−I'2Z…(11)
PCdischarge=Pdischarge(t-1)−I'2Z…(12)
In other words, when the moving average value of the current I is I ′, as shown in the following equation (11), the combined input possible power amount Pcharge (t−1) before the calculation cycle and the moving average value I ′ have an impedance. Based on the input power amount I ′ 2 Z multiplied by Z, the current input power amount PCcharge is obtained. Further, as shown in the following equation (12), the combined output possible power amount PCdischarge before one operation cycle and the output power amount I ′ 2 Z obtained by multiplying the moving average value I ′ by the impedance Z The amount of output power PCdischarge is obtained.
PCcharge = Pcharge (t−1) −I ′ 2 Z (11)
PCdischarge = Pdischarge (t-1) −I ′ 2 Z (12)
そして、前述の(7)式に示したように、(9)式により算出した入力可能パワー量PVchargeと、(11)式により算出した入力可能パワー量PCchargeとをウェイトwpを用いて重み付けして合成し、入力可能パワー量Pchargeを算出する。また、前述の(8)式に示したように、(10)式により算出した出力可能パワー量PVdischargeと、(12)式により算出した出力可能パワー量PCdischargeとをウェイトwpを用いて重み付けして合成し、出力可能パワー量Pdischargeを算出する。 Then, as shown in the above equation (7), the input possible power amount PVcharge calculated by the equation (9) and the input allowable power amount PCcharge calculated by the equation (11) are weighted using the weight wp. Combining and calculating the input possible power amount Pcharge. Further, as shown in the above equation (8), the outputable power amount PVdischarge calculated by the equation (10) and the outputable power amount PCdischarge calculated by the equation (12) are weighted using the weight wp. Combining and calculating the output possible power amount Pdischarge.
次に、以上の残存容量SOCや入出力可能パワー量Pに基づくバッテリのウォームアップ制御処理について、図9に示すフローチャートを用いて説明する。 Next, battery warm-up control processing based on the above remaining capacity SOC and input / output possible power amount P will be described with reference to the flowchart shown in FIG.
図9のフローチャートに示すウォームアップ制御処理は、電源ユニット1の演算ECU3において、低温時に所定時間毎に実行される処理である。この処理がスタートすると、先ず、ステップS1において、バッテリ状態を表わす各パラメータのデータ、すなわち、セル温度T,入出力可能パワー量P,残存容量SOCを初めとする各パラメータのデータを入力する。
The warm-up control process shown in the flowchart of FIG. 9 is a process executed by the
次に、ステップS2へ進み、セル温度Tが規定温度以上か否かを調べる。この規定温度は、それ以下ではバッテリ容量の低下により制御上の支障が生じる虞のある温度であり、例えば、図3の電流容量テーブルで示される特性から、予め規定温度が10°Cに設定されている。そして、セル温度Tが規定温度以上であり、ウォームアップを要しない場合には、ステップS2から処理を抜け、規定温度未満の場合、ステップS3へ進んで、ウォームアップの充放電パターンを初期化し、ステップS4で、図10に示すパルス充放電処理によりウォームアップを実行する。 Next, it progresses to step S2 and it is investigated whether cell temperature T is more than regulation temperature. Below this specified temperature, there is a possibility that control problems may occur due to a decrease in battery capacity. For example, the specified temperature is set to 10 ° C. in advance from the characteristics shown in the current capacity table of FIG. ing. If the cell temperature T is equal to or higher than the specified temperature and the warm-up is not required, the process exits from step S2, and if the temperature is lower than the specified temperature, the process proceeds to step S3 to initialize the warm-up charge / discharge pattern. In step S4, warm-up is performed by the pulse charge / discharge process shown in FIG.
ウォームアップの充放電パターンは、充電と放電とを交互にパルス状に繰返すパターンであり、本形態においては、効率の良い発熱を促すため、CV(Constant Voltage)充放電を採用している。このCV充放電を採用する理由は、前述したように、バッテリの内部抵抗(インピーダンス)は、同じ温度では、電流変化率が小さくなる程、つまり、交流よりも直流を流したほうが大きくなることと、充放電の立ち上がり時に大電流が流れるが、時間と共に0に収束するためである。 The warm-up charging / discharging pattern is a pattern in which charging and discharging are alternately repeated in a pulse shape, and in this embodiment, CV (Constant Voltage) charging / discharging is adopted to promote efficient heat generation. The reason why this CV charging / discharging is adopted is that, as described above, the internal resistance (impedance) of the battery becomes larger when the current change rate becomes smaller at the same temperature, that is, when a direct current is passed rather than an alternating current. This is because a large current flows at the rise of charge / discharge, but converges to 0 with time.
最初の充放電のスタート時は、図11に示すように、電池セルへの負担を軽減するため、そのときの残存容量SOCを基準として振幅値を小さく周期を短くするように、初期設定する。そして、パルス充放電をスタートした後は、セル温度T,残存容量SOC,入出力可能パワー量P,電流値I,電圧V等のパラメータを監視しながら、最大振幅値内で徐々に充放電の振幅を大きくし、且つ周期を長くしていく。 At the start of the first charge / discharge, as shown in FIG. 11, in order to reduce the burden on the battery cell, initialization is performed so that the amplitude value is reduced and the period is shortened with reference to the remaining capacity SOC at that time. After the pulse charge / discharge is started, the charge / discharge is gradually performed within the maximum amplitude value while monitoring parameters such as the cell temperature T, the remaining capacity SOC, the input / output power amount P, the current value I, and the voltage V. Increase the amplitude and lengthen the period.
最大振幅値は、パルス充放電における電圧振幅の上下限を規制してバッテリを保護するためのリミッタであり、温度に依存して変化する上限電圧Vmaxを劣化度を考慮して補正した上限リミッタ電圧Vmax’と、同じく温度に依存して変化する下限電圧Vminを劣化度を考慮して補正した下限リミッタ電圧Vmin’とにより、最大振幅値を設定する。 The maximum amplitude value is a limiter for protecting the battery by restricting the upper and lower limits of the voltage amplitude in pulse charge / discharge, and the upper limit voltage that is corrected in consideration of the degree of deterioration of the upper limit voltage Vmax that changes depending on the temperature. The maximum amplitude value is set by Vmax ′ and the lower limiter voltage Vmin ′ obtained by correcting the lower limit voltage Vmin that also varies depending on the temperature in consideration of the degree of deterioration.
ここで、図10のパルス充放電処理について説明する。この処理では、先ず、ステップS11で、セル温度T,入出力可能パワー量P,残存容量SOC等のバッテリ状態を表す最新のデータを入力し、ステップS12で、バッテリ状態に基づいて、パルス充放電における振幅値や周期等のパターンを更新すると共に、上限リミッタ電圧Vmax’と下限リミッタ電圧Vmin’とによる最大振幅値を、最新のセル温度Tに基づいて更新する。 Here, the pulse charge / discharge process of FIG. 10 will be described. In this process, first, in step S11, the latest data representing the battery state such as the cell temperature T, the input / output possible power amount P, the remaining capacity SOC and the like are input, and in step S12, pulse charge / discharge is performed based on the battery state. In addition to updating the pattern such as the amplitude value and the period, the maximum amplitude value by the upper limiter voltage Vmax ′ and the lower limiter voltage Vmin ′ is updated based on the latest cell temperature T.
本形態においては、パルス充放電の電圧振幅を制御周期毎に設定値ずつ大きくし、放電と充電との切換えを、入出力可能パワー量Pや残存容量SOCをベースとして、入出力可能パワー量Pと残存容量SOCとの少なくとも一方が設定値に達したときに行うようにしている。充放電を切換える設定値は、上限リミッタ電圧Vmax’或は下限リミッタ電圧Vmin’に徐々に近づく方向に可変され、これにより、パルス充放電の電圧パルス幅が徐々に長くなる(周期が徐々に長くなる)。 In this embodiment, the voltage amplitude of pulse charging / discharging is increased by a set value for each control cycle, and switching between discharging and charging is performed based on the input / output possible power amount P and the remaining capacity SOC, and the input / output possible power amount P. And at least one of the remaining capacity SOC reaches a set value. The set value for switching charge / discharge is varied in a direction gradually approaching the upper limiter voltage Vmax ′ or the lower limiter voltage Vmin ′, whereby the voltage pulse width of the pulse charge / discharge is gradually increased (the period is gradually increased). Become).
次に、ステップS12からステップS13へ進み、充放電パターにおける充電モードと放電モードとの切換を行うべく、入出力可能パワー量P及び残存容量SOCの少なくとも一方が規定値以上か否かを調べる。その結果、入出力可能パワー量P及び残存容量SOCの少なくとも一方が規定値を越えている場合には、ステップS13からステップS14へ進み、放電装置25を介してバッテリから放電させる放電モードに移行し、入出力可能パワー量P及び残存容量SOCの双方が規定値を越えていない場合には、ステップS13からステップS15へ進み、インバータ20を介してバッテリを充電する充電モードに移行する。
Next, the process proceeds from step S12 to step S13, and it is checked whether at least one of the input / output possible power amount P and the remaining capacity SOC is equal to or greater than a specified value in order to switch between the charge mode and the discharge mode in the charge / discharge pattern. As a result, when at least one of the input / output possible power amount P and the remaining capacity SOC exceeds the specified value, the process proceeds from step S13 to step S14, and shifts to a discharge mode in which the battery is discharged via the
尚、放電モードと充電モードとの切換えは、現在の電流Iをベースとして行うようにしても良く、電流値が略収束したとき、放電から充電への切換え、或は充電から放電への切換えを行うようにしても良い。 The switching between the discharging mode and the charging mode may be performed based on the current current I. When the current value is substantially converged, switching from discharging to charging or switching from charging to discharging is performed. You may make it do.
以上により、充放電のモードを決定してパルス充放電を実行した後は、ウォームアップ制御処理のステップS5へ進み、パルス充放電により、セル温度が上昇して規定温度に到達したか否かを調べる。その結果、セル温度が規定温度に到達したときには、ステップS5から処理を抜けて実質的にウォームアップを終了する。 As described above, after the charge / discharge mode is determined and the pulse charge / discharge is performed, the process proceeds to step S5 of the warm-up control process, and it is determined whether the cell temperature has increased to the specified temperature due to the pulse charge / discharge. Investigate. As a result, when the cell temperature reaches the specified temperature, the process is terminated from step S5 and the warm-up is substantially ended.
一方、セル温度が規定温度に到達していないときには、ステップS5からステップS6へ進み、充放電の電圧振幅が上限リミッタ電圧Vmax’と下限リミッタ電圧Vmin’とによる最大振幅値に到達したか否かを調べる。そして、充放電の電圧振幅が最大振幅値に達していないときには、ステップS6からステップS4に戻り、セル温度T、入出力可能パワー量P、残存容量SOC等の監視結果に応じてパルス充放電の電圧振幅や周期を可変しながら、ウォームアップを続ける。 On the other hand, when the cell temperature does not reach the specified temperature, the process proceeds from step S5 to step S6, and whether or not the voltage amplitude of charge / discharge has reached the maximum amplitude value by the upper limiter voltage Vmax ′ and the lower limiter voltage Vmin ′. Check out. When the voltage amplitude of charging / discharging does not reach the maximum amplitude value, the process returns from step S6 to step S4, and the pulse charging / discharging is performed according to the monitoring results such as the cell temperature T, the input / output possible power amount P, the remaining capacity SOC. Continue to warm up while varying the voltage amplitude and period.
また、充放電の電圧振幅が最大振幅値に達したときには、ステップS6から一旦処理を抜ける。これにより、次の処理周期のステップS3において、図11の破線で示すように、振幅値が小さく且つ周期が短い初期状態の充放電パターンに戻され、バッテリ保護を図りながらウォームアップが続行される。 When the voltage amplitude of charging / discharging reaches the maximum amplitude value, the process is temporarily exited from step S6. As a result, in step S3 of the next processing cycle, as shown by the broken line in FIG. 11, the charge / discharge pattern is returned to the initial charge / discharge pattern with a small amplitude value and a short cycle, and warm-up is continued while protecting the battery. .
図12は、以上のパルス充放電によるバッテリの温度上昇を示し、時間経過と共に徐々に可変されるパルス充放電パターンの振幅及び周期に比例するかのように、順調にセル温度が上昇しており、効率的にバッテリをウォームアップできていることがわかる。尚、図12においては、セル温度は、ウォームアップ開始時の温度を2°Cを基準(座標原点)とする相対的な温度上昇を示している。 FIG. 12 shows the temperature rise of the battery due to the above-described pulse charge / discharge, and the cell temperature rises smoothly as if proportional to the amplitude and period of the pulse charge / discharge pattern that is gradually changed over time. It can be seen that the battery can be warmed up efficiently. In FIG. 12, the cell temperature indicates a relative temperature rise with the temperature at the start of warm-up being 2 ° C. as a reference (coordinate origin).
1 電源ユニット
2 バッテリ
3 演算ユニット(残存容量演算手段、パワー量演算手段、充放電パターン設定手段、リミッタ値設定手段、ウォームアップ制御手段)
I 充放電電流
SOC 残存容量(合成後の残存容量)
SOCc 残存容量(第1の残存容量)
SOCv 残存容量(第2の残存容量)
P パワー量(合成後のパワー量)
PV パワー量(第1のパワー量)
PC パワー量(第2のパワー量)
V 端子電圧
Vo 開放電圧
Z インピーダンス
w ウェイト(第1のウェイト)
wp ウェイト(第2のウェイト)
代理人 弁理士 伊 藤 進
1 power supply unit 2
I Charge / discharge current SOC Remaining capacity (Remaining capacity after synthesis)
SOCc remaining capacity (first remaining capacity)
SOCv remaining capacity (second remaining capacity)
P power amount (power amount after synthesis)
PV power amount (first power amount)
PC power amount (second power amount)
V terminal voltage Vo open circuit voltage Z impedance w weight (first weight)
wp weight (second weight)
Agent Patent Attorney Susumu Ito
Claims (6)
上記バッテリの残存容量を、上記バッテリの充放電電流と開放電圧とに基づいて演算する残存容量演算手段と、
上記バッテリの入出力可能パワー量を、上記バッテリの充放電電流と内部インピーダンスとに基づいて演算するパワー量演算手段と、
少なくとも上記バッテリの温度と上記残存容量演算手段で演算した残存容量と上記パワー量演算手段で演算した入出力可能パワー量とを含むバッテリ状態に基づいて、上記バッテリの充電と放電とを交互にパルス状に繰返す充放電パターンを可変設定する充放電パターン設定手段と、
上記バッテリの温度に応じて、上記充放電パターンの最大振幅を規制するリミッタ値を可変設定するリミッタ値設定手段と、
上記バッテリの温度が規定温度未満のとき、上記充放電パターン設定手段で設定した充放電パターンによる上記バッテリの充放電を、上記リミッタ値設定手段で設定したリミッタ値の範囲内で実行させ、上記バッテリの温度を上昇させるウォームアップ制御手段とを備えたことを特徴とするバッテリのウォームアップ制御装置。 In the battery warm-up control device for controlling the charging / discharging of the battery at a low temperature and warming up by the internal heat generation of the battery,
A remaining capacity calculating means for calculating the remaining capacity of the battery based on a charge / discharge current and an open-circuit voltage of the battery;
Power amount calculating means for calculating the input / output possible power amount of the battery based on the charge / discharge current and internal impedance of the battery;
Pulse charging and discharging of the battery alternately based on a battery state including at least the temperature of the battery, the remaining capacity calculated by the remaining capacity calculating means, and the input / output possible power amount calculated by the power amount calculating means Charge / discharge pattern setting means for variably setting a charge / discharge pattern repeated in a shape,
Limiter value setting means for variably setting a limiter value that regulates the maximum amplitude of the charge / discharge pattern according to the temperature of the battery;
When the temperature of the battery is lower than a specified temperature, the battery is charged / discharged by the charge / discharge pattern set by the charge / discharge pattern setting means within a limiter value set by the limiter value setting means, and the battery And a warm-up control means for raising the temperature of the battery.
上記残存容量と上記入出力可能パワー量との少なくとも一方が設定値に達したとき、上記バッテリを充電するモードと上記バッテリから放電するモードとを切換えることを特徴とする請求項1記載のバッテリのウォームアップ制御装置。 The charge / discharge pattern setting means includes:
2. The battery according to claim 1, wherein when at least one of the remaining capacity and the input / output power amount reaches a set value, a mode for charging the battery and a mode for discharging from the battery are switched. Warm-up control device.
上記バッテリの充放電開始時に、上記充放電パターンの振幅及び周期を上記残存容量を基準とする値に設定し、その後、上記バッテリ状態に基づいて上記充放電パターンの振幅及び周期を徐々に大きくすることを特徴とする請求項1又は2記載のバッテリのウォームアップ制御装置。 The charge / discharge pattern setting means includes:
At the beginning of charging / discharging of the battery, the amplitude and period of the charge / discharge pattern are set to values based on the remaining capacity, and then the amplitude and period of the charge / discharge pattern are gradually increased based on the battery state. The battery warm-up control device according to claim 1 or 2,
上記リミッタ値を、上記バッテリの上下限電圧を上記バッテリの温度と劣化度とを考慮して補正した値として設定することを特徴とする請求項1〜3の何れか一に記載のバッテリのウォームアップ制御装置。 The limiter value setting means is:
4. The battery warm according to claim 1, wherein the limiter value is set as a value obtained by correcting the upper and lower limit voltages of the battery in consideration of the temperature and the deterioration degree of the battery. Up control device.
上記バッテリの充放電電流の積算値に基づく第1の残存容量と上記バッテリの開放電圧に基づく第2の残存容量とを、上記バッテリの使用状況に応じて設定した第1のウェイトを用いて重み付け合成し、上記バッテリの残存容量を演算することを特徴とする請求項1〜4の何れか一に記載のバッテリのウォームアップ制御装置。 The remaining capacity calculating means is
The first remaining capacity based on the integrated value of the charge / discharge current of the battery and the second remaining capacity based on the open circuit voltage of the battery are weighted using a first weight set in accordance with the use state of the battery. The battery warm-up control device according to any one of claims 1 to 4, characterized in that the remaining capacity of the battery is calculated.
上記バッテリの内部インピーダンスと開放電圧とに基づく第1のパワー量と上記バッテリの内部インピーダンスと充放電電流とに基づく第2のパワー量とを、上記バッテリの使用状況に応じて設定した第2のウェイトを用いて重み付け合成し、上記バッテリの入出力可能パワー量を演算することを特徴とする請求項1〜5の何れか一に記載のバッテリのウォームアップ制御装置。 The power amount calculation means includes:
A first power amount based on the internal impedance and open circuit voltage of the battery and a second power amount based on the internal impedance and charge / discharge current of the battery are set in accordance with the usage status of the battery. The battery warm-up control device according to claim 1, wherein weighted synthesis is performed using weights, and an input / output power amount of the battery is calculated.
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