JP2011033453A - Internal resistance detection device, open circuit voltage detection device and residual capacity detection device of power storage device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To detect accurately an internal resistance, an open circuit voltage and a residual capacity of a power storage device. <P>SOLUTION: A voltage approximation differential operation part 51 and a current approximation differential operation part 52 remove contribution of low frequency components below an angular frequency (1/Td), namely, a reaction resistance component H and a charge discharge hysteresis voltage component M, from a voltage detection value V<SB>act</SB>and a current detection value I<SB>act</SB>, and calculates a voltage change ΔV and a current change ΔA of each voltage detection value V<SB>act</SB>and current detection value I<SB>act</SB>. A first multiplication part 53 calculates a voltage change estimation value ΔV<SB>est</SB>by multiplying a previous value of an internal resistance estimation value a<SB>eat</SB>by the current change ΔA. A gain setting part 56 sets a gain K based on a prescribed fixed value or a state change of a high-voltage battery 17. A second multiplication part 55 calculates an internal resistance correction quantity Q by multiplying a difference (ΔV-ΔV<SB>est</SB>) determined by subtracting the voltage change estimation value ΔV<SB>est</SB>from the voltage change ΔV by the gain K. An integration operation part 57 calculates the internal resistance estimation value a<SB>eat</SB>by integrating the internal resistance correction quantity Q. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an internal resistance detection device, an open circuit voltage detection device, and a remaining capacity detection device of a power storage device such as a battery.

Conventionally, in a power storage device such as a battery, the terminal voltage when the charge / discharge current is not zero is composed of an open circuit voltage, an internal resistance component, and a transient response component, and the internal resistance component and the transient response component are determined from the detected value of the terminal voltage. In addition, an internal resistance detection device, an open circuit voltage detection device, and a remaining capacity detection device of a power storage device that calculate an open circuit voltage by subtracting and the remaining capacity from the open circuit voltage are known (for example, Patent Document 1). reference).
In the internal resistance detection device, the open circuit voltage detection device, and the remaining capacity detection device of these power storage devices, the internal resistance component is calculated based on the ratio between the voltage fluctuation and the current fluctuation in a predetermined frequency region, and the transient response component is calculated based on the charge / discharge current. Calculated based on the detected value.

Japanese Patent No. 4037344

By the way, in the internal resistance detection device, the open circuit voltage detection device, and the remaining capacity detection device of the power storage device according to the above prior art, the instantaneous value of the internal resistance component is expressed as a ratio of voltage fluctuation to current fluctuation (voltage fluctuation amount / current fluctuation). (Quantity). However, when the current fluctuation amount is small, there arises a problem that this ratio (voltage fluctuation amount / current fluctuation amount) diverges infinitely.
When such a problem occurs, for example, if the current fluctuation amount has an appropriately large value and the current fluctuation period is lengthened, the contribution of a slow resistance component due to a chemical reaction or the like increases, and the chemical reaction causes There arises a problem that the calculation accuracy and reliability of the instantaneous value of the internal resistance component, which is an ohmic resistance (= pure resistance) not including a slow resistance component such as a resistance, is lowered. In this case, for example, even if filtering processing such as time averaging processing is used, the error becomes maximum and infinite, so it is difficult to improve calculation accuracy and reliability.
In addition, the current fluctuation amount at this ratio (voltage fluctuation amount / current fluctuation amount) frequently changes depending on, for example, the temperature state of the power storage device, the charge / discharge history, the operation time, and the detection of current and voltage. There is a problem that the calculation accuracy and reliability are reduced due to the possibility that the error is increased by noise.

  The present invention has been made in view of the above circumstances, and the internal resistance detection device of a power storage device capable of accurately detecting the internal resistance of the power storage device, and the open circuit voltage of the power storage device according to the internal resistance of the power storage device are accurate. It is an object of the present invention to provide an open-circuit voltage detection device that can detect well and a remaining capacity detection device that can accurately detect the remaining capacity of the power storage device according to the internal resistance of the power storage device.

  In order to solve the above problems and achieve the object, the internal resistance detection device for a power storage device according to the first aspect of the present invention is a voltage of a terminal voltage of a power storage device (for example, high voltage battery 17 in the embodiment). Voltage detection means for detecting a value (for example, voltage sensor 17b in the embodiment) and voltage fluctuation calculation means for calculating a voltage fluctuation value that is a fluctuation of the voltage value detected by the voltage detection means (for example, implementation) Voltage approximation differential calculation unit 51) in the form of voltage fluctuation estimated value calculation means for calculating an estimated value of voltage fluctuation that is the fluctuation of the voltage value detected by the voltage detection means (for example, in the embodiment) First accumulation unit 53), based on a difference between the voltage fluctuation value calculated by the voltage fluctuation calculating means and the estimated value of the voltage fluctuation calculated by the voltage fluctuation estimated value calculating means. Comprising the internal resistance calculation means for calculating the internal resistance of the device (e.g., a second multiplication unit 55 and the gain setting unit 56 and the integral operation unit 57 in the embodiment) and a.

  Furthermore, the internal resistance detection device of the power storage device according to the second aspect of the present invention includes current detection means (for example, a current sensor 17a in the embodiment) that detects a current value of a discharge current or a charge current of the power storage device. Current fluctuation calculation means for calculating a current fluctuation value that is a fluctuation of the current value detected by the current detection means (for example, a current approximate differentiation operation unit 52 in the embodiment), and the voltage fluctuation The estimated value is a value obtained by multiplying the current fluctuation value calculated by the current fluctuation calculation means by the value calculated by the internal resistance calculation means.

  Further, the internal resistance detection device of the power storage device according to the third aspect of the present invention includes a current detection unit (for example, the current sensor 17a in the embodiment) that detects the current value of the discharge current or the charging current of the power storage device, Current fluctuation calculation means for calculating a current fluctuation value that is a fluctuation of the current value detected by the current detection means (for example, a current approximate differentiation calculation unit 52 in the embodiment) and detected by the current detection means. Current fluctuation estimated value calculating means for calculating an estimated value of current fluctuation that is the fluctuation of the current value (for example, the division unit 83 in the embodiment), the current fluctuation value calculated by the current fluctuation calculating means, Internal resistance calculation means for calculating the internal resistance of the power storage device based on a difference from the estimated value of the current fluctuation calculated by the current fluctuation estimated value calculation means (for example, a multiplication unit in the embodiment) Comprising 5 and the gain setting unit 56 and the integral calculation section 57) and.

  Furthermore, the internal resistance detection device of the power storage device according to the fourth aspect of the present invention includes a voltage detection unit (for example, a voltage sensor 17b in the embodiment) that detects a voltage value of a terminal voltage of the power storage device, and the voltage Voltage fluctuation calculating means for calculating a voltage fluctuation value that is a fluctuation of the voltage value detected by the detecting means (for example, a voltage approximate differentiation operation unit 51 in the embodiment), and the estimated value of the current fluctuation is The value obtained by dividing the voltage fluctuation value calculated by the voltage fluctuation calculation means by the value calculated by the internal resistance calculation means.

  Furthermore, in the internal resistance detection device for a power storage device according to the fifth aspect of the present invention, the voltage fluctuation value calculated by the voltage fluctuation calculation means is the voltage value detected by the voltage detection means or the voltage value. It is a time fluctuation value of a predetermined frequency domain component of the state quantity.

  Furthermore, in the internal resistance detection device for a power storage device according to the sixth aspect of the present invention, the current fluctuation value calculated by the current fluctuation calculation means is the current value detected by the current detection means or the current value. It is a time fluctuation value of a predetermined frequency domain component of the state quantity.

  Furthermore, in the internal resistance detection device for a power storage device according to the seventh aspect of the present invention, the frequency region of the predetermined frequency region component is a terminal voltage of the power storage device with respect to a change in a current value of a discharge current or a charge current of the power storage device. Is set to a frequency region higher than the frequency region of the transient response component of the voltage value response.

  Further, in the internal resistance detection device for a power storage device according to the eighth aspect of the present invention, the internal resistance calculation means corrects the internal resistance based on the current fluctuation value (for example, the internal resistance correction amount in the embodiment). Q), the correction amount changes in an increasing tendency as the current fluctuation value increases, and the correction amount changes in a decreasing tendency as the current fluctuation value decreases. Thus, the correction amount is set.

  Further, in the internal resistance detection device for a power storage device according to the ninth aspect of the present invention, the internal resistance calculation means corrects the internal resistance based on the voltage fluctuation value (for example, the internal resistance correction amount in the embodiment). Q), the correction amount changes in an increasing tendency as the voltage fluctuation value increases, and the correction amount changes in a decreasing tendency as the voltage fluctuation value decreases. Thus, the correction amount is set.

  Further, in the internal resistance detection device for a power storage device according to the tenth aspect of the present invention, the internal resistance calculation means corrects the internal resistance based on a load fluctuation value or a load fluctuation command value of the power storage device (for example, implementation). And the load variation value so that the correction amount changes in an increasing tendency as the load variation value or the load variation command value increases. Alternatively, the correction amount is set such that the correction amount changes in a decreasing tendency as the load variation command value decreases.

  Furthermore, in the internal resistance detection device for a power storage device according to an eleventh aspect of the present invention, the internal resistance calculation means may calculate a gain constant (for example, a gain in an embodiment) from the difference between the voltage fluctuation value and the estimated value. The internal resistance is calculated by multiplying by K).

  Further, in the internal resistance detection device for a power storage device according to the twelfth aspect of the present invention, the internal resistance calculation means includes a gain constant (for example, a gain K in the embodiment) in the difference between the current fluctuation value and the estimated value. ) To calculate the internal resistance.

  Furthermore, in the internal resistance detection device for a power storage device according to the thirteenth aspect of the present invention, the internal resistance calculation means is configured to increase a current fluctuation value that is a change in a current value of a discharge current or a charging current of the power storage device. Accordingly, the gain constant is set so that the gain constant changes in an increasing tendency, and the gain constant changes in a decreasing tendency as the current fluctuation value decreases.

  Furthermore, in the internal resistance detection device for a power storage device according to the fourteenth aspect of the present invention, the internal resistance calculation means is configured to increase the gain as the voltage fluctuation value, which is a voltage value fluctuation of the terminal voltage of the power storage device, increases. The gain constant is set so that the constant changes in an increasing tendency and the gain constant changes in a decreasing tendency as the voltage fluctuation value decreases.

  Furthermore, in the internal resistance detection device for a power storage device according to the fifteenth aspect of the present invention, the internal resistance calculation means has a tendency that the gain constant increases as a load fluctuation value or a load fluctuation command value of the power storage device increases. The gain constant is set so that the gain constant changes in a decreasing tendency as the load fluctuation value or the load fluctuation command value decreases.

Furthermore, the internal resistance detection device of the power storage device according to the sixteenth aspect of the present invention is the output of the current value or the terminal voltage of the power storage device by current detection means for detecting the current value of the discharge current or the charging current of the power storage device. Various parameters (for example, I _act , V _act , ΔA, and the like in the embodiment) from the output of the voltage value by the voltage detection means for detecting the voltage value of the internal resistance to the output of the internal resistance by the internal resistance calculation means. In the calculation path of ΔV, ΔV _est , (ΔV−ΔV _est ), K, Q, a _est, etc., the output value that changes in an increasing trend with an increase in the input value has an upper limit value or the input value increases. The increase rate of the output value that changes along with the decrease tends to decrease, and the output value that changes along with the decrease of the input value has a lower limit value or decreases as the input value decreases. A conversion calculation unit (for example, the conversion calculation unit 34a in the embodiment) in which the decrease rate of the output value that changes in a downward trend is reduced is provided, and conversion calculation is performed on at least one of the parameters by the conversion calculation unit. Perform processing.

  Furthermore, the internal resistance detection device for a power storage device according to the seventeenth aspect of the present invention is a deterioration level detection means for detecting the deterioration level of the power storage device (for example, the internal resistance estimator 34 in the embodiment also serves). According to the degree of deterioration detected by the degree of deterioration detection means, the upper limit value of the conversion calculation means or the degree of decrease of the increase rate, and the lower limit value of the conversion calculation means or the degree of decrease of the decrease rate. Conversion operation changing means for changing (for example, also serving as the internal resistance estimator 34 in the embodiment).

  Furthermore, in the internal resistance detection device for a power storage device according to the eighteenth aspect of the present invention, the conversion calculation change means includes the conversion calculation means for the parameter related to the internal resistance as the deterioration degree increases. The upper limit value is increased or the decrease rate of the increase rate is decreased, and the lower limit value is increased or the decrease rate of the decrease rate is increased.

  Furthermore, in the internal resistance detection device for a power storage device according to the nineteenth aspect of the present invention, the conversion calculation change means is configured to detect the current value, the voltage value, or the change in the current value as the deterioration degree increases. In the conversion calculation means for the parameter related to a voltage fluctuation value which is a certain current fluctuation value or a fluctuation of the voltage value, the upper limit value is increased or the decrease rate of the increase rate is decreased, and the lower limit value is reduced or The degree of reduction of the reduction rate is reduced.

  Furthermore, in the internal resistance detection device for a power storage device according to the twentieth aspect of the present invention, the conversion calculation means has a dead zone in which the output value is fixed within a predetermined range of the input value.

  An open circuit voltage detection device for a power storage device according to a twenty-first aspect of the present invention is the internal resistance detection device for a power storage device according to any one of the first to twentieth aspects, and the discharge current or charge of the power storage device. State quantity calculation means for calculating a state quantity related to a transient response component of the response of the voltage value of the terminal voltage of the power storage device to the fluctuation of the current value of the current based on the current value (for example, the state quantity calculation unit in the embodiment) 31 and the transient response component calculation unit 32) and the state quantity calculated by the state quantity calculation means from the voltage value detected by the voltage detection means for detecting the voltage value of the terminal voltage of the power storage device. An open circuit that calculates an open circuit voltage of the power storage device by subtracting the transient response component and an internal resistance component that is a voltage change due to the internal resistance detected by the internal resistance detection device of the power storage device Pressure calculating means (e.g., the subtracting unit 36 in the embodiment) and a.

  An open circuit voltage detection device for a power storage device according to a twenty-second aspect of the present invention is the internal resistance detection device for a power storage device according to any one of the first to twentieth aspects, and the discharge current or charge of the power storage device. A state quantity comprising a first state quantity relating to a transient response component of a response of a voltage value of the terminal voltage of the power storage device to a change in current value of a current and a second state quantity relating to an open circuit voltage of the power storage device. When calculating, a state quantity calculating means for calculating at least the first state quantity based on the current value (for example, the state quantity calculating unit 61 and the open circuit voltage and transient response component calculating unit 62 in the embodiment), The transient response component related to the first state quantity calculated by the state quantity calculating means, the open circuit voltage related to the second state quantity, and the voltage change due to the internal resistance calculated by the internal resistance calculating means. The first value is such that a difference between a value obtained by adding a certain internal resistance component and the voltage value detected by the voltage detecting means for detecting the voltage value of the terminal voltage of the power storage device becomes zero. Feedback means for correcting at least the second state quantity among the state quantity and the second state quantity (for example, the state quantity calculation unit 61, the open circuit voltage and transient response component calculation unit 62, and the addition unit in the embodiment) 63 and a subtracting unit 64), and an open circuit voltage calculating means for calculating the open circuit voltage from the second state quantity (for example, the open circuit voltage extracting unit 65 in the embodiment).

  A remaining capacity detection device for a power storage device according to a twenty-third aspect of the present invention is the open-circuit voltage calculated by the open-circuit voltage detection device for a power storage device according to the twenty-first or twenty-second aspect and the open-circuit voltage calculation means. And a remaining capacity calculating means (for example, remaining capacity estimating unit 38 in the embodiment) for calculating the remaining capacity of the power storage device.

  Furthermore, in the remaining capacity detection device for a power storage device according to the twenty-fourth aspect of the present invention, the remaining capacity calculation means stores storage means for storing data indicating a predetermined correlation between the open circuit voltage and the remaining capacity (for example, The remaining capacity of the power storage device according to the open circuit voltage calculated by the open circuit voltage calculation means based on the data stored in the storage means Is calculated.

  According to the internal resistance detection device for a power storage device according to the first aspect of the present invention, for example, the voltage fluctuation value and the estimated value are not calculated without calculating the ratio between the voltage fluctuation amount and the current fluctuation amount (voltage fluctuation amount / current fluctuation amount). The internal resistance is calculated based on the difference. As a result, for example, infinite divergence occurs in the arithmetic processing when the current fluctuation amount is small, or due to a chemical reaction or the like when the fluctuation period is set long so that the current fluctuation amount has a desired magnitude, for example. The contribution of the slow resistance component increases and the calculation accuracy and reliability of the internal resistance decreases, for example, due to the amount of current fluctuation that frequently changes depending on the temperature state of the power storage device, charge / discharge history, operating time, etc. Thus, it is possible to prevent the occurrence of problems such as an increase in calculation error of the internal resistance, and to calculate the internal resistance appropriately and accurately.

  Furthermore, according to the internal resistance detection device for a power storage device according to the second aspect of the present invention, the estimated value of the voltage fluctuation is calculated using the current fluctuation value and the value calculated by the internal resistance calculation means (for example, the previous value of the internal resistance or By multiplying by an initial value and the like, it is possible to improve the estimation accuracy and reliability of the voltage fluctuation.

  According to the internal resistance detection device for a power storage device according to the third aspect of the present invention, for example, the ratio between the voltage fluctuation amount and the current fluctuation amount (voltage fluctuation amount / current fluctuation amount) is not calculated, and the current fluctuation value and the estimated value are calculated. The internal resistance is calculated based on the difference. As a result, for example, infinite divergence occurs in the arithmetic processing when the current fluctuation amount is small, or due to a chemical reaction or the like when the fluctuation period is set long so that the current fluctuation amount has a desired magnitude, for example. The contribution of the slow resistance component increases and the calculation accuracy and reliability of the internal resistance decreases, for example, due to the amount of current fluctuation that frequently changes depending on the temperature state of the power storage device, charge / discharge history, operating time, etc. Thus, it is possible to prevent the occurrence of problems such as an increase in calculation error of the internal resistance, and to calculate the internal resistance appropriately and accurately.

  Furthermore, according to the internal resistance detection device for a power storage device according to the fourth aspect of the present invention, the estimated value of the current fluctuation is the voltage fluctuation value calculated by the internal resistance calculation means (for example, the previous value of the internal resistance or By dividing by the initial value and the like, the current fluctuation estimation accuracy and reliability can be improved.

  Furthermore, according to the internal resistance detection device for a power storage device according to the fifth aspect or the sixth aspect of the present invention, the voltage value of the terminal voltage of the power storage device includes an internal resistance component related to the internal resistance of the power storage device, and the internal resistance. Other components other than the component (for example, voltage component due to resistance caused by chemical reaction such as diffusion resistance and polarization of electrolyte of the power storage device, and voltage when charging / discharging is stopped when the power storage device is charged and discharged Voltage component due to hysteresis that occurs in the value, etc., by using frequency characteristics that differ for each component, removing the contribution of other components, and voltage fluctuations related only to the internal resistance component Value or current fluctuation value can be calculated, and the internal resistance of the power storage device can be calculated quickly and accurately.

  Furthermore, according to the internal resistance detection device for a power storage device according to the seventh aspect of the present invention, the contribution of the transient response component can be ignored in the frequency region higher than the frequency region of the transient response component, and the internal resistance of the power storage device can be reduced. It is possible to calculate with high accuracy.

  Furthermore, according to the internal resistance detection device for a power storage device according to any one of the eighth aspect to the tenth aspect of the present invention, by changing the correction amount according to the current fluctuation, voltage fluctuation, or load fluctuation, An appropriate correction amount can be set in accordance with the calculation accuracy of the internal resistance that varies depending on the magnitude of fluctuation, voltage fluctuation, or load fluctuation, and the internal resistance can be calculated with higher accuracy.

  Furthermore, according to the internal resistance detection device for a power storage device according to any one of the eleventh aspect to the fifteenth aspect of the present invention, by changing the gain constant according to the current fluctuation, voltage fluctuation, or load fluctuation, An appropriate gain constant can be set in accordance with the calculation accuracy of the internal resistance that changes depending on the magnitude of fluctuation, voltage fluctuation, or load fluctuation, and the internal resistance can be calculated with higher accuracy.

  Furthermore, according to the internal resistance detection device for a power storage device according to any one of the sixteenth to twentieth aspects of the present invention, errors caused by noise or the like in various parameters, for example, chemical reactions. Excessive fluctuations of various parameters due to components related to transient responses such as resistance components can be removed, and the internal resistance can be calculated with higher accuracy by using various parameters within an appropriate fluctuation range.

  In addition, according to the open circuit voltage detection device for a power storage device according to the twenty-first or twenty-second aspect of the present invention, the voltage value changes frequently depending on the state of the power storage device, and the voltage value against an appropriate fluctuation in the current value in the power storage device. The internal resistance component that makes a relatively large contribution in the response can be accurately calculated by the internal resistance detection device, and the open circuit voltage can be accurately calculated based on the internal resistance component.

In addition, according to the remaining capacity detection device for a power storage device according to the twenty-third aspect or the twenty-fourth aspect of the present invention, the remaining capacity of the power storage device can be accurately calculated according to a reliable open circuit voltage.
That is, the open circuit voltage is a numerical value that uniquely describes the remaining capacity regardless of, for example, the temperature or deterioration of the power storage device. For example, when the remaining capacity is estimated based on a state quantity other than the open circuit voltage of the power storage device, calculations and maps are necessary to remove the effects of the temperature and deterioration of the power storage device. A huge amount of memory is required for memory. Furthermore, in order to create a map for each temperature and deterioration level, it is necessary to acquire a large amount of experimental data in advance. According to the remaining capacity detection device for a power storage device of the present invention, the open circuit voltage of the power storage device can be estimated with high accuracy. Instead, the remaining capacity can be accurately estimated regardless of the temperature and deterioration of the power storage device.

1 is a configuration diagram of a vehicle equipped with a remaining capacity detection device for a power storage device according to a first embodiment of the present invention. It is a graph which shows an example of the correlation of the open circuit voltage E of a high voltage battery, and remaining capacity. It is a graph which shows an example of the time change of the battery voltage V accompanying the change of the battery current I. FIG. It is a graph which shows an example of the change of the settling voltage Hs of the reaction resistance component H proportional to the battery current I. It is a graph which shows an example of the time change of the reaction resistance component H of the battery voltage V accompanying the change of the battery current I. It is a graph which shows an example of the charging / discharging hysteresis area | region of a high voltage battery. It is a graph which shows an example of the hysteresis voltage between charging / discharging of a high voltage battery. It is a graph which shows an example of the change of the settling voltage Ms of the charging / discharging hysteresis voltage component M with respect to the battery current I. It is a graph which shows an example of the change of the settling voltage Ms of the charging / discharging hysteresis voltage component M with respect to the battery current I. It is a block diagram which shows an example of the settling voltage regulator which concerns on embodiment of this invention. It is a graph which shows an example of the time change of the charging / discharging hysteresis voltage component M of the battery voltage V accompanying the change of the battery current I. It is a block diagram of the remaining capacity detection apparatus of the electrical storage apparatus which concerns on the 1st Embodiment of this invention. It is a block diagram of the internal resistance estimator shown in FIG. It is a graph which shows an example of the frequency characteristic of the band pass (high pass) filter effect | action of the voltage approximate differentiation calculating part and current approximate differential calculating part which are shown in FIG. It is a figure which shows the example of the input-output characteristic of the conversion calculating part with which an internal resistance estimator is equipped. It is a flowchart which shows operation | movement of the open circuit voltage detection apparatus of the electrical storage apparatus shown in FIG. 13, and the remaining capacity detection apparatus of an electrical storage apparatus. It is a block diagram of the remaining capacity detection apparatus of the electrical storage apparatus which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows operation | movement of the open circuit voltage detection apparatus of the electrical storage apparatus which concerns on the 2nd Embodiment of this invention, and the remaining capacity detection apparatus of an electrical storage apparatus. It is a block diagram of the remaining capacity detection apparatus of the electrical storage apparatus which concerns on the modification of the 1st Embodiment of this invention. It is a block diagram of the remaining capacity detection apparatus of the electrical storage apparatus which concerns on the modification of the 2nd Embodiment of this invention. It is a block diagram of the internal resistance estimator which concerns on the modification of embodiment of this invention.

Hereinafter, a first embodiment of an internal resistance detection device, an open circuit voltage detection device, and a remaining capacity detection device of a power storage device according to the present invention will be described with reference to the accompanying drawings.
The power storage device remaining capacity detection device 10a according to the first embodiment is provided, for example, in an electric vehicle, a hybrid vehicle, or the like. For example, the vehicle 1 shown in FIG. 1 directly connects an internal combustion engine 11 and a motor 12 as a drive source in series, and at least power of either the internal combustion engine 11 or the motor 12 is transmitted through a speed change mechanism 13 to drive wheels of the host vehicle. It is a hybrid vehicle that travels by being transmitted to W. In this vehicle 1, when power is transmitted from the drive wheel W side to the motor 12 side during deceleration, the motor 12 functions as a generator to generate a so-called regenerative braking force, and recovers the kinetic energy of the vehicle body as electric energy. . Furthermore, the motor 12 is driven as a generator by the output of the internal combustion engine 11 according to the driving state of the vehicle 1 to generate power generation energy.

  For example, the operation of the internal combustion engine 11 having a plurality of cylinders (not shown) is controlled by the engine control device 14. In the internal combustion engine 11, as a sensor for detecting the operating state of the internal combustion engine 11, a temperature sensor 11 a that detects an engine temperature of the internal combustion engine 11 (for example, a cooling water temperature TW of the internal combustion engine 11) or a rotational speed of the internal combustion engine 11. (Engine speed) Sensors such as a rotational speed sensor 11b for detecting NE are provided. Detection signals output from the sensors are input to an engine control device 14 configured by an electronic circuit including a CPU and the like in order to control the operation of the internal combustion engine 11. In addition, the engine control device 14 receives a signal from an ignition switch 11c that instructs ON / OFF of an ignition (not shown).

For example, the drive and regenerative operation of the motor 12 composed of a three-phase DC brushless motor is performed by a power drive unit (PDU) 16 in response to a control command output from the motor control device 15.
The PDU 16 includes, for example, an inverter composed of a transistor switching element, and is connected to a high-voltage high-voltage battery 17 that exchanges electric energy with the motor 12 via a contactor unit 18. For example, when the motor 12 is driven, the PDU 16 converts the DC power supplied from the high voltage battery 17 into three-phase AC power and supplies it to the motor 12. Further, during the regenerative operation of the motor 12, the AC regenerative power output from the motor 12 is converted into DC power to charge the high voltage battery 17 or supply DC power to the DC-DC converter 19. In order to detect the operation state of the motor 12, the motor 12 is provided with a sensor such as a rotational speed sensor 12a for detecting the rotational speed (motor rotational speed) NM of the motor 12, and a detection signal output from the sensor is: In order to control the operation of the motor 12, it is input to a motor control device 15 constituted by an electronic circuit including a CPU and the like.
The contactor 18 includes a main contactor 18a, and a precharge contactor 18b and a precharge resistor 18c provided in parallel to the main contactor 18a.

For example, a DC-DC converter 19 is connected to a high-voltage battery 17 such as a Ni-MH battery or a Li-ion battery via a contactor unit 18. The DC-DC converter 19 steps down the terminal voltage V of the high voltage battery 17 or the voltage between the terminals of the inverter of the PDU 16 when the motor 12 is regeneratively operated according to the control command output from the battery control device 20. Charge 21. The 12V battery 21 supplies power to the control devices 14, 15 and 20 in addition to various auxiliary machines.
The high voltage battery 17 includes a current sensor 17 a that detects a discharge current supplied from the high voltage battery 17 to a load such as the motor 12 and a current I that is a charge current supplied from the load to the high voltage battery 17. Sensors such as a voltage sensor 17b for detecting the terminal voltage V and a temperature sensor 17c for detecting the temperature TB of the high voltage battery 17 are provided. Detection signals output from each sensor are input to a battery control device 20 configured by an electronic circuit including a CPU and the like in order to monitor and protect the state of the high voltage battery 17.

The battery control device 20 includes a power storage device remaining capacity detection device 10a (hereinafter simply referred to as a remaining capacity detection device 10a) and a power storage device open circuit voltage detection device 10b (hereinafter simply referred to as open circuit voltage detection). Device 10b). As will be described later, the battery control device 20 calculates the internal resistance of the high voltage battery 17 and the remaining capacity of the high voltage battery 17 based on detection signals output from the sensors 17a, 17b, and 17c and predetermined data stored in advance. And deterioration determination processing related to the life of the high-voltage battery 17 are performed.
The engine control device 14, the motor control device 15, and the battery control device 20 are connected to each other via a bus 22, and each control device 14, 15, 20 includes each sensor 11a, 11b, 12a, Each detection data acquired from 17a, 17b, and 17c and data generated during control processing can be exchanged.

The remaining capacity detection device 10a according to the present embodiment stores a predetermined map created in advance according to the voltage characteristics of the high-voltage battery 17 in the no-load state without deterioration such as the initial state. For example, as shown in FIG. 2, the map shows the value of the terminal voltage V (open circuit voltage E) and the remaining capacity of the high voltage battery 17 when the high voltage battery 17 is left unloaded for a long time exceeding a predetermined time. The correlation is shown. Then, the remaining capacity detection device 10a calculates the remaining capacity of the high voltage battery 17 by a map search according to the open circuit voltage estimated value E _est output from the open circuit voltage detection device 10b.
The remaining capacity in the present invention is the ratio of the amount of electricity (Ah) actually stored in the high voltage battery 17 with the amount of electricity (Ah) stored in the high voltage battery 17 in a fully charged state as 100%. is there. Further, the remaining capacity may be calculated by the amount of power (Wh) instead of the amount of electricity (Ah).

The open circuit voltage E has a characteristic that the remaining capacity is uniquely described regardless of the temperature. In addition, even if the high voltage battery 17 is deteriorated, the open circuit voltage E is actually the high voltage battery 17 when the amount of electricity and electric power stored in the fully charged state of the deteriorated high voltage battery 17 is 100%. It also has the characteristic of uniquely describing the amount of electricity and the amount of power stored in the.
That is, the open circuit voltage E is a numerical value that uniquely describes the remaining capacity regardless of the temperature and deterioration of the high-voltage battery 17.

The open circuit voltage detection apparatus 10b according to the present embodiment detects the current detection value _Iact of the current I of the high voltage battery 17 detected by the current sensor 17a and the voltage detection of the terminal voltage V of the high voltage battery 17 detected by the voltage sensor 17b. Based on the value _Vact , the open circuit voltage E of the high voltage battery 17 is estimated.
In this open circuit voltage detection device 10b, as shown in the following formula (1), for example, the terminal voltage V of the high voltage battery 17 has four voltage components, that is, an open circuit voltage E, an internal resistance component W, a reaction resistance component H, and charge / discharge hysteresis. The voltage component M is set.

The open circuit voltage E is a value of the terminal voltage V when the high voltage battery 17 is left unloaded for a long time exceeding a predetermined time.
The internal resistance component W is a voltage component due to resistance caused by the structure of the high-voltage battery 17 such as a conductive member of the high-voltage battery 17 or the resistance of the electrolytic solution.
The reaction resistance component H is a voltage component due to resistance resulting from a chemical reaction such as diffusion resistance or polarization of the electrolyte solution of the high-voltage battery 17.
The charging / discharging hysteresis voltage component M is a voltage component due to hysteresis generated in the terminal voltage V when charging / discharging is stopped when the high-voltage battery 17 is charged and discharged.

For example, as shown in FIG. 3, when charging is performed by changing the current (battery current) I of the high voltage battery 17 stepwise, first, the terminal voltage (battery voltage) of the high voltage battery 17 is generated at the current change occurrence time t1. ) V increases from the open circuit voltage E by an internal resistance component W.
Here, the internal resistance component W is proportional to the battery current I. For example, the internal resistance a is a proportional coefficient corresponding to the temperature state of the high-voltage battery 17, the charge / discharge history, the operation time, and the like, as shown in the following formula (2). It is described as
In the following, the sign of the battery current I is positive with respect to the charging current and negative with respect to the discharging current.

  After the current change occurrence time t1, the battery voltage V increases by a reaction resistance component H and a charge / discharge hysteresis voltage component M from a value obtained by adding the internal resistance component W to the open circuit voltage E.

  For example, the reaction resistance component H gradually increases from zero, which is a value at the current change occurrence time t1, and changes so as to reach a settling voltage Hs, which is an equilibrium value, after a lapse of an appropriate time. For example, as shown in FIG. 4, if the settling voltage Hs is proportional to the current I of the high voltage battery 17 in accordance with a predetermined proportional coefficient b corresponding to the temperature state, charge / discharge history, operation time, etc. of the high voltage battery 17. The settling voltage Hs is described as shown in the following formula (3).

Thus, the time-lag response of the reaction resistance component H, which is different from the instantaneous voltage change such as the internal resistance component W, with respect to the step-like current change is, for example, the temperature state of the high-voltage battery 17, the charge / discharge history, It can be approximated by the response of the first-order lag element of the time constant T according to the operating time or the like. In this case, for example, as shown in FIG. 5, in the graph showing the time variation of the reaction resistance component H, the slope (dH / dt) of the reaction resistance component H at an appropriate time t2 (that is, the FH point in FIG. 5). Is described as shown in Equation (4) below.
Note that the time delay response of the reaction resistance component H may be approximated by the response of the first order delay element of a single time constant T as shown in the following formula (4). May be approximated to a response composed of a linear combination of first-order lag elements of different time constants T _n (n is an arbitrary natural number).

  The settling voltage Hs is proportional to the battery current I, but is not limited thereto, and may be an appropriate monotonically increasing function f (I) related to the battery current I, for example. In this case, the formula (4) is described as shown in the following formula (5).

  Further, for example, as shown in FIG. 6, during charging and discharging of the high-voltage battery 17 with a predetermined current, the battery voltage V (charge / discharge stop voltage E0) at the time of charge / discharge stop shifts to the charge side. A hysteresis region (charge / discharge hysteresis region) for the charge / discharge stop voltage E0 is generated by the 0A charge virtual line and the 0A discharge virtual line shifted to the discharge side. For example, as shown in FIG. 7, the voltage value (0A charge imaginary point) and 0A discharge imaginary line in the 0A charge imaginary line with respect to the voltage change due to the instantaneous resistance and reaction resistance at an appropriate remaining capacity (SOCa). The charge / discharge hysteresis voltage with respect to the charge / discharge stop voltage E0 is generated by the voltage value at 0A (the virtual discharge point of 0A).

  The charge / discharge hysteresis voltage component M due to this charge / discharge hysteresis region gradually increases from zero, which is a value at the current change occurrence time t1, and changes so as to reach the settling voltage Ms after an appropriate time has elapsed. . The settling voltage Ms has a value proportional to the current value, and has, for example, at least an upper limit saturation voltage (uplimms) or a lower limit saturation voltage (lowlimms) as a saturation value.

For example, the settling voltage Ms described as shown in FIG. 8 and the following equation (6) is proportional to the battery current I between a predetermined upper limit saturation voltage (uplimms) and a lower limit saturation voltage (lowlimms).
Further, for example, the settling voltage Ms described as shown in FIG. 9 and the following formula (7) is an example in the case where the proportionality coefficient with respect to the current value is zero in the example of FIG. 8 and the following formula (6). When the high voltage battery 17 is charged, a predetermined upper limit saturation voltage (uplimms) is obtained, when the high voltage battery 17 is discharged, a lower limit saturation voltage (lowlimms) is obtained, and becomes zero when charging / discharging is stopped.

  The settling voltage Ms is not limited to a linear change with respect to the battery current I as shown in FIG. 8, for example, and may have a curvilinear change obtained by performing a smoothing process or the like on the linear change. .

  The settling voltage Ms has the same or different change on the charge side and change on the discharge side, for example, depending on the composition of the high voltage battery 17 and the like. For example, the upper limit saturation voltage (uplimms) and the lower limit saturation voltage (lowlimms) have the same absolute value (| uplimms | = | lowlimmss |) or different (| uplimmss | <| lowlimmss | or | uplimmss | . For example, when the settling voltage Ms is proportional to the battery current I between a predetermined upper limit saturation voltage (uplimms) and a lower limit saturation voltage (lowlimms), the proportionality coefficient is the same or different between the charge side and the discharge side.

Further, the settling voltage Ms depends on, for example, a state quantity relating to the deterioration state of the high voltage battery 17 (for example, an integrated value of the absolute value of the battery current I or an accumulated use time from a state without deterioration such as an initial state). May be changed.
In addition, the settling voltage Hs of the reaction resistance component H and the settling voltage Ms of the charge / discharge hysteresis voltage component M vary depending on, for example, the usage status and the deterioration state of the high-voltage battery 17. For this reason, the settling voltages Hs and Ms are obtained by, for example, setting the absolute value integrated value (used current integrated amount) of the detected current value I _act output from the absolute value integrator 25 by the set voltage adjusting device 24 shown in FIG. The usage period of the high voltage battery 17 output from the usage period calculator 26, the estimated internal resistance value a _est output from the internal resistance estimator 34 described later, and the high voltage battery 17 output from the deterioration determination unit 47 described later. The estimated deterioration value related to the degree of battery deterioration, the time constant related to the time delay response of the reaction resistance component H output from the time constant determiner 46 described later, and the time delay response related to the charge / discharge hysteresis voltage component M It may be adjusted at any time according to the constant, the temperature TB of the high voltage battery 17 output from the temperature sensor 17c, or the like.
As will be described later, since the settling voltages Hs and Ms are described by a function j (I) related to the battery current I, the settling voltage regulator 24 adjusts this function j (I).

For example, in the settling voltage Ms shown in FIG. 8, all or part of the upper limit saturation voltage (uplimms), the lower limit saturation voltage (lowlimms), and the portion proportional to the battery current I is changed according to the degree of deterioration of the high voltage battery 17. .
The change of the settling voltage Ms according to the degree of deterioration of the high-voltage battery 17 is caused by characteristics depending on the composition of the high-voltage battery 17 (for example, whether or not it has a relatively strong battery characteristic or a relatively strong capacitor characteristic. The above-mentioned various parameters are used as appropriate based on whether or not they have.
Thus, for example, by changing the upper limit saturation voltage (uplimms), the lower limit saturation voltage (lowlimms), etc. according to the deterioration state of the high voltage battery 17 (for example, increase or decrease selected by each), the open circuit voltage The detection accuracy of the estimated value E _est can be improved.

As described above, the time delay response of the charge / discharge hysteresis voltage component M, which is different from the instantaneous voltage change such as the internal resistance component W, with respect to the stepped current change is, for example, the temperature state of the high voltage battery 17 or the charge / discharge It can be approximated by the response of the first-order lag element of the time constant T according to the history, operation time, and the like. In this case, for example, as shown in FIG. 11, in the graph showing the time change of the charge / discharge hysteresis voltage component M, the slope of the charge / discharge hysteresis voltage component M at an appropriate time t2 (that is, the FM point in FIG. 11) ( dM / dt) is described as shown in the following formula (8).
The time delay response of the charge / discharge hysteresis voltage component M may be approximated by the response of the first-order delay element of a single time constant T as shown in the following formula (8), as will be described later. The response may be approximated to a response composed of a linear combination of each first-order lag element having a plurality of different time constants T _m (m is an arbitrary natural number).

  Then, if the settling voltage Ms is an appropriate monotonically increasing function g (I) related to the battery current I including, for example, zero, the above equation (8) is described as the following equation (9).

The open circuit voltage detection device 10b uses, for example, the equation (1), the equation (2), the equation (5), and the equation (9) as a state equation indicating the characteristics of the high voltage battery 17, and a reaction that is an estimated value of the reaction resistance component H A charge / discharge hysteresis voltage component estimated value M _est which is an estimated value of the resistance component estimated value H _est and the charge / discharge hysteresis voltage component M is calculated. Then, the reaction resistance component estimated value H _{est, the} charge / discharge hysteresis voltage component estimated value M _est , the internal resistance component estimated value W _est that is an estimated value of the internal resistance component W, and the voltage detection value V _act of the terminal voltage V of the high-voltage battery 17. Accordingly, an open circuit voltage estimated value E _est that is an estimated value of the open circuit voltage E of the high-voltage battery 17 is calculated. The remaining capacity detection device 10a searches, for example, a map shown in FIG. 2 according to the open circuit voltage estimated value E _est calculated by the open circuit voltage detection device 10b, and calculates the remaining capacity of the high voltage battery 17.

  As shown in FIG. 12, for example, the open circuit voltage detection device 10b includes a settling voltage regulator 24, an absolute value integrator 25, a use period calculator 26, a state quantity calculator 31, and a transient response component calculator 32. An addition unit 33, an internal resistance estimator 34, a multiplication unit 35, a subtraction unit 36, a low-pass filter 37, a state quantity storage unit 40, an input switching unit 41, an estimation mode / estimation end mode coefficient. The input unit 42 includes an initialization mode coefficient input unit 43 including an initialization mode coefficient calculation unit 43a and an elapsed time calculation unit 43b, a timer 44, and a time storage unit 45. Furthermore, the remaining capacity detection device 10a includes, for example, an open circuit voltage detection device 10b and a remaining capacity estimation unit 38.

The open circuit voltage detection device 10b approximates the time delay response of the reaction resistance component H by the response of the first-order delay element of a single time constant T, for example, as shown in the above formula (5), or It approximates a response consisting of a linear combination of each first-order lag element with a different time constant T _n (where n is an arbitrary natural number). For example, the time delay response of the reaction resistance component H has three different time constants T ₁ (for example, T ₁ = several tens of seconds), T ₂ (for example, T ₂ = several minutes), T ₃ (for example). For example, it is approximated to a response composed of a linear combination of each first-order lag element (T ₃ = several hours, etc.) The reaction resistance component H is, for example, the first to third reaction resistance components H ₁ corresponding to the time constants T ₁ , T ₂ , T ₃ corresponding to the temperature state, charge / discharge history, operation time, etc. of the high-voltage battery 17. , H ₂ , H ₃ , for example, as shown in the following formula (10). The reaction resistance component H may be described by, for example, the product of the _first to third reaction resistance components H ₁ , H ₂ , and H ₃ .

Further, the open circuit voltage detection device 10b approximates the response of the time delay of the charge / discharge hysteresis voltage component M by the response of the primary delay element of a single time constant T, for example, as shown in Equation (9) above. Or it approximates to the response which consists of a linear combination of each primary delay element of several different time constants _Tm (m is arbitrary natural numbers). For example, the time delay response of the charging / discharging hysteresis voltage component M has three different time constants T ₄ (for example, T ₄ = several tens of seconds), T ₅ (for example, T ₅ = several minutes), T ₆ (for example, T ₆ = several hours) is approximated to a response composed of a linear combination of each first-order lag element. The charge / discharge hysteresis voltage component M is, for example, first to third charge / discharge hysteresis corresponding to each of the time constants T ₄ , T ₅ , T ₆ corresponding to the temperature state, charge / discharge history, operation time, etc. of the high-voltage battery 17. For example, the voltage components M ₁ , M ₂ , and M ₃ are described as shown in the following formula (11). The charge / discharge hysteresis voltage component M may be described by, for example, the product of the _first to third charge / discharge hysteresis voltage components M ₁ , M ₂ , and M ₃ .

  Then, the terminal voltage V of the high-voltage battery 17 is described as shown in the following formula (12) by the above formula (1), formula (10), and formula (11).

The first to third reaction resistance components H ₁ , H ₂ , and H ₃ are appropriately monotonically increased with respect to the time constants T ₁ , T ₂ , T ₃ and the battery current I in the same manner as the above formula (5). The function fn (I), (n = 1, 2, 3) is described as shown in the following formula (13).

  The mathematical formula (13) is described by the determinant as shown in the following mathematical formula (14).

Further, the first to third charge / discharge hysteresis voltage components M ₁ , M ₂ , and M ₃ are set as appropriate for the time constants T ₄ , T ₅ , T _6, and the battery current I in the same manner as the above formula (9). A monotone increasing function gk (I), (k = 1, 2, 3) is described as shown in the following formula (15).

  In addition, the said Numerical formula (15) is described as shown to the following Numerical formula (16) by a determinant.

  Then, when the mathematical formula (14) and the mathematical formula (16) are integrated, it is described as shown in the following mathematical formula (17).

  When the function j (I) and the coefficients A and C relating to the state variable x and the battery current I are set in the above formulas (12) and (17) as shown in the following formula (18), the high voltage battery 17 The state equation indicating the characteristic is expressed concisely, for example, as shown in Equation (19) below.

  The mathematical formula (18) and the mathematical formula (19) are continuous state equations indicating the time change of the state variable x, and the discretized state equation corresponding to the mathematical formula (19) is as shown in the following mathematical formula (20). Described in

The state quantity calculation unit 31 performs a discrete calculation every predetermined cycle (for example, 10 ms) as a timer interruption process to be described later. In this discrete calculation, a coefficient A ′ and a battery current I set according to each mode (for example, an estimation mode, an estimation end mode, and an initialization mode) described later, and a state variable (state variable x of the previous variable calculation) are set. The state variable x is calculated based on the previous value _xp and the above equation (19). The state variable x is composed of estimated values of the first to third reaction resistance components H ₁ , H ₂ , H ₃ and estimated values of the first to third charge / discharge hysteresis voltage components M ₁ , M ₂ , M _3. It is output to the response component calculation unit 32 and the state quantity storage unit 40.

Therefore, the state quantity calculation unit 31 includes a current detection value I _act output from the current sensor 17a, a previous state variable (previous value of the state variable x) x _p output from the state quantity storage unit 40, and The coefficient A ′ output from the input switching unit 41 is input.
The state quantity storage unit 40 with a nonvolatile memory (not shown) stores the state variables x output from the state quantity calculation unit 31 as a preceding value x _p, and outputs the previous value x _p to the state quantity calculation unit 31 .

That is, as will be described later, for example, in the estimation mode when the vehicle 1 is in operation or in the estimation end mode when the vehicle 1 is stopped when the ignition switch 11c is switched from ON to OFF, a predetermined sampling period (for example, 10 ms or the like) The previous value x _p calculated in the previous process of the discrete calculation executed in step (1) and stored in the state quantity storage unit 40 is output to the state quantity calculation unit 31 in the current process of the discrete calculation.
Further, as will be described later, in the initialization mode at the start of operation of the vehicle 1 where the ignition switch 11c is switched from OFF to ON, the state quantity storage unit is calculated in the estimated end mode when the vehicle 1 is stopped. The previous value x _p stored in 40 is output to the state quantity calculation unit 31 in the current process of discrete calculation. In this initialization mode, as will be described later, the elapsed time from when the operation is stopped when the ignition switch 11c is switched from ON to OFF until when the operation is started when the ignition switch 11c is switched from OFF to ON is discrete. It will be set as the sampling period for computation.

The input switching unit 41 receives a predetermined coefficient A ′ _n output from the estimation mode / estimation end mode coefficient input unit 42 and an initial coefficient A ′ _i output from the initialization mode coefficient input unit 43. ing. The input switching unit 41 switches and selects the predetermined coefficient A ′ _n or the initial coefficient A ′ _i according to each mode with respect to the driving state of the vehicle 1, and outputs it to the state quantity calculation unit 31 as the coefficient A ′. That is, the predetermined coefficient A ′ _n is output as the coefficient A ′ in the estimation mode and the estimation end mode, and the initial coefficient A ′ _i is output as the coefficient A ′ in the initialization mode.

The predetermined coefficient A ′ _n output from the estimation mode / estimation end mode coefficient input unit 42 is, for example, a predetermined fixed value corresponding to a predetermined sampling period (for example, 10 ms), and indicates a characteristic of the high voltage battery 17 The equation (that is, the above formulas (18) and (19)) is calculated by a state equation obtained by discretizing according to a predetermined sampling period.

The initialization mode coefficient input unit 43 includes, for example, an initialization mode coefficient calculation unit 43a and an elapsed time calculation unit 43b. Then, the elapsed time calculating part 43b and the current time t that is output from the timer 44, for example, the previous time t _p, which is output from the timing storage unit 45 comprises a non-volatile memory has been entered. The time storage unit 45, in operations performed by the estimated completion mode, stores the current time t that is output from the timer 44 as a new previous time t _p.

Elapsed time calculation unit 43b of the initialization mode coefficient input unit 43 subtracts the previous time t _p, which is output from the timing storage unit 45 from the present time t to be outputted from the timer 44 the elapsed time (t-t _p) Is output to the initialization mode coefficient calculation unit 43a.
For example, when the current time t output from the timer 44 is stored in the time storage unit 45 in the estimated end mode when the operation of the vehicle 1 is stopped when the ignition switch 11c is switched from ON to OFF, the ignition switch 11c is switched from OFF to OFF. in the setup mode at the start of operation of the vehicle 1 is switched to ON, the stored current time t is the last time t _p the estimated end mode. Then, current and time t in this initialization mode, the elapsed time is the difference between the previous time t _p, ON from the time of the switched shutdowns to OFF from the ignition switch 11c is ON, the ignition switch 11c from OFF The charging / discharging pause time of the high-voltage battery 17 until the start of operation when switching to is performed.

The initialization mode coefficient calculation unit 43a has a state equation (that is, the characteristic of the high-voltage battery 17) with the elapsed time (t-t _p ) output from the elapsed time calculation unit 43b in the initialization mode, that is, the pause time as a sampling period. An initial coefficient A ′ _i is calculated from a state equation obtained by discretizing the above equations (18) and (19) according to the sampling period.

In the equation (20), the state quantity calculation unit 31 calculates the previous state variable x _p input from the state quantity storage unit 40 and the coefficient A ′ output from the input switching unit 41 in the estimation mode and the estimation end mode. That is, based on the predetermined coefficient A ′ _n , the current detection value I _act detected by the current sensor 17a is further input to the battery current I, whereby the first to third reaction resistance components H ₁ , H ₂ , H ₃ A state variable x composed of the estimated value and the estimated values of the first to third charge / discharge hysteresis voltage components M ₁ , M ₂ , M ₃ is calculated.
Further, in the initialization mode, based on the state variables x _p of the previous input from the state quantity storage unit 40, and the coefficient A 'that is the initial coefficient A' _i is outputted from the input switching unit 41, furthermore, the vehicle 1 By inputting zero or a predetermined resting current during the operation stop period to the battery current I, the estimated values of the first to third reaction resistance components H ₁ , H ₂ , H ₃ and the first to third charge / discharge hysteresis voltages A state variable x composed of estimated values of the components M ₁ , M ₂ , and M ₃ is calculated.

The transient response component calculation unit 32 causes the coefficient C shown in the above equation (18) to act on the state variable x calculated by the state quantity calculation unit 31, so that the first to third reaction resistance components H ₁ , H ₂ , H ₃ and the first to estimate the third charge-discharge hysteresis voltage component M _1, M _2, estimate the reaction resistance component estimates a reaction resistance component H consisting of a linear combination of M ₃ H _est charging and discharging hysteresis voltage component M An added value (H _est + M _est ) with the charge / discharge hysteresis voltage component estimated value M _{est that} is a value is calculated and output to the adder 33.

  As shown in FIG. 13, for example, the internal resistance estimator 34 constituting the internal resistance detection device of the power storage device according to the present embodiment includes a voltage approximate differential operation unit 51, a current approximate differential operation unit 52, and a first multiplication unit 53. And a subtracting unit 54, a second multiplying unit 55, a gain setting unit 56, and an integration calculating unit 57.

The voltage approximate differential operation unit 51 and the current approximate differential operation unit 52 are configured by an appropriate first-order lag time constant Td and a Laplace operator S, for example, by a transfer function G (S) described as shown in the following equation (21). , to remove the respective voltage detection value _{V act} and the current detection value _I angular frequency (1 / Td) from _act following the low-frequency component, the time rate of change, that change in voltage of the voltage detection value _{V act} and the current detection value _{I act} ΔV (= dV / dt) and current change ΔA (= dI / dt) are calculated.

Constant Td when the primary delay, the first to third reaction resistance component _{H 1,} H 2, each time constant of the _{H 3 T 1,} T 2, _{T 3} and the first to third discharge hysteresis voltage component _{M 1} , M ₂ , M ₃ for each time constant T ₄ , T ₅ , T ₆ , for example, as shown in the following formula (22), the angular frequency (1 / Td) is the first to third reaction resistance components. H _{1, H} 2, _{H 3} and the first to third discharge hysteresis voltage component _{M 1, M 2,} each angular frequency of _{M 3 (1 / T 1)} , (1 / T 2), (1 / T 3 ), (1 / T ₄ ), (1 / T ₅ ), and (1 / T ₆ ).

Thereby, when the frequency characteristics of the band pass (high pass) filter action of the voltage approximate differential calculation unit 51 and the current approximate differential calculation unit 52 are the frequency characteristics as shown in FIG. 14, for example, the angle that is the cutoff frequency The gain of the low frequency component below the frequency (1 / Td) is -3 dB or less. In particular, the voltage variation due to the transient response corresponding to the low frequency component (that is, the reaction resistance component H and the charge / discharge hysteresis voltage component M) is removed from the voltage variation of the voltage detection value _Vact , and the internal resistance component corresponding to the high frequency component is removed. Only the voltage fluctuation due to W is extracted.

The first multiplication unit 53 outputs the current value output from the current approximate differential calculation unit 52 and the previous value of the internal resistance estimated value a _est , which is an estimated value of the internal resistance a of the high voltage battery 17 output from the integral calculation unit 57 described later. A value obtained by multiplying the change ΔA is output as a voltage change estimated value ΔV _est .

The subtractor 54 outputs a difference (ΔV−ΔV _est ) obtained by subtracting the voltage change estimated value ΔV _est output from the first multiplier 53 from the voltage change ΔV output from the voltage approximate differentiation calculator 51. .

The second multiplication unit 55 multiplies a gain K output from a gain setting unit 56, which will be described later, and a difference (ΔV−ΔV _est ) output from the subtraction unit 54, thereby correcting the internal resistance a of the high-voltage battery 17. An internal resistance correction amount Q (= K × (ΔV−ΔV _est )) corresponding to the amount is calculated.

The gain setting unit 56 is, for example, a predetermined fixed value set in advance, or the high voltage battery 17 such as a voltage change ΔV output from the voltage approximate differentiation calculation unit 51 or a current change ΔA output from the current approximate differentiation calculation unit 52. The gain K is set based on the state change value (measured value, calculated value, etc.) or the command value related to the state change.
For example, with a gain K that is set based only on the current change ΔA as in the parameter (α · ΔA) shown in the following equation (23), an arbitrary constant α (for example, α = 1/100) is an internal resistance estimation. The positive and negative signs and the magnitude of the value are set so that the value aest does not diverge but converges with an appropriate change, not an abrupt change.
Further, for example, each parameter ((β · ΔV), (γ · ΔA + δ · ΔV), (ε · ΔA · ΔV)) shown in the following formula (23), only the voltage change ΔV or the current change ΔA At a gain K set based on the sum of the voltage change ΔV or the product of the current change ΔA and the voltage change ΔV, the arbitrary resistances β, γ, δ, ε are diverged from the internal resistance estimated value a _est. Instead, the positive and negative signs and the magnitude of the value are set so as to converge with an appropriate fluctuation rather than a sudden fluctuation.
In addition, for example, the predetermined fixed value is positive or negative so that the estimated internal resistance value a _est does not diverge according to various test results performed in advance, but converges with an appropriate variation rather than a rapid variation. The sign and value size are set.

The gain K indicates various parameters (for example, load fluctuation values (actually measured values, calculated values, etc.) or load fluctuation command values, current changes ΔA, voltage changes ΔV, output) relating to the state changes of the high-voltage battery 17. The internal resistance estimation value a _est does not diverge for a single or a plurality of combinations (such as change ΔW and combinations thereof), and converges with appropriate fluctuations instead of sudden fluctuations. Various operations such as addition, subtraction, multiplication, division, and power may be performed and set.

The gain K may more preferably be set according to the calculation accuracy of the internal resistance estimated value a _est (or the internal resistance correction amount Q) that changes according to the state change amount related to the state change of the high-voltage battery 17. For example, when the state change amount becomes almost zero, it is determined that the calculation accuracy of the internal resistance estimated value a _est (or the internal resistance correction amount Q) is extremely low, and the gain K is set to the minimum value. Thereby, when there is almost no charge / discharge current of the high voltage battery 17, the gain K is set to zero, and the internal resistance estimated value _aest is maintained without being corrected.
For example, when the state change amount falls within a predetermined appropriate range, it is determined that the calculation accuracy of the internal resistance estimated value a _est (or the internal resistance correction amount Q) is high, and the gain K is set to the maximum value. Is done. Thereby, a large weight is given to the internal resistance estimated value a _est (or the internal resistance correction amount Q) calculated when the charge / discharge current of the high-voltage battery 17 is optimal for the internal resistance estimation, and the internal resistance estimation with high accuracy is performed. The value a _est can be obtained.
Between these minimum and maximum values, for example, the gain K changes in an increasing trend as the state change amount such as load change, current change ΔA, voltage change ΔV, or output change ΔW increases, and The gain K is set so that the gain K changes in a decreasing trend as the state change amount decreases.
For example, when the state change amount exceeds a predetermined appropriate range and becomes a large value, it is determined that the calculation accuracy of the internal resistance estimated value a _est (or the internal resistance correction amount Q) is low, and the gain K is further increased. Small value.

The integral calculation unit 57 uses, for example, an internal resistance output from the second multiplication unit 55 by a transfer function Gf (S) (= 1 / (Tf · S)) described by an appropriate time constant Tf and a Laplace operator S. The internal resistance estimated value a _est is calculated by integrating the correction amount Q, and the calculation result is output.
It should be noted that a predetermined fixed internal resistance value is appropriately set in advance as the initial value of the estimated internal resistance value a _est .

Note that the internal resistance estimator 34 applies to all or a part of each parameter (that is, I _act , V _act , ΔA, ΔV, ΔV _est , (ΔV−ΔV _est ), K, Q, a _est, etc.). Alternatively, conversion calculation processing by an appropriate conversion calculation unit 34a may be performed.

For example, the conversion calculation unit 34a shown in FIG. 15A has a lower limit value and an upper limit value for the output value, and a monotonically increasing output value proportional to the increase of the input value between the lower limit value and the upper limit value. Is output.
Further, for example, the conversion calculation unit 34a illustrated in FIG. 15B is configured so that the input voltage has a predetermined range (for example, a predetermined range including zero in the current detection value _Iact , the rated voltage of the high-voltage battery 17 at the voltage detection value _Vact ). Output a monotonically increasing output value proportional to the increase of the input value between the lower limit value and the dead band and between the lower limit value and the upper limit value.
Further, for example, the conversion calculation process obtained by performing the smoothing process on each of the conversion calculation units 34a shown in FIGS. 15A and 15B may be performed. For example, the conversion calculation unit 34a shown in FIG. 15C is obtained by performing a smoothing process on the conversion calculation unit 34a shown in FIG. 15B, and increases as the absolute value of the input value increases. The increase rate of the output value that changes in the trend decreases.
Further, for example, the conversion calculation unit 34a illustrated in FIG. 15D is configured so that the input voltage has a predetermined range (for example, a predetermined range including zero in the current detection value _Iact , the rated voltage of the high-voltage battery 17 at the voltage detection value _Vact ). The output value is fixed within a predetermined range including the frequency range, and a monotonically increasing output value proportional to the increase in the input value is output outside the dead zone.
15A to 15D, for example, the horizontal axis where the output value = zero may be appropriately changed up and down depending on each parameter. For example, since the voltage detection value _Vact is always _Vact > 0, the horizontal axis where the output value = zero is, for example, a dotted line shown in FIGS.

In addition, each conversion calculating part 34a is a state quantity (for example, the integrated value of the absolute value of the battery current I, or the accumulated usage time from the state without deterioration such as the initial state), for example, relating to the deterioration state of the high-voltage battery 17 Accordingly, the conversion calculation characteristic may be changed to the deterioration side.
For example, as shown in FIGS. 15A and 15B, when the degree of deterioration of the high voltage battery 17 is increased in the conversion operation unit 34a having the lower limit value and the upper limit value with respect to the output value, the current detection value I _{In the} conversion calculation processing for _act , voltage detection value V _act , current change ΔA, voltage change ΔV, voltage change estimated value ΔV _est , difference (ΔV−ΔV _est ), the interval between the lower limit value and the upper limit value is expanded. In this way, the lower limit value is lowered and the upper limit value is increased. In the conversion calculation process for the internal resistance correction amount Q, the internal resistance estimated value a _est, etc., for example, the lower limit value and the upper limit value are moved without changing the interval between the lower limit value and the upper limit value. The lower limit value and the upper limit value are increased.
Further, for example, as shown in FIGS. 15C and 15D, the output value increasing rate that changes with increasing input value decreases, and the output that changes with decreasing input value decreases. When the degree of deterioration of the high-voltage battery 17 increases in the conversion calculation unit 34a in which the rate of decrease in value decreases, the current detection value I _act , voltage detection value V _act , current change ΔA, voltage change ΔV, voltage change estimated value In conversion calculation processing for ΔV _est , difference (ΔV−ΔV _est ), etc., the degree of decrease in the increase rate of the output value is reduced, and the degree of decrease in the rate of decrease in the output value is reduced. Further, in the conversion calculation process for the internal resistance correction amount Q, the internal resistance estimated value a _est , and the like, the degree of decrease in the output value increase rate is decreased, and the degree of decrease in the output value decrease rate is increased.

The internal resistance estimated value a _est output from the internal resistance estimator 34 is input to the multiplier 35 as shown in FIG. 12, for example.
The multiplier 35 sets and outputs a value obtained by multiplying the detected current value I _act and the internal resistance estimated value a _est as the internal resistance component estimated value W _est .

The adding unit 33 includes the internal resistance component estimated value W _est output from the multiplying unit 35, the reaction resistance component estimated value H _est output from the transient response component calculating unit 32, and the charge / discharge hysteresis voltage component estimated value M _est . addition value _{(H est + M} est) and a value obtained by adding the _{(W est + H est + M} est) to output a.

The subtraction unit 36 calculates the open circuit voltage estimated value E _est by subtracting the value (W _est + H _est + M _est ) from the voltage detection value V _act detected by the voltage sensor 17b, and outputs the calculation result.
That is, as shown in the above formula (1), the terminal voltage V of the high voltage battery 17 is composed of the open circuit voltage E, the internal resistance component W, the reaction resistance component H, and the charge / discharge hysteresis voltage component M, and from the detected voltage value V _act. The estimated value of the open circuit voltage E can be calculated by subtracting the estimated values of the internal resistance component W, the reaction resistance component H, and the charge / discharge hysteresis voltage component M.

Low-pass filter 37, an error included in the open-circuit voltage estimated value E _est outputted from the subtraction unit 36, in particular removing the high frequency noise, and outputs the open circuit voltage estimated value E _est after the noise removal to the remaining capacity estimating unit 38 .
For example, as shown in FIG. 2, the remaining capacity estimating unit 38 determines the value of the terminal voltage V (open circuit voltage E) when the high voltage battery 17 is left unloaded for a long time exceeding a predetermined time. A map showing the correlation with the remaining capacity is stored. Then, the remaining capacity of the high voltage battery 17 is calculated by map search according to the open circuit voltage estimated value E _est output from the low pass filter 37.

  The remaining capacity detection device 10a and the open circuit voltage detection device 10b according to the first embodiment have the above-described configuration. Next, operations of the remaining capacity detection device 10a and the open circuit voltage detection device 10b, in particular, an estimation mode and an estimation end mode. The calculation operation of the state variable x in the initialization mode will be described. Note that the estimation mode is an operation mode when the vehicle 1 is continuously driven in which the ignition switch 11c is turned on. The estimation end mode is an operation mode when the operation of the vehicle 1 is stopped in which the ignition switch 11c is switched from ON to OFF. The initialization mode is an operation mode at the start of operation of the vehicle 1 in which the ignition switch 11c is switched from OFF to ON.

  The battery control device 20 including the remaining capacity detection device 10a and the open circuit voltage detection device 10b, for example, when the ignition switch 11c is in a state other than OFF, the following series of processing (that is, calculation processing of the state variable x): The timer interruption process for executing is executed every predetermined cycle (for example, 10 ms). Then, the battery control device 20 acquires the detection values of the current sensor 17a and the voltage sensor 17b every predetermined sampling period (for example, 10 ms) in the calculation process of the state variable x in the estimation mode and the estimation end mode. Then, a discrete operation is executed based on each detected value.

This timer interruption process is executed until a timer interrupt prohibition signal, which will be described later, is output. For example, when the ignition switch 11c is switched from ON to OFF, that is, from the estimation mode when the vehicle 1 continues to operate, the vehicle 1 The timer interruption process can be executed even when the mode is shifted to the estimated end mode when the operation is stopped.
Further, at the start of operation of the vehicle 1 in which the ignition switch 11c is switched from OFF to ON, a timer interruption process is performed every predetermined period (for example, 10 ms) after executing a series of processes related to the initialization mode described below. To run.

First, execution of a series of processes shown in FIG. 16 is started at the start of operation of the vehicle 1 where the ignition switch 11c is switched from OFF to ON, or by execution of timer interrupt processing.
First, in step S01 shown in FIG. 16, it is determined whether or not the ignition switch 11c has been switched from OFF to ON.
If this determination is “NO”, the flow proceeds to step S 09 described later.
On the other hand, if the determination result is “YES”, that is, if the ignition switch 11c is switched from OFF to ON, the process proceeds to step S02, the initialization mode is set as the processing mode, and the process proceeds to step S03.

In step S03, acquires the current time t and the previous time _{t p,} the process proceeds to step S04, and calculates the elapsed time _{(t-t p),} the process proceeds to step S05.
In step S05, the state equation (that is, the above equation (18) and the above equation (18)) showing the time change characteristic of the high voltage battery 17 with the elapsed time (t−t _p ), that is, the pause time in which the high voltage battery 17 is in the charge / discharge pause state as the sampling period (19)) is discretized and an initial coefficient A ′ _i is calculated.
Next, in step S06, it is assumed that the battery current I is held at a resting current of zero or a predetermined current value near zero (for example, a dark current value) during the resting time. In the above equation (20), zero or a predetermined resting current is input to the battery current I, the previous state variable x _p input from the state quantity storage unit 40, and the coefficient output from the input switching unit 41 A state transition calculation is executed based on A ′, that is, the initial coefficient A ′ _i, and a state variable x in the current process is calculated.
Next, in step S07, the calculated current state variables x, newly set as a state variable x _p of the previous stored in the state quantity storage unit 40.
Next, in step S08, the current time t, a new set as the previous time t _p, is stored in the time storage unit 45, and ends the series of processes.

In step S09, it is determined whether or not the ignition switch 11c has been switched from ON to OFF.
If this determination is “YES”, the flow proceeds to step S 14 described later.
On the other hand, if this determination result is "NO", that is, if the state of the ignition switch 11c has not been changed, the process proceeds to step S10, the estimation mode is set as the processing mode, and the process proceeds to step S11.
In step S11, the current time t is acquired, the process proceeds to step S12, each detection value of the current sensor 17a and the voltage sensor 17b is acquired, and the process proceeds to step S13.
In step S13, in the above equation (20), enter the detection value of the current sensor 17a to the battery current I, the previous and the state variables x _p which is input from the state quantity storage unit 40, is output from the input switching unit 41 The state transition calculation is executed based on the coefficient A ′, that is, the predetermined coefficient A ′ _n , the state variable x in the current process is calculated, and the process proceeds to step S07 described above.

In step S14, the estimation end mode is set as the processing mode, and the process proceeds to step S15.
In step S15, the current time t is acquired, the process proceeds to step S16, the detection values of the current sensor 17a and the voltage sensor 17b are acquired, and the process proceeds to step S17.
In step S17, in the above equation (20), enter the detection value of the current sensor 17a to the battery current I, the previous and the state variables x _p which is input from the state quantity storage unit 40, is output from the input switching unit 41 The state transition calculation is executed based on the coefficient A ′, that is, the predetermined coefficient A ′ _n , the state variable x in the current process is calculated, and the process proceeds to step S18.
In step S18, a timer interrupt prohibition signal is output, and the process proceeds to step S07 described above.

As described above, according to the internal resistance detection device of the power storage device and the remaining capacity detection device 10a and the open circuit voltage detection device 10b of the power storage device according to the first embodiment, the battery voltage V is changed to the open circuit voltage E and the internal resistance component W. It consists of four voltage components consisting of a reaction resistance component H and a charge / discharge hysteresis voltage component M. Then, the response of the reaction resistance component H and the charge / discharge hysteresis voltage component M, which become a delay component due to the voltage variation accompanying the variation of the battery current I, is opened by the state equation of the high-voltage battery 17 obtained by approximating each response by the first-order delay response. A voltage estimated value E _est is calculated. Then, to calculate the remaining capacity of the high-pressure battery 17 by the map search in accordance with the open-circuit voltage estimated value E _est.
Thus, by appropriately modeling the convergence inherent in the voltage fluctuation accompanying the fluctuation of the battery current I as a transient response component composed of at least a charge / discharge hysteresis voltage component, it is possible to prevent the device configuration from becoming complicated. A highly reliable estimation process can be executed, and the estimation accuracy of the open circuit voltage estimated value E _est can be improved.
For example, as shown in FIG. 2, in the high voltage battery 17 made of a Ni-MH battery, the open circuit voltage is also applied to the intermediate region of the remaining capacity in which the change in the open circuit voltage E corresponding to the change in the remaining capacity is relatively small. As the calculation accuracy of E improves, the remaining capacity can be calculated with high accuracy.

Further, as a transient response component, a reaction resistance component is calculated in addition to the charge / discharge hysteresis voltage component, and the battery current I changes frequently depending on, for example, the temperature state, charge / discharge history, operation time, etc. of the high-voltage battery 17. The internal resistance component W, which is a relatively large contribution to the voltage fluctuation accompanying the fluctuation, is estimated. Then, by subtracting the internal resistance component estimated value W _est , the reaction resistance component estimated value H _est, and the charge / discharge hysteresis voltage component estimated value M _est from the voltage detection value V _act , the open circuit voltage estimated value E _est is calculated, The open circuit voltage estimated value E _est can be estimated more appropriately.
Moreover, the open circuit voltage estimated value E _{est is} obtained by changing the settling voltage Ms of the charge / discharge hysteresis voltage component M having at least the upper limit saturation voltage (uplimms) or the lower limit saturation voltage (lowlimms) in accordance with the deterioration state of the high voltage battery 17. The calculation accuracy can be further improved.

Further, in the process of calculating the internal resistance component estimated value W _est , the ratio between the voltage change ΔV and the current change ΔA is not calculated, and the difference (ΔV−ΔV _est ) between the voltage change ΔV and the voltage change estimated value ΔV _est is calculated. Based on this, the internal resistance estimated value a _est is calculated by integrating the internal resistance correction amount Q obtained by multiplying the difference (ΔV−ΔV _est ) by the gain K. As a result, for example, infinite divergence occurs in the arithmetic processing when the current change ΔA is small, or due to a chemical reaction or the like when the change period is set long so that the current change ΔA has a desired magnitude, for example. The contribution of the slow resistance component increases and the calculation accuracy and reliability of the internal resistance estimated value a _est decrease. For example, it frequently changes depending on the temperature state, charge / discharge history, operation time, etc. of the high-voltage battery 17. The internal resistance estimated value a _est can be calculated appropriately and accurately by preventing a problem such as an increase in the calculation error of the internal resistance estimated value a _est due to the current change ΔA.
Further, for example, voltage fluctuation components of a relatively high frequency due to a switching operation in an inverter provided in the PDU 16 include a voltage fluctuation of a reaction resistance component H and a charge / discharge hysteresis voltage component M having a relatively long time constant. Therefore, the estimated internal resistance value a _est can be calculated quickly and accurately based on the relatively high frequency voltage change ΔV and current change ΔA.

In addition, by changing the gain K according to the amount of state change such as a load fluctuation value (actual value or calculation value) or load fluctuation command value, current change ΔA, voltage change ΔV, output change ΔW, and combinations thereof. An appropriate gain K can be set in accordance with the calculation accuracy of the internal resistance estimated value a _{est that} varies depending on the magnitude of the state change amount, and the internal resistance estimated value a _est can be calculated with higher accuracy. .

In addition, an appropriate conversion calculation unit 34a for all or a part of each parameter (that is, _Iact , _Vact , ΔA, ΔV, _ΔVest , (ΔV− _ΔVest ), K, Q, _aest, etc.). By performing the conversion calculation process according to the above, it is possible to remove errors caused by noise in each parameter, excessive fluctuations of each parameter due to components related to transient responses such as resistance components caused by chemical reactions, etc. It is possible to calculate the internal resistance estimated value a _est with higher accuracy by using each parameter within an appropriate fluctuation range.

In the above-described embodiment, the reaction resistance component H is composed of linear combinations of a plurality of (for example, three) different time constants T ₁ , T ₂ , and T ₃ , respectively. Without being limited, the reaction resistance component H may be nonlinear with respect to a plurality of first-order lag elements. Furthermore, the reaction resistance component H is not limited to the first-order lag element, and may be constituted by other delay components such as a second-order lag element.
In the above-described embodiment, the charge / discharge hysteresis voltage component M is composed of a linear combination of a plurality of (for example, three) different time constants T ₄ , T ₅ , and T ₆ , respectively. However, the charge / discharge hysteresis voltage component M may be nonlinear with respect to a plurality of first-order lag elements. Furthermore, the charge / discharge hysteresis voltage component M is not limited to the first-order lag element, and may be constituted by other delay components such as a second-order lag element.

In the above-described embodiment, the estimation end mode is set as the processing mode when it is determined that the ignition switch 11c is switched from ON to OFF. However, the present invention is not limited to this. After the switching from OFF to OFF, the estimation end mode may be set when it is determined that the voltage detection value V _act is within a predetermined value range. Alternatively, after the ignition switch 11c is switched from ON to OFF, the estimation end mode may be set as the processing mode when it is further determined that a predetermined time or more has elapsed.

In the above-described embodiment, in the driving state of the vehicle 1, the internal resistance correction amount Q may be calculated, for example, by calculating the open circuit voltage estimated value E _est every predetermined time period, or the vehicle For example, when the battery current I increases relatively, the internal resistance correction amount Q may be calculated according to a predetermined operating state of 1. This state is a case where, for example, the DC-DC converter 19 is driven and the terminal voltage V of the high voltage battery 17 is stepped down to charge the 12V battery 21. Further, this state is a case where the motor 12 is driven so as to suppress the occurrence of vehicle body vibration accompanying the operation of the internal combustion engine 11 in the idling operation state of the internal combustion engine 11, for example. Further, in this state, for example, a vibration damping device (not shown) provided in the internal combustion engine 11 that can be switched between all-cylinder operation in which all cylinders are operated and idle cylinder operation in which some cylinders are deactivated is operated. This is a case where the internal combustion engine 11 is operated so as to suppress the occurrence of vehicle body vibration caused by switching between the idle cylinder operation and the all cylinder operation. In these cases, the calculation accuracy can be improved by calculating the internal resistance correction amount Q.
When the remaining capacity of the high-voltage battery 17 exceeds a predetermined value, the remaining capacity has a margin. For example, the internal resistance correction amount Q is increased or decreased by changing the field axis current while the torque axis current for the motor 12 remains unchanged. May be calculated.

In the above-described embodiment, the internal resistance estimator 34 includes the voltage approximate differential operation unit 51 and the current approximate differential operation unit 52. However, the present invention is not limited to this, and the voltage approximate differential operation unit 51 and the current approximation Instead of the differential calculation unit 52, for example, a difference calculation unit having a predetermined frequency characteristic, a bandpass filter that extracts only a signal in a predetermined frequency region, for example, and fluctuations in the voltage detection value V _act and the current detection value I _act Each fluctuation calculation unit for calculating the value may be provided.
For example, the difference calculation unit is a data of a predetermined frequency region (for example, a high frequency region higher than the frequency region including the voltage fluctuation due to the reaction resistance component H) of each input voltage detection value V _act and current detection value I _act. On the other hand, the difference (voltage difference and current difference) between the current value and the past value before the predetermined time is calculated, and the calculation result is output.
In addition, for example, the band-pass filter has a predetermined frequency region (for example, a frequency including a voltage variation due to the reaction resistance component H and the charge / discharge hysteresis voltage component M) of each input voltage detection value _Vact and current detection value _Iact. (High frequency region higher than the region) is extracted, and the extraction result is output to the voltage variation calculation unit and the current variation calculation unit. The voltage fluctuation calculation unit and the current fluctuation calculation unit calculate, for example, the amplitude of data that vibrates periodically with respect to data in a predetermined frequency region input from the bandpass filter, and output a calculation result.

Hereinafter, a second embodiment of the open circuit voltage detection device and the remaining capacity detection device of the power storage device of the present invention will be described with reference to the accompanying drawings.
The remaining capacity detection device 60a of the power storage device according to the second embodiment (hereinafter simply referred to as the remaining capacity detection device 60a) and the open circuit voltage detection device 60b of the power storage device (hereinafter simply referred to as the open circuit voltage detection device 60b). Is provided in the battery control device 20 in the same manner as the remaining capacity detection device 10a and the open circuit voltage detection device 10b according to the first embodiment described above.

As shown in FIG. 17, for example, the open circuit voltage detection device 60b includes a settling voltage regulator 24, an absolute value integrator 25, and a use period calculator 26 provided in the open circuit voltage detection device 10b according to the first embodiment described above. The internal resistance estimator 34, the multiplier 35, the state quantity storage unit 40, the input switching unit 41, the estimation mode / estimation end mode coefficient input unit 42, the initialization mode coefficient input unit 43, the timer 44, and the time storage unit 45. A state quantity calculation unit 61, an open circuit voltage and transient response component calculation unit 62, an addition unit 63, a subtraction unit 64, and an open circuit voltage extraction unit 65.
Furthermore, the remaining capacity detection device 60a includes, for example, an open circuit voltage detection device 60b and a remaining capacity estimation unit 38 included in the remaining capacity detection device 10a according to the first embodiment described above.

The open circuit voltage detection device 60b calculates a battery voltage estimated value V _est that is an estimated value of the battery voltage V based on a state equation described later, and a voltage difference V _err between the battery voltage estimated value V _est and the voltage detected value V _act. Feedback control is performed so that becomes zero.
The remaining capacity detection unit 60a is the map search extracts the open circuit voltage estimated value _{E est} from the state variable x of the battery voltage estimation value _{V est} calculated by the open circuit voltage detector 60b, corresponding to the open circuit voltage estimated value _{E est} To calculate the remaining capacity of the high-voltage battery 17.

In the following description, the same parts as those in the first embodiment described above are assigned the same reference numerals and description thereof is omitted, but the estimation mode / estimation end mode coefficient input unit 42 and the initialization mode coefficient input unit 43 are not described. In the second embodiment, functions for calculating coefficients L ′ and Z ′ are added, and L ′ _n and Z ′ _n and L ′ _i and Z ′ _i are calculated, respectively. The calculation according to the present invention includes a fixed value output.

In the second embodiment, the open circuit voltage detection device 60b sets the state variable x at each time according to, for example, the temperature state, charge / discharge history, operation time, etc. of the high-voltage battery 17, as shown in the following formula (24). First to third reaction resistance components H ₁ , H ₂ , H ₃ corresponding to the constants T ₁ , T ₂ , T ₃ and first to third charging / discharging corresponding to the time constants T ₄ , T ₅ , T ₆ The hysteresis voltage components M ₁ , M ₂ , and M ₃ and the open circuit voltage E are included.

Then, the open circuit voltage detection device 60b obtains a state equation indicating the characteristics of the high-voltage battery 17 based on the state variable x and the matrices A, C, Z and the internal resistance a of the high-voltage battery 17 shown in the above equation (24), for example, Set as shown in (25).
A function P (E) in the following formula (25) is a time change rate of the open circuit voltage E accompanying a unit current change of the battery current I, and is an appropriate function related to the open circuit voltage E, for example.

This open circuit voltage detection device 60b is a value obtained by controlling and amplifying a voltage difference V _err between a battery voltage estimated value V _est and a voltage detection value V _act output from a subtracting unit 64 described later by a control gain L (L · By applying V _err ) to the state equation of time variation (dx / dt) of the state variable x shown in the above equation (25), for example, a new state equation shown in the following equation (26), that is, an observer is set. The new equation of state is discretized according to each mode (for example, estimation mode, estimation end mode, initialization mode), coefficients A ′, L ′, Z ′, battery current I, and previous time based on the state variables _{x p,} the first to third reaction resistance component _{H 1,} H 2, _{H 3} of the estimated value and the first to third discharge hysteresis voltage estimated value and the open circuit components _{M 1,} M 2, _{M 3} A state variable x consisting of an estimated value of the voltage E is calculated. In the coefficient Z ′, the component z ′ is a predetermined value corresponding to the elapsed time (sampling time) from the previous state to the current state, and is, for example, a sampling time.

  The discretized state equation corresponding to Equation (26) is described as shown in Equation (27) below.

The state quantity calculation unit 61, for example, the coefficients A ′, L ′, Z ′ set according to each mode (for example, the estimation mode, the estimation end mode, and the initialization mode), the battery current I, and the previous discrete calculation. Based on the state variable (previous value of the state variable x) _xp and the above equation (27), the state variable x is calculated. This state variable x consists of estimated values of the first to third reaction resistance components H ₁ , H ₂ , H _{3, the} first to third charge / discharge hysteresis voltage components M ₁ , M ₂ , M ₃ and the open circuit voltage E. , And output to the open circuit voltage and transient response component calculation unit 62 and the state quantity storage unit 40.

That is, in the estimation mode and the estimation end mode, the previous state variable x _p input from the state quantity storage unit 40 and the coefficients A ′, L ′, Z ′ output from the input switching unit 41, that is, the predetermined coefficient A ′ _n. , L ′ _n , Z ′ _n, and the current detection value I _act detected by the current sensor 17a is input to the battery current I, whereby the first to third reaction resistance components H ₁ , H ₂ , H ₃ and a first to third charge / discharge hysteresis voltage component M ₁ , M ₂ , M ₃ and a state variable x including an estimated value of the open circuit voltage E are calculated. In the initialization mode, the previous state variable x _p input from the state quantity storage unit 40 and the coefficients A ′, L ′, Z ′ output from the input switching unit 41, that is, the initial coefficients A ′ _i , L ′. _{Based on i} and Z ′ _i , the state variable x is further calculated by inputting zero or a predetermined resting current during the operation stop period of the vehicle 1 to the battery current I.

In this embodiment, the predetermined coefficients A ′ _n , L ′ _n , and Z ′ _n output from the estimation mode / estimation end mode coefficient input unit 42 correspond to, for example, a predetermined sampling period (for example, 10 ms). The state equation obtained by discretizing the state equation indicating the characteristics of the high-voltage battery 17 (that is, the above formulas (24) and (26)) according to a predetermined sampling period is calculated. The initial coefficients A ′ _i , L ′ _i , and Z ′ _i output from the initialization mode coefficient calculation unit 43a are the elapsed time (t−t _p ) output from the elapsed time calculation unit 43b in the initialization mode. That is, the state equation indicating the characteristics of the high-voltage battery 17 (that is, the above formulas (24) and (26)) is calculated based on the state equation obtained by discretizing according to the sampling cycle, with the pause time as the sampling cycle.
The open circuit voltage and transient response component calculation unit 62 applies the coefficient C shown in the above mathematical formula (24) to the state variable x calculated by the state quantity calculation unit 61 to thereby generate the first to third reaction resistance components H ₁ and H _2. , H ₃ , reaction resistance component H composed of a linear combination and first to third charge / discharge hysteresis voltage components M ₁ , M ₂ , M ₃ each composed of a linear combination of charge / discharge hysteresis voltage component M and estimated values of open circuit voltage E The reaction resistance component estimated value H _{est, the} charge / discharge hysteresis voltage component estimated value M _est, and the open circuit voltage estimated value E _est are extracted and output to the adder 63.

The adder 63 receives the internal resistance component estimated value W _est input from the multiplier 35, the open circuit voltage and the reaction resistance component estimated value H _est and the charge / discharge hysteresis voltage component estimated value M _est input from the transient response component calculator 62. Then, a value (W _est + H _est + M _est + E _est ) obtained by adding the open circuit voltage estimated value E _est , that is, the battery voltage estimated value V _est is output to the subtracting unit 64.
Subtraction unit 64 by subtracting the battery voltage estimated value _{V est} from the voltage detection value _{V act} detected by the voltage sensor 17b, and calculates a voltage difference _{V err} which is the estimated error of battery voltage estimated value _{V est,} this The calculation result is output to the state quantity calculation unit 61.
The state variable x calculated by the state quantity calculation unit 61 is input to the open circuit voltage extraction unit 65, and the open circuit voltage extraction unit 65, for example, adds a vector (0, 0, 0, 0, 0 to the state variable x. , 0, 1) is applied to extract the open circuit voltage estimated value E _est and output it to the remaining capacity estimating unit 38.

  The remaining capacity detection device 60a and the open circuit voltage detection device 60b according to the second embodiment have the above-described configuration. Next, the operations of the remaining capacity detection device 60a and the open circuit voltage detection device 60b, particularly the estimation mode and the estimation end mode. The calculation operation of the state variable x in the initialization mode will be described. Note that the estimation mode is an operation mode when the vehicle 1 is continuously driven in which the ignition switch 11c is turned on. The estimation end mode is an operation mode when the operation of the vehicle 1 is stopped in which the ignition switch 11c is switched from ON to OFF. The initialization mode is an operation mode at the start of operation of the vehicle 1 in which the ignition switch 11c is switched from OFF to ON.

  The battery control device 20 including the remaining capacity detection device 60a and the open circuit voltage detection device 60b according to the second embodiment is a battery including the remaining capacity detection device 10a and the open circuit voltage detection device 10b according to the first embodiment described above. Similar to the control device 20, for example, when the ignition switch 11c is in a state other than OFF, a timer interrupt process for executing the process of calculating the state variable x is executed every predetermined period (for example, 10 ms). Then, the battery control device 20 acquires the detection values of the current sensor 17a and the voltage sensor 17b every predetermined sampling period (for example, 10 ms) in the calculation process of the state variable x in the estimation mode and the estimation end mode. Then, a discrete operation is executed based on each detected value.

The second embodiment is different from the series of processes shown in steps S01 to S18 in the first embodiment described above in that, for example, as shown in FIG. 18, coefficients L ′ _i and Z ′ _{i in} step S05. a point for calculating a, and that performs processing of the voltage difference _{V err} feedback in step S06 and steps S13 and S17, as a new process of calculating the voltage difference _{V err,} Following the processing of step S08 described above The point is that the processes of step S21 and step S22 which are sequentially executed are added.

That is, in step S05 shown in FIG. 18, the coefficient (A ′ _i , L ′ _i , Z ′ _i ) is calculated by discretizing the equation (26) using the elapsed time as the sampling time.
In step S06 shown in FIG. 18, it is assumed that the battery current I is maintained at a resting current of zero or a predetermined current value near zero (for example, a dark current value) during the resting time, and the above equation (27). , Zero or a predetermined resting current is input to the battery current I. The previous state variable x _p input from the state quantity storage unit 40 and the coefficients A ′, L ′, Z ′ output from the input switching unit 41 _, that is, the initial coefficients A ′ _i , L ′ _i , Z ′. _The state transition calculation is executed based on _i and the voltage difference V _err between the battery voltage estimated value V _est and the voltage detection value V _act output from the subtraction unit 64 in the previous process, and the state variable x in this process Is calculated, and the process proceeds to step S07 described above.

Further, in step S13 shown in FIG. 18, in the above equation (27), enter the detection value of the current sensor 17a to the battery current I, the previous and the state variables x _p which is input from the state quantity storage unit 40, an input The coefficients A ′, L ′, Z ′ output from the switching unit 41, that is, the predetermined coefficients A ′ _n , L ′ _n , Z ′ _n, and the battery voltage estimated value V _est output from the subtracting unit 64 in the previous process. The state transition calculation is executed based on the voltage difference V _err between the current value and the voltage detection value V _act to calculate the state variable x in the current process, and the process proceeds to step S07 described above.

Further, in step S17 shown in FIG. 18, in the above equation (27), enter the detection value of the current sensor 17a to the battery current I, the previous and the state variables x _p which is input from the state quantity storage unit 40, an input The coefficients A ′, L ′, Z ′ output from the switching unit 41, that is, the predetermined coefficients A ′ _n , L ′ _n , Z ′ _n, and the battery voltage estimated value V _est output from the subtracting unit 64 in the previous process. The state transition calculation is executed based on the voltage difference V _err between the current value and the voltage detection value V _act , the state variable x in the current process is calculated, and the process proceeds to step S18 described above.

Further, in step S21 shown in FIG. 18, the coefficient C shown in the above equation (24) is applied to the state variable x in the current process, so that the reaction resistance component estimated value H _est and the charge / discharge hysteresis voltage component estimated value M are applied. A value (W _est + H _est + M _est + E _est ) obtained by adding the internal resistance component estimated value W _est to the _est and the open circuit voltage estimated value E _est is calculated as the battery voltage estimated value V _est , and the process proceeds to step S22.
In step S22, a voltage difference V _err that is an estimation error of the battery voltage estimated value V _est is calculated by subtracting the battery voltage estimated value V _est from the voltage detected value V _act detected by the voltage sensor 17b. Then, this voltage difference V _err is stored in the storage unit (not shown) as the previous voltage difference V _err , and the series of processes is terminated.

In this second embodiment, the coefficient _L 1 constituting the control gain L, ..., with respect to _{L 7,} for example, each coefficient _L 1, ..., a _{L 6} to zero, except the coefficient _{L 7} zero As a positive value, the open circuit voltage estimated value E _est changes by executing the feedback process so that the voltage difference V _err becomes zero. In this case, the reaction resistance component H and the charge / discharge hysteresis voltage component M do not contribute to the feedback process, and the transfer function of a series of processes for calculating the open circuit voltage estimated value E _est based on the voltage difference V _err is a first order lag. It becomes equivalent to the transfer function of the element, and the time constant of this transfer function is 1 / L ₇ . That is, this series of processing has substantially the same effect as the processing when the transfer function of the low-pass filter 37 is a first-order lag element in the first embodiment described above.
In other words, in the second embodiment described above, feedback control is performed so that the voltage difference V _err becomes zero, so that at least one of the open circuit voltage E, the reaction resistance component H, and the charge / discharge hysteresis voltage component M. The state variable x related to is corrected.

In the second embodiment described above, it is assumed that the predetermined coefficients A ′ _n , L ′ _n , and Z ′ _n are output from the estimation mode / estimation end mode coefficient input unit 42, but the predetermined coefficients A ′ _n. , L ′ _n , Z ′ _n may be fixed values or values that change according to the voltage difference V _err .

  In the second embodiment described above, the function P (E) is an appropriate function related to the open circuit voltage E, but is not limited to this. For example, the remaining capacity of the high voltage battery 17 exceeds a predetermined value, and When the current value of the battery current I is relatively small, the time change rate of the open circuit voltage E accompanying the unit current change of the battery current I is relatively small, for example, with respect to the convergence state of the state variable x by feedback processing. It may be determined that the contribution is small, and a predetermined constant near zero or near zero may be set as the function P (E).

  In the second embodiment described above, the control gain L is not limited to a proportional element, and may be, for example, a proportional / differential element.

  In the first and second embodiments described above, in the calculation process of the state variable x in the estimation mode and the estimation end mode, the sampling period is a fixed value of a predetermined sampling period (for example, 10 ms). However, the present invention is not limited to this. For example, the sampling period may be set to change according to the input operation by the operator, the charge / discharge state of the high-voltage battery 17 or the like.

  In this case, for example, like the remaining capacity detection device 10a according to the modification of the first embodiment shown in FIG. 19, the open circuit voltage detection device 10b includes a settling voltage regulator 24, an absolute value integrator 25, Usage period calculator 26, state quantity calculator 31, transient response component calculator 32, adder 33, internal resistance estimator 34, multiplier 35, subtractor 36, low pass filter 37, state Initialization mode coefficient input unit 43 including a quantity storage unit 40, an input switching unit 41, an estimation mode / estimation end mode coefficient input unit 42, an initialization mode coefficient calculation unit 43a, and an elapsed time calculation unit 43b. And a timer 44, a time storage unit 45, a time constant determiner 46, a deterioration determiner 47, and a sampling period selector 48.

  Further, like the remaining capacity detection device 60a according to the modification of the second embodiment described above shown in FIG. 20, for example, the open circuit voltage detection device 60b includes the settling voltage regulator 24, the absolute value integrator 25, and the usage period calculation. 26, internal resistance estimator 34, multiplication unit 35, state quantity storage unit 40, input switching unit 41, estimation mode / estimation end mode coefficient input unit 42, initialization mode coefficient input unit 43, timer 44, and time storage. Unit 45, time constant determiner 46, deterioration determiner 47, sampling period selector 48, state quantity calculator 61, open circuit voltage and transient response component calculator 62, adder 63, and subtractor 64. And an open circuit voltage extraction unit 65.

The time constant determiner 46 is based on a detection value of the temperature TB of the high voltage battery 17 output from the temperature sensor 17c and a battery deterioration degree signal related to the deterioration state of the high voltage battery 17 output from the deterioration determiner 47. Each time constant is set by map search of the map or calculation using a predetermined calculation formula, and is output to the estimation mode / estimation end mode coefficient input unit 42 and the initialization mode coefficient calculation unit 43a.
Each time constant is a single time constant T related to the time delay response of the reaction resistance component H or a plurality of different time constants T _n (where n is an arbitrary natural number, and In the second embodiment, each time constant T ₁ , T ₂ , T ₃ ) and a single time constant T relating to the time delay response of the charge / discharge hysteresis voltage component M or a plurality of different time constants T _m (m is An arbitrary natural number, which is the time constants T ₄ , T ₅ , T ₆ ) in the first and second embodiments described above.

Further, the deterioration determiner 47 is an accumulated current that is an accumulated integrated value of the absolute values of the internal resistance estimated value a _est output from the internal resistance estimator 34 and the charging current and discharging current after the high voltage battery 17 is manufactured. Based on the integrated value, the accumulated operating time of the high-voltage battery 17 after manufacturing, etc., the battery deterioration degree related to the deterioration state of the high-voltage battery 17 is set by map search of a predetermined map or calculation by a predetermined calculation formula. For this reason, the degradation determination unit 47 receives the estimated internal resistance value a _est from the internal resistance estimator 34, the detected current value I _act detected by the current sensor 17 a, and the current time output from the timer 44. t is input.

  The sampling period selector 48 selects a sampling period from predetermined data stored in advance according to, for example, an input operation by an operator, a charge / discharge state of the high-voltage battery 17, or the like. For example, the sampling period selector 48 is used when the amount of time change of the charging current and the discharging current is relatively small, such as when charging / discharging of the high voltage battery 17 is temporarily stopped during idling of the vehicle. A relatively long sampling period is automatically selected, and the selected sampling period is output to the estimation mode / estimation end mode coefficient input unit 42.

Thus, the predetermined coefficients A ′ _n , L ′ _n , and Z ′ _n output from the estimation mode / estimation end mode coefficient input unit 42 relate to the state quantity of the high-voltage battery 17 (for example, the temperature TB of the high-voltage battery 17 and the like). Value) and the time constants T ₁ ,..., T ₆ output from the time constant determiner 46 according to the deterioration state of the high voltage battery 17 and the sampling period output from the sampling period selector 48. The value to be Then, it is calculated by a state equation obtained by discretizing the state equation (that is, the above formulas (18) and (19) or the above formulas (24) and (26)) indicating the characteristics of the high-voltage battery 17.

The initialization mode coefficient calculation unit 43a uses the elapsed time (t-t _p ), that is, the pause time output from the elapsed time calculation unit 43b in the initialization mode as a sampling period, and the sampling period and time constant determiner 46. each time constant _T 1 output from, ..., based on _{T 6,} a state equation (i.e. the equation (18), (19) or the equation (24), (26)) showing the characteristics of the high-pressure battery 17 discrete and The initial coefficients A ′ _i , L ′ _i , and Z ′ _i are calculated from the equation of state obtained by the conversion.

Note that the current time t output from the timer 44 is stored in the time storage unit 45 in the estimated end mode when the vehicle 1 is stopped when the ignition switch 11c is switched from ON to OFF. Next, the ignition switch 11c is in the initialization mode at operation start of the vehicle 1 is switched to ON from OFF, the stored current time t is the last time t _p the estimated end mode. Then, current and time t in this initialization mode, the elapsed time is the difference between the previous time t _p (t-t _p) is, from the time of shutdown has been switched to OFF the ignition switch 11c from ON, the ignition It is a pause time until the start of operation when the switch 11c is switched from OFF to ON.

In the first embodiment described above, the internal resistance component estimated value W _est , the reaction resistance component estimated value H _est, and the charge / discharge hysteresis voltage component from the voltage detection value V _act detected by the voltage sensor 17 b in the subtractor 36. Although the open circuit voltage estimated value E _est is calculated by subtracting the estimated value M _est , the present invention is not limited to this. For example, when the battery current I is zero, the internal resistance component estimated value W _est is zero. Therefore, in the subtracting unit 36, the open circuit voltage estimated value E _est is calculated by subtracting the reaction resistance component estimated value H _est and the charge / discharge hysteresis voltage component estimated value M _est from the voltage detection value V _act. become.
In other words, the subtracting unit 36 subtracts at least the reaction resistance component estimated value H _est and the charge / discharge hysteresis voltage component estimated value M _est from the voltage detection value V _act detected by the voltage sensor 17b to thereby determine the open circuit voltage estimated value E _Est is calculated.

In the second embodiment described above, the estimated values of the first to third reaction resistance components H ₁ , H ₂ , H ₃ and the first to third charge / discharge hysteresis voltage components M ₁ are based on the battery current I. , M ₂ , M ₃ and the open circuit voltage E are calculated. However, the present invention is not limited to this. For example, when zero is set as the function P (E), the first variable Only the estimated values of the third reaction resistance components H ₁ , H ₂ , H _{3 and} the estimated values of the first to third charge / discharge hysteresis voltage components M ₁ , M ₂ , M ₃ are calculated based on the battery current I become.
That is, in the above-described second embodiment, the state variable x related to at least the reaction resistance component H and the charge / discharge hysteresis voltage component M is calculated based on the battery current I.

  In the above-described embodiment, each of the remaining capacity detection devices 10a and 60a calculates the internal resistance a and the remaining capacity of the high-voltage battery 17 that forms a Ni-MH battery. However, the present invention is not limited to this. You may calculate the internal resistance a and remaining capacity of other storage batteries, such as a lithium ion storage battery, for example, the capacitor which consists of an electric double layer capacitor, an electrolytic capacitor, etc.

In the embodiment described above, the internal resistance estimator 34 calculates the internal resistance correction amount Q based on the difference (ΔV−ΔV _est ) between the voltage change ΔV and the voltage change estimated value ΔV _est . However, the present invention is not limited to this. Instead, for example, as shown in FIG. 21, the internal resistance correction amount Q may be calculated based on the difference (ΔA−ΔA _est ) between the current change ΔA and the current change estimated value ΔA _est .
The internal resistance estimator 34 according to this modification includes, for example, a voltage approximate differential calculation unit 51, a current approximate differential calculation unit 52, a division unit 83, a subtraction unit 84, a multiplication unit 85, and a gain setting unit 56. , And an integration calculation unit 57.

The division unit 83 uses the voltage change ΔV output from the voltage approximate differentiation calculation unit 51 as the previous value of the internal resistance estimated value a _est which is the estimated value of the internal resistance a of the high voltage battery 17 output from the integration calculation unit 57. A value obtained by the division is output as a current change estimated value ΔA _est .

The subtracting unit 84 outputs a difference (ΔA−ΔA _est ) obtained by subtracting the current change estimated value ΔA _est output from the dividing unit 83 from the current change ΔA output from the current approximate differentiation calculating unit 52.

The multiplication unit 85 multiplies the gain K output from the gain setting unit 56 by the difference (ΔA−ΔA _est ) output from the subtraction unit 84, thereby corresponding to the correction amount of the internal resistance a of the high voltage battery 17. The internal resistance correction amount Q (= K × (ΔA−ΔA _est )) is calculated.

The integral calculation unit 57 uses the transfer function Gf (S) (= 1 / (Tf · S)) described by an appropriate time constant Tf and the Laplace operator S, for example, to correct the internal resistance correction amount output from the multiplication unit 85. The internal resistance estimated value a _est is calculated by integrating Q, and the calculation result is output.
It should be noted that a predetermined fixed internal resistance value is appropriately set in advance as the initial value of the estimated internal resistance value a _est .

In the above-described embodiment, the internal resistance estimator 34 uses the gain K multiplied by the difference (ΔV−ΔV _est ) between the voltage change ΔV and the voltage change estimated value ΔV _est as the current change ΔA or the voltage change ΔV or changing load change has been to change depending on, without being limited thereto, for example in accordance with the internal resistance correction amount Q (= K × (ΔV- ΔV est)) the current change ΔA or voltage change [Delta] V or load variations May be. The internal resistance correction amount Q changes, for example, so as to increase as the current change ΔA or voltage change ΔV or load fluctuation increases, and the current change ΔA or voltage change ΔV or load fluctuation decreases. It is set to change to a decreasing trend.

  In the above-described embodiment, the open circuit voltage detection device 10b has the terminal voltage V of the high voltage battery 17 based on four voltage components (the open circuit voltage E, the internal resistance component W, the reaction resistance component H, and the charge / discharge hysteresis voltage component M). However, the present invention is not limited to this. For example, the charge / discharge hysteresis voltage component M may be omitted.

In addition to the deterioration determination of the high-voltage battery 17 based on the internal resistance estimated value a _est calculated by the internal resistance estimator 34, the open circuit voltage estimated value E _est and the internal resistance estimated value a _est are used to charge / discharge the high-voltage battery 17 in a hybrid vehicle or the like. It can be used for control and estimation of the memory effect state of a battery such as a nickel-based battery.

10a, 60a Power storage device remaining capacity detection device 10b, 60b Power storage device open circuit voltage detection device 17 High voltage battery (power storage device)
17a Current sensor (current detection means)
17b Voltage sensor (voltage detection means)
31 state quantity calculation unit (state quantity calculation means)
32 Transient response component calculation unit (state quantity calculation means)
34 Internal resistance estimator (internal resistance detection device for storage device, deterioration degree detection means, conversion calculation change means)
34a Conversion calculation unit 36 Subtraction unit (open circuit voltage calculation means)
38 Remaining capacity estimation unit (remaining capacity calculation means, storage means)
51 Voltage approximate differentiation operation part (voltage fluctuation calculation means)
52 Current Approximation Differential Operation Unit (Current fluctuation calculation means)
53 1st multiplication part (voltage fluctuation estimated value calculation means)
55 Second multiplication unit (internal resistance calculation means)
56 Gain setting section (internal resistance calculation means)
57. Integral calculation unit (internal resistance calculation means)
61 State quantity calculation unit (state quantity calculation means, feedback means)
62 Open-circuit voltage and transient response component calculation unit (state quantity calculation means, feedback means)
63 Adder (feedback means)
64 Subtraction unit (feedback means)
65 Open-circuit voltage extraction unit (open-circuit voltage calculation means)
83 Dividing unit (current fluctuation estimated value calculating means)
85 multiplier (internal resistance calculation means)

Claims (24)

Voltage detection means for detecting the voltage value of the terminal voltage of the power storage device;
Voltage fluctuation calculation means for calculating a voltage fluctuation value which is a fluctuation of the voltage value detected by the voltage detection means;
Voltage fluctuation estimated value calculating means for calculating an estimated value of voltage fluctuation that is a fluctuation of the voltage value detected by the voltage detecting means;
An internal resistance that calculates an internal resistance of the power storage device based on a difference between the voltage fluctuation value calculated by the voltage fluctuation calculation means and the estimated value of the voltage fluctuation calculated by the voltage fluctuation estimated value calculation means An internal resistance detection device for a power storage device, comprising: a calculation unit. Current detecting means for detecting a current value of a discharging current or a charging current of the power storage device;
Current fluctuation calculation means for calculating a current fluctuation value that is a fluctuation of the current value detected by the current detection means;
The estimated value of the voltage fluctuation is a value obtained by multiplying the current fluctuation value calculated by the current fluctuation calculation means and the value calculated by the internal resistance calculation means. Item 6. The internal resistance detection device for a power storage device according to Item 1. Current detecting means for detecting a current value of a discharging current or a charging current of the power storage device;
Current fluctuation calculating means for calculating a current fluctuation value which is a fluctuation of the current value detected by the current detection means;
Current fluctuation estimated value calculating means for calculating an estimated value of current fluctuation that is a fluctuation of the current value detected by the current detecting means;
An internal resistance that calculates an internal resistance of the power storage device based on a difference between the current fluctuation value calculated by the current fluctuation calculation means and the estimated value of the current fluctuation calculated by the current fluctuation estimated value calculation means An internal resistance detection device for a power storage device, comprising: a calculation unit. Voltage detecting means for detecting a voltage value of a terminal voltage of the power storage device;
Voltage fluctuation calculation means for calculating a voltage fluctuation value that is a fluctuation of the voltage value detected by the voltage detection means,
The estimated value of the current fluctuation is a value obtained by dividing the voltage fluctuation value calculated by the voltage fluctuation calculation means by a value calculated by the internal resistance calculation means. The internal resistance detection device of the power storage device according to 3. The voltage fluctuation value calculated by the voltage fluctuation calculation means is a time fluctuation value of a predetermined frequency domain component of the voltage value detected by the voltage detection means or a state quantity related to the voltage value. The internal resistance detection apparatus of the electrical storage apparatus as described in any one of Claim 1, Claim 2, and Claim 4. The current fluctuation value calculated by the current fluctuation calculation means is a time fluctuation value of a predetermined frequency domain component of the current value detected by the current detection means or a state quantity related to the current value. The internal resistance detection apparatus of the electrical storage apparatus as described in any one of Claims 2-4. The frequency region of the predetermined frequency region component is set to a frequency region higher than the frequency region of the transient response component of the response of the voltage value of the terminal voltage of the power storage device to the fluctuation of the current value of the discharge current or charging current of the power storage device. The internal resistance detection device for a power storage device according to claim 5 or 6, wherein: The internal resistance calculation unit corrects the internal resistance based on the current fluctuation value with a correction amount, and the correction amount changes in an increasing tendency as the current fluctuation value increases, and the The correction amount is set so that the correction amount changes in a decreasing tendency as the current fluctuation value decreases. 7. The method according to claim 2, wherein the correction amount is set. The internal resistance detection apparatus of the electrical storage apparatus of description. The internal resistance calculation means corrects the internal resistance based on the voltage fluctuation value with a correction amount, and the correction amount changes in an increasing trend as the voltage fluctuation value increases, and the 6. The correction amount is set such that the correction amount changes in a decreasing trend as the voltage fluctuation value decreases. The internal resistance detection apparatus of the electrical storage apparatus as described in any one. The internal resistance calculating means corrects the internal resistance with a correction amount based on a load fluctuation value or a load fluctuation command value of the power storage device, and the load fluctuation value or the load fluctuation command value increases as the load fluctuation command value increases. Setting the correction amount so that the correction amount changes in an increasing tendency, and the correction amount changes in a decreasing tendency as the load fluctuation value or the load fluctuation command value decreases. The internal resistance detection device for a power storage device according to any one of claims 1 to 7, characterized in that: The power storage device according to claim 1, wherein the internal resistance calculating unit calculates the internal resistance by multiplying the difference between the voltage fluctuation value and the estimated value by a gain constant. Internal resistance detection device. 5. The power storage device according to claim 3, wherein the internal resistance calculation unit calculates the internal resistance by multiplying the difference between the current fluctuation value and the estimated value by a gain constant. Internal resistance detection device. The internal resistance calculation means is configured so that the gain constant changes in an increasing tendency with an increase in a current fluctuation value that is a fluctuation in a current value of a discharge current or a charging current of the power storage device, and the current fluctuation value 13. The internal resistance detection device for a power storage device according to claim 11, wherein the gain constant is set so that the gain constant changes in a decreasing tendency as the value decreases. The internal resistance calculating means reduces the voltage fluctuation value so that the gain constant changes in an increasing trend as the voltage fluctuation value, which is a fluctuation in the voltage value of the terminal voltage of the power storage device, increases. 13. The internal resistance detection device for a power storage device according to claim 11, wherein the gain constant is set such that the gain constant changes in a decreasing trend. The internal resistance calculation means is configured so that the gain constant changes in an increasing tendency as the load fluctuation value or load fluctuation command value of the power storage device increases, and the load fluctuation value or the load fluctuation command value is 13. The internal resistance detection device for a power storage device according to claim 11, wherein the gain constant is set such that the gain constant changes in a decreasing tendency with a decrease. From the output of the current value by current detection means for detecting the current value of the discharge current or charging current of the power storage device or the output of the voltage value by the voltage detection means for detecting the voltage value of the terminal voltage of the power storage device, In the calculation path of various parameters leading to the output of the internal resistance by the internal resistance calculation means, the output value that changes in an increasing trend with an increase in the input value has an upper limit value or changes in an increasing trend with an increase in the input value And the output value that changes in a decreasing tendency with a decrease in the input value has a lower limit value or changes in a decreasing tendency with a decrease in the input value. It is provided with a conversion calculation means for decreasing the decrease rate,
16. The internal resistance detection device for a power storage device according to any one of claims 1 to 15, wherein conversion arithmetic processing is performed on at least one of the parameters by the conversion arithmetic means. A deterioration degree detecting means for detecting a deterioration degree of the power storage device;
According to the degree of deterioration detected by the degree of deterioration detection means, the upper limit value of the conversion calculation means or the degree of decrease of the increase rate, and the lower limit value of the conversion calculation means or the degree of decrease of the decrease rate. 17. The internal resistance detection device for a power storage device according to claim 16, further comprising conversion operation changing means for changing. The conversion calculation changing means increases the upper limit value or decreases the degree of decrease in the increase rate in the conversion calculation means for the parameter relating to the internal resistance as the degree of deterioration increases, and 18. The internal resistance detection device for a power storage device according to claim 17, wherein the lower limit value is increased or the degree of decrease in the decrease rate is increased. The conversion calculation changing unit is configured to change the parameter related to the current fluctuation value or the voltage fluctuation value that is a fluctuation of the voltage value as the deterioration degree increases. 18. The conversion calculation means according to claim 17, wherein the upper limit value is increased or the decrease rate of the increase rate is decreased, and the lower limit value is decreased or the decrease rate of the decrease rate is decreased. The internal resistance detection device of the power storage device. The internal resistance detection device for a power storage device according to any one of claims 16 to 19, wherein the conversion calculation means has a dead zone in which the output value is fixed within a predetermined range of the input value. . The internal resistance detection device for a power storage device according to any one of claims 1 to 20,
A state quantity calculating means for calculating a state quantity related to a transient response component of a response of a voltage value of the terminal voltage of the power storage device to a change in a current value of a discharge current or a charging current of the power storage device, based on the current value;
The transient response component related to the state quantity calculated by the state quantity calculation means from the voltage value detected by the voltage detection means for detecting the voltage value of the terminal voltage of the power storage apparatus, and the interior of the power storage apparatus An open-circuit voltage detection means for a power storage device, comprising: an open-circuit voltage calculation means for calculating an open-circuit voltage of the power storage device by subtracting an internal resistance component that is a voltage change due to the internal resistance detected by the resistance detection device. apparatus. The internal resistance detection device for a power storage device according to any one of claims 1 to 20,
A first state quantity related to a transient response component of a response of a voltage value of a terminal voltage of the power storage device to a change in a current value of a discharge current or a charging current of the power storage device, and a second state related to an open circuit voltage of the power storage device A state quantity calculating means for calculating at least the first state quantity based on the current value when calculating a state quantity comprising the state quantity;
The transient response component relating to the first state quantity calculated by the state quantity calculating means and the open circuit voltage relating to the second state quantity and the voltage change due to the internal resistance calculated by the internal resistance calculating means. The first value is such that a difference between a value obtained by adding a certain internal resistance component and the voltage value detected by the voltage detecting means for detecting the voltage value of the terminal voltage of the power storage device becomes zero. Feedback means for correcting at least the second state quantity among the state quantity and the second state quantity;
An open circuit voltage detection device for a power storage device, comprising: an open circuit voltage calculation unit configured to calculate the open circuit voltage from the second state quantity. An open circuit voltage detection device for a power storage device according to claim 21 or claim 22,
A remaining capacity detection device for a power storage device, comprising: remaining capacity calculation means for calculating a remaining capacity of the power storage device based on the open circuit voltage calculated by the open circuit voltage calculation means. The remaining capacity calculating means includes storage means for storing data indicating a predetermined correlation between the open circuit voltage and the remaining capacity,
24. The power storage device according to claim 23, wherein the remaining capacity of the power storage device according to the open circuit voltage calculated by the open circuit voltage calculation unit is calculated based on the data stored in the storage unit. Remaining capacity detector.

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