JP2020112551A - システム同定方法及びシステム同定装置 - Google Patents
システム同定方法及びシステム同定装置 Download PDFInfo
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Abstract
Description
入出力モデルを近似する所定のモデルとして、ARX(Auto Regressive eXogenous)モデルが適用されると仮定する。ARXモデルは、有限個のパラメータによってシステムを表現できる。
入出力モデルを近似する所定のモデルとして、FIR(Finite Impulse Response)モデルが適用されると仮定する。FIRモデルは、開始時刻からt秒後の時刻までの間のサンプリング時刻におけるインパルス応答の和として、t秒後の応答を表すことができる。t秒値抵抗は、抵抗値を推定する時刻からt秒前までさかのぼる間の各時刻における入力に対するインパルス応答の和として表される。システム同定装置1は、FIRモデルを適用することによって、t秒値抵抗を容易に算出できる。
本実施形態において、入出力モデルを近似する所定のモデルとして、μ−マルコフモデルが適用される。μ−マルコフモデルは、ARXモデルと、FIRモデルとを組み合わせたモデルとして表される。
本実施例において、システム同定装置1は、図2及び図3に示されているバッテリモデルを表すシステムにμ−マルコフモデルを適用することによって、システムのパラメータを同定する。
R0=3.6mΩ
R1=2.19mΩ
R2=0.243mΩ
R3=8.75×10-2mΩ
R4=4.47×10-2mΩ
C1〜C4=6.72kF
また、サンプリング周期Tsは、0.1秒に設定されているとする。この場合、μが10以上に設定されることによって、1秒値抵抗がインパルス応答のパラメータだけに基づいて算出される。
μ−マルコフモデル:平均値3.9686、標準偏差±3.6892×10-3
ARXモデル:平均値4.0131、標準偏差±5.7713×10-3
FIRモデル:平均値3.9609、標準偏差±2.9357×10-3
μ−マルコフモデル:平均値3.9691、標準偏差±3.6603×10-3
ARXモデル:平均値3.9887、標準偏差±6.4469×10-3
FIRモデル:平均値3.9609、標準偏差±2.9357×10-3
2 電流センサ
3 電圧センサ
4 バッテリ
4a バッテリ等価回路
41a〜41d 端子
42 電圧源
44 内部インピーダンス
10 オブザーバ
11 状態変数推定部
12 OCV算出部
13 フィードバック部
14 端子電圧推定部
15 比較器
16 状態変数補正値算出部
20 応答推定部
25 演算器
70 表示部
100 車両
110 コントローラ
Claims (9)
- バッテリに流れる電流を入力とし、前記バッテリの過電圧を出力とするシステムの応答を推定するシステム同定装置が実行するシステム同定方法であって、
前記バッテリに流れる電流、及び、前記バッテリの過電圧それぞれの、所定期間内における時系列データに基づいて、前記システムにFIRモデルとARXモデルとを含む前記バッテリのモデルを適用することによって前記システムを同定する第1ステップと、
前記第1ステップで同定した前記システムに、入力開始時刻より前に電流が入力されず、且つ、前記入力開始時刻以降に電流が入力される場合における、前記入力開始時刻より後の推定対象時刻に前記システムが出力する前記バッテリの過電圧を、前記第1ステップで前記システムを同定するために適用された前記バッテリのモデルに基づいて推定する第2ステップと
を含み、
前記時系列データのうち、前記FIRモデルに適用されるデータの数は、前記入力開始時刻から前記推定対象時刻までの時間をサンプリング周期で除した数に1を加えた数以上の数である、
システム同定方法。 - 前記入力開始時刻から前記推定対象時刻までの時間は、前記システム同定装置を搭載する車両がアイドリングストップ後にエンジンを再始動させる際のクランキング時間である、請求項1に記載のシステム同定方法。
- 前記入力開始時刻から前記推定対象時刻までの時間は、エンジンとモータと前記システム同定装置とを搭載する車両が走行中に、前記モータが前記車両を駆動している時間である、請求項1に記載のシステム同定方法。
- 前記推定対象時刻における前記バッテリの内部抵抗として、前記第1ステップで前記システムを同定するために適用された前記FIRモデルの、前記入力開始時刻から前記推定対象時刻までの期間に含まれる項の係数の和を算出する、請求項1から3までのいずれか一項に記載のシステム同定方法。
- 前記第2ステップにおいて、前記システムに一定値の電流を入力した場合における、前記推定対象時刻での前記バッテリの過電圧を推定する、請求項1から4までにいずれか一項に記載のシステム同定方法。
- 前記時系列データのうち、前記FIRモデルの項に適用されるデータの数は、前記入力開始時刻から前記推定対象時刻までの時間をサンプリング周期で除した数に1を加えた数と同じ数である、請求項1から5までのいずれか一項に記載のシステム同定方法。
- 前記第1ステップにおいて、前記FIRモデルのパラメータを、前記FIRモデルと前記ARXモデルとに基づいて同定する、請求項1から6までのいずれか一項に記載のシステム同定方法。
- 前記第2ステップにおいて、前記推定対象時刻における前記バッテリの過電圧と、前記推定対象時刻において前記バッテリに入力される電流とに基づき、前記推定対象時刻における前記バッテリの内部抵抗を算出する、請求項1から7までのいずれか一項に記載のシステム同定方法。
- バッテリに流れる電流を入力とし、前記バッテリの過電圧を出力とするシステムの応答を推定する応答推定部を備え、
前記応答推定部は、
前記バッテリに流れる電流、及び、前記バッテリの過電圧それぞれの、所定期間内における時系列データに基づいて、前記システムにFIRモデルとARXモデルとを含む前記バッテリのモデルを適用することによって前記システムを同定し、
同定した前記システムに入力開始時刻より前に電流が入力されず、且つ、前記入力開始時刻以降に電流が入力される場合に、前記入力開始時刻より後の推定対象時刻に前記システムが出力する前記バッテリの過電圧を、前記システムを同定するために適用された前記バッテリのモデルのパラメータに基づいて推定し、
前記時系列データのうち、前記FIRモデルに適用されるデータの数は、前記入力開始時刻から前記推定対象時刻までの時間をサンプリング周期で除した数に1を加えた数以上の数である、
システム同定装置。
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