JP5145300B2 - Open circuit voltage detection device and remaining capacity detection device of power storage device - Google Patents

Description

  The present invention relates to 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 at least the transient response component is subtracted from the detected value of the terminal voltage. Thus, an open circuit voltage detection device and a remaining capacity detection device of a power storage device that calculate an open circuit voltage and calculate a remaining capacity from the open circuit voltage are known (for example, see Patent Document 1).
In these open circuit voltage detection devices and remaining capacity detection devices of these power storage devices, the transient response component is a voltage component due to resistance caused by a chemical reaction such as diffusion resistance or polarization of the electrolyte of the power storage device, and the fluctuation of the current value Of the response of the voltage value to (for example, the response of the voltage value when the current value changes in a step-like manner). The transient response component has a delay element with a time constant, and gradually increases from zero at the time of occurrence of the current change, and is an equilibrium value proportional to the detected value of the charge / discharge current after an appropriate time has elapsed. It is set to change so as to reach the settling voltage.

Japanese Patent No. 4255595

By the way, in the open circuit voltage detection device and the remaining capacity detection device of the power storage device according to the above-described prior art, the detection accuracy and reliability of the open circuit voltage are further improved, and power storage is performed according to the highly reliable open circuit voltage. It is desired to accurately calculate the remaining capacity of the apparatus.
The present invention has been made in view of the above circumstances, and an open circuit voltage detection device for a power storage device capable of accurately detecting an open circuit voltage of the power storage device and a power storage capable of accurately detecting the remaining capacity of the power storage device. An object of the present invention is to provide an apparatus for detecting a remaining capacity of an apparatus.

  In order to solve the above problems and achieve the object, an open circuit voltage detection device for a power storage device according to the first aspect of the present invention is a discharge current or a charge of a power storage device (for example, high-voltage battery 17 in the embodiment). Current detection means for detecting the current value of the current (for example, current sensor 17a in the embodiment) and voltage detection means for detecting the voltage value of the terminal voltage of the power storage device (for example, voltage sensor 17b in the embodiment) ) And a state quantity related to a transient response component of the response of the voltage value to the fluctuation of the current value (for example, a state variable x in the embodiment) with respect to the current value detected by the current detection means At least the upper limit saturation voltage value (for example, the state upper limit saturation voltage (uplimms) in the embodiment) or the lower limit saturation voltage value (for example, the lower limit saturation voltage (lowlimms) in the embodiment) State quantity calculation means (for example, the state quantity calculation unit 31 and the transient response component calculation unit 32 in the embodiment) for calculating a state quantity related to the charge / discharge hysteresis voltage component of the delay characteristic having the current value based on the current value; An open-circuit voltage calculation means for calculating an open-circuit voltage of the power storage device by subtracting at least 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 example, a subtracting unit 36) in the embodiment is provided.

  Furthermore, in the open circuit voltage detection device for a power storage device according to the second aspect of the present invention, the state quantity calculation means detects the state quantity related to the transient response component by the charge / discharge hysteresis voltage component and the current detection means. A state quantity relating to a reaction resistance component having a delay characteristic having an equilibrium value (for example, a settling voltage Hs in the embodiment) proportional to the current value is calculated.

  Furthermore, the open circuit voltage detection device for a power storage device according to the third aspect of the present invention includes an internal resistance calculation unit (for example, an implementation) that calculates an internal resistance of the power storage device based on at least the voltage value detected by the voltage detection unit. The open circuit voltage calculation means includes the transient response relating to the state quantity calculated by the state quantity calculation means from the voltage value detected by the voltage detection means. The open circuit voltage of the power storage device is calculated by subtracting the component from the internal resistance calculated by the internal resistance calculating means or an internal resistance component that is a voltage change caused by a predetermined fixed value of internal resistance.

Further, the open circuit voltage detection device for a power storage device according to the fourth aspect of the present invention is a current detection means (for example, a current value of a discharge current or a charge current of the power storage device (for example, the high voltage battery 17 in the embodiment)). The current sensor 17a) in the embodiment, the voltage detection means for detecting the voltage value of the terminal voltage of the power storage device (for example, the voltage sensor 17b in the embodiment), and the voltage value with respect to the fluctuation of the current value First state quantities related to the transient response component of the response (for example, 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 in the} embodiment) , M ₂ , M ₃ ) and a second state quantity (for example, open circuit voltage E in the embodiment) related to the open circuit voltage of the power storage device (for example, state variable x in the embodiment) ) When calculating As the first state quantity, a state quantity relating to a charging / discharging hysteresis voltage component having a delay characteristic having at least an upper limit saturation voltage value or a lower limit saturation voltage value with respect to the current value detected by the current detection means, State quantity calculation means (for example, the state quantity calculation section 61 and the open circuit voltage and transient response component calculation section 62 in the embodiment) calculated based on the value, and at least the first state calculated by the state quantity calculation means The difference between the value obtained by adding the transient response component relating to the amount and the open circuit voltage relating to the second state quantity and the voltage value detected by the voltage detection means is zero. Feedback means for correcting at least the second state quantity among the first state quantity and the second state quantity (for example, the state quantity calculation unit 61 and the open circuit power in the embodiment) Pressure and transient response component calculation unit 62, addition unit 63, and subtraction unit 64), and open circuit voltage calculation means for calculating the open circuit voltage from the second state quantity (for example, open circuit voltage extraction unit 65 in the embodiment) With.

  Furthermore, in the open circuit voltage detection device for a power storage device according to the fifth aspect of the present invention, the state quantity calculation means uses the charge / discharge hysteresis voltage component and the current detection as the first state quantity related to the transient response component. A state quantity relating to a reaction resistance component having a delay characteristic having an equilibrium value (for example, a settling voltage Hs in the embodiment) proportional to the current value detected by the means is calculated.

  Furthermore, an open circuit voltage detection device for a power storage device according to a sixth aspect of the present invention includes an internal resistance calculation unit (for example, an implementation) that calculates an internal resistance of the power storage device based on at least the voltage value detected by the voltage detection unit. The feedback means includes the transient response component relating to the first state quantity calculated by the state quantity calculating means and the open circuit relating to the second state quantity. A value obtained by adding the voltage and the internal resistance calculated by the internal resistance calculating means or a voltage change caused by a predetermined internal resistance fixed value, and the voltage value detected by the voltage detecting means At least one of the first state quantity and the second state quantity is corrected so that the difference between the first state quantity and the second state quantity becomes zero.

  Furthermore, the open circuit voltage detection device for a power storage device according to the seventh aspect of the present invention is a deterioration level detection means for detecting the deterioration level of the power storage device (for example, the state quantity calculation unit 31 and the transient response component calculation in the embodiment). Unit 32, a state quantity calculation unit 61, and an open circuit voltage and transient response component calculation unit 62), wherein the state quantity calculation means at least according to the degree of deterioration detected by the deterioration degree detection means Value or the lower saturation voltage value is changed.

  A remaining capacity detection device for a power storage device according to an eighth aspect of the present invention is calculated by the open circuit voltage detection device for a power storage device according to any one of the first to seventh aspects and the open circuit voltage calculation means. And a remaining capacity calculating means for calculating the remaining capacity of the power storage device based on the open circuit voltage (for example, remaining capacity estimating unit 38 in the embodiment).

  Further, in the remaining capacity detection device for a power storage device according to the ninth aspect of the present invention, the remaining capacity calculation means stores storage means (for example, data indicating a predetermined correlation between the open circuit voltage and the remaining capacity) 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 open circuit voltage detection device for a power storage device according to the first aspect of the present invention, the state quantity calculation means, for example, as a transient response component indicating a transient response among the responses of the voltage value when the current value changes stepwise. The charge / discharge hysteresis voltage component, which is a voltage component due to hysteresis generated in the voltage value when charging / discharging is stopped during charging and discharging of the power storage device, is composed of, for example, a first-order delay element or a second-order delay element, and at least an upper limit. Set to have saturation voltage value or lower limit saturation voltage value. Then, a charge / discharge hysteresis voltage component for an appropriate fluctuation in the current value is calculated based on the current value detected by the current detection means. The open circuit voltage calculation means calculates the open circuit voltage by subtracting at least the charge / discharge hysteresis voltage component calculated by the state quantity calculation means from the voltage value detected by the voltage detection means.
That is, the device configuration is complicated by appropriately modeling the convergence inherent in the response of the voltage value accompanying the appropriate fluctuation of the current value in the power storage device as a transient response component composed of at least a charge / discharge hysteresis voltage component. The calculation accuracy of the open circuit voltage can be improved by a highly reliable calculation process while suppressing this.

Furthermore, according to the open circuit voltage detection device for a power storage device according to the second aspect of the present invention, the state quantity calculation means is caused by a chemical reaction such as diffusion resistance or polarization of the electrolyte of the power storage device as a transient response component. It is set that the reaction resistance component, which is a voltage component due to the resistance, is composed of, for example, a first-order lag element or a second-order lag element and has an equilibrium value proportional to the current value. Then, the charge / discharge hysteresis voltage component and the reaction resistance component with respect to appropriate fluctuations in the current value are calculated based on the current value detected by the current detection means.
That is, by more appropriately modeling the convergence inherent in the response of the voltage value accompanying the appropriate fluctuation of the current value in the power storage device as a transient response component composed of at least a charge / discharge hysteresis voltage component and a reaction resistance component Thus, the calculation accuracy of the open circuit voltage can be further improved by a highly reliable calculation process while suppressing the device configuration from becoming complicated.

  Furthermore, according to the open circuit voltage detection device for a power storage device according to the third aspect of the present invention, the current value of the power storage device changes frequently, for example, depending on the temperature state, charge / discharge history, operation time, and the like of the power storage device. The open circuit voltage can be calculated more appropriately by the internal resistance component that makes a relatively large contribution in the response of the voltage value to an appropriate fluctuation.

Further, according to the open circuit voltage detection device for a power storage device according to the fourth aspect of the present invention, the state quantity calculation means includes, for example, a transient response indicating a transient response among voltage value responses when the current value changes stepwise. As a component, a charge / discharge hysteresis voltage component, which is a voltage component due to a hysteresis generated in a voltage value at the time of charge / discharge stop between charging and discharging of the power storage device, is composed of, for example, a primary delay element or a secondary delay element, It is set to have at least an upper limit saturation voltage value or a lower limit saturation voltage value. Then, a charge / discharge hysteresis voltage component for an appropriate fluctuation in the current value is calculated based on the current value detected by the current detection means. Then, the feedback means has at least the first state quantity so that the difference between the value obtained by adding at least the charge / discharge hysteresis voltage component and the open circuit voltage and the voltage value detected by the voltage detection means becomes zero. Alternatively, feedback control for correcting the second state quantity is performed. Then, the open circuit voltage calculation means calculates the open circuit voltage from the second state quantity.
That is, by appropriately modeling the convergence inherent in the response of the voltage value accompanying the appropriate fluctuation of the current value in the power storage device as a transient response component composed of at least a charge / discharge hysteresis voltage component, and executing feedback control The calculation accuracy of the open circuit voltage can be improved.

Further, according to the open circuit voltage detection device for a power storage device according to the fifth aspect of the present invention, the state quantity calculation means is caused by a chemical reaction such as diffusion resistance or polarization of the electrolyte of the power storage device as a transient response component. It is set that the reaction resistance component, which is a voltage component due to the resistance, is composed of, for example, a first-order lag element or a second-order lag element and has an equilibrium value proportional to the current value. Then, the charge / discharge hysteresis voltage component and the reaction resistance component with respect to appropriate fluctuations in the current value are calculated based on the current value detected by the current detection means.
That is, by more appropriately modeling the convergence inherent in the response of the voltage value accompanying the appropriate fluctuation of the current value in the power storage device as a transient response component composed of at least a charge / discharge hysteresis voltage component and a reaction resistance component Thus, the calculation accuracy of the open circuit voltage can be further improved by a highly reliable calculation process while suppressing the device configuration from becoming complicated.

  Furthermore, according to the open circuit voltage detection device for a power storage device according to the sixth aspect of the present invention, the current value of the power storage device changes frequently depending on, for example, the temperature state, charge / discharge history, operation time, and the like of the power storage device. By calculating the internal resistance component that makes a relatively large contribution in the response of the voltage value to appropriate fluctuations, the open circuit voltage can be calculated appropriately, and problems such as divergence occur in feedback control. This can be prevented.

  Furthermore, according to the open circuit voltage detection device for a power storage device according to the seventh aspect of the present invention, the open circuit voltage is calculated by changing at least the upper limit saturation voltage value or the lower limit saturation voltage value according to the degree of deterioration of the power storage device. The accuracy can be further improved.

Further, according to the remaining capacity detection device for a power storage device according to the eighth aspect or the ninth 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. With respect to these problems, according to the remaining capacity detection device of the power storage device of the present invention, the open circuit voltage of the power storage device can be accurately estimated. In addition, no correction map is required, and 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 open circuit voltage detection device and a remaining capacity detection device for a power storage device according to the present invention will be described with reference to the accompanying drawings.
The remaining capacity detection device 10a of the power storage device according to the first embodiment is provided in an electric vehicle, a hybrid vehicle, or the like, for example. For example, a 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 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 inputted 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 made of, for example, 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 in accordance with a 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 the 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, and 20 includes each sensor 11a, 11b, 12a, Each detection data acquired from 17a, 17b, and 17c and data generated during the control process 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. This map shows, for example, 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 as shown in FIG. 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 deteriorates, 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.
Further, 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 having 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 reached, when the high-voltage battery 17 is discharged, the lower limit saturation voltage (lowlimms) is reached, and 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 |> | lowlimmss |) . 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 of different time constants T _n (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 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 It is calculated by a state equation obtained by discretizing the equation (that is, the above formulas (18) and (19)) 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 includes a voltage approximate differential calculation unit 51, a current approximate differential calculation unit 52, a first multiplication unit 53, a subtraction unit 54, a second multiplication unit 55, The gain setting unit 56 and the integration calculation unit 57 are provided.

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 during 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 previous value of the internal resistance estimated value a _est that is the estimated value of the internal resistance a of the high-voltage battery 17 output from the integral calculation unit 57 described later and the current output from the current approximate differentiation calculation unit 52. 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 a 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 rather than a sudden 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 With 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 sign of the positive and negative values and the magnitude of the value are set so as to converge with an appropriate change, not an abrupt change.
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.

Note that the gain K indicates various parameters (for example, load fluctuation values (actual measurement values, calculated values, etc.) or load fluctuation command values, current change ΔA, voltage change ΔV, output) related to the state change 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. 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.
The initial value of the estimated internal resistance value a _est is set in advance with a predetermined fixed internal resistance value.

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 _Vact. 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 at the time of shifting 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 this 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 State transition calculation is executed based on A ′, that is, the initial coefficient A ′ _i, and the 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 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, the internal resistance component W, the reaction resistance component H, and the charge / discharge hysteresis. The voltage component M is composed of four voltage components. Then, the response of the reaction resistance component H and the charge / discharge hysteresis voltage component M, which are delayed components 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 of the responses by the first-order lag response. A voltage estimated value E _est is calculated. Then, the remaining capacity of the high voltage battery 17 is calculated by a map search according to the open circuit voltage estimated value E _est .
Accordingly, by appropriately modeling the convergence inherent in the voltage fluctuation accompanying the fluctuation of the battery current I as a transient response component including 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 frequently changes according to, for example, the temperature state, charge / discharge history, operation time, etc. of the high-voltage battery 17 and the battery current I The internal resistance component W, which is a relatively large contribution to the voltage fluctuation accompanying the fluctuation of, 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 change value (actual value or calculated value) or load change 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} changes 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. For example, the ignition switch 11c is ON. 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 is relatively increased, the internal resistance correction amount Q may be calculated according to the 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. In this state, for example, a vibration damping device (not shown) provided in the internal combustion engine 11 that can be switched between an all-cylinder operation in which all cylinders are operated and a 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 cylinder rest 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 differentiation calculation unit 51 and the current approximate differentiation calculation unit 52. However, the present invention is not limited to this, and the voltage approximation differentiation calculation 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 band pass 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 fluctuation calculation unit and the current fluctuation 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 the 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 by 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).
The function P (E) in the following formula (25) is a time change rate of the open circuit voltage E accompanying the unit current change of the battery current I, and is an appropriate function related to the open circuit voltage E, for example.

The 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 change (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 termination 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, thereby the first to third reaction resistance components H ₁ , H ₂ , H ₃ and the first to third charging / discharging hysteresis voltage components M ₁ , M ₂ , M ₃ and the state variable x including the estimated values 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 discretization 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, 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. As a new process for calculating the voltage difference V _err and a point for executing the feedback process of the voltage difference V _err in step S06, step S13 and step S17, following the process 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 processing. The state transition calculation is executed based on the voltage difference V _err between the voltage 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 processing. The state transition calculation is executed based on the voltage difference V _err between the voltage and the detected voltage value V _act to calculate the state variable x in the current process, 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 processing, and the transfer function of a series of processing 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 in the case where the transfer function of the low-pass filter 37 is a first-order lag element in the first embodiment.
That is, 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 and Z ′ _n may be fixed values or values that vary 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.

This time constant determiner 46 is based on a detected value of the temperature TB of the high voltage battery 17 output from the temperature sensor 17c and a battery deterioration level 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 subtraction 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.
That is, 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, thereby opening 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 subtraction unit 84 outputs a difference (ΔA−ΔA _est ) obtained by subtracting the current change estimated value ΔA _est output from the division unit 83 from the current change ΔA output from the current approximate differentiation calculation unit 52.

The multiplication unit 85 multiplies the gain K output from the gain setting unit 56 and 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. An 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.
The initial value of the estimated internal resistance value a _est is set in advance with a predetermined fixed internal resistance value.

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, based on the current change ΔA and the voltage change ΔV, an internal resistance calculation instantaneous value R is calculated by a division value (ΔV / ΔA) or the like, and the internal resistance calculation instantaneous value R is subjected to filter processing using a low-pass filter. The internal resistance estimated value a _est may be calculated.

Estimating the remaining capacity of the high-voltage battery 17 based on the open-circuit voltage estimated value E _est calculated by the open-circuit voltage detection devices 10b and 60b, and determining the deterioration of the high-voltage battery 17 based on the estimated internal resistance a _est calculated by the internal resistance estimator 34 In addition, the open circuit voltage estimated value E _est and the internal resistance estimated value a _est can be used for charge / discharge control of the high-voltage battery 17 in a hybrid vehicle or the like, or 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, deterioration level detection means)
32 Transient response component calculation unit (state quantity calculation means, deterioration degree detection means)
34 Internal resistance estimator (Internal resistance calculation means)
36 Subtraction unit (open circuit voltage calculation means)
38 Remaining capacity estimation unit (remaining capacity calculation means, storage means)
61 State quantity calculation unit (state quantity calculation means, feedback means, deterioration level detection means)
62 Open-circuit voltage and transient response component calculation unit (state quantity calculation means, feedback means, deterioration degree detection means)
63 Adder (feedback means)
64 Subtraction unit (feedback means)
65 Open-circuit voltage extraction unit (open-circuit voltage calculation means)

Claims (9)

Current detection means for detecting a current value of a discharge current or a charging current of the power storage device; voltage detection means for detecting a voltage value of a terminal voltage of the power storage device;
A delay characteristic having at least an upper limit saturation voltage value or a lower limit saturation voltage value with respect to the current value detected by the current detection means as a state quantity related to a transient response component of the voltage value response to the current value variation A state quantity calculating means for calculating a state quantity relating to the charge / discharge hysteresis voltage component based on the current value;
An open circuit voltage calculation means for calculating an open circuit voltage of the power storage device by subtracting at least 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; An open circuit voltage detection device for a power storage device. The state quantity calculation means includes a delay resistance reaction resistance component having an equilibrium value proportional to the charge / discharge hysteresis voltage component and the current value detected by the current detection means as the state quantity relating to the transient response component. The open circuit voltage detection device for a power storage device according to claim 1, wherein a state quantity relating to the power is calculated. An internal resistance calculating means for calculating an internal resistance of the power storage device based on at least the voltage value detected by the voltage detecting means;
The open circuit voltage calculation means is calculated from the voltage value detected by the voltage detection means and the transient response component related to the state quantity calculated by the state quantity calculation means and the internal resistance calculation means. The open circuit voltage of the power storage device according to claim 1 or 2, wherein an open circuit voltage of the power storage device is calculated by subtracting an internal resistance or an internal resistance component that is a voltage change due to a predetermined fixed value of the internal resistance. Voltage detection device. Current detection means for detecting a current value of a discharge current or a charging current of the power storage device; voltage detection means for detecting a voltage value of a terminal voltage of the power storage device;
When calculating a state quantity including a first state quantity relating to a transient response component of a response of the voltage value to a change in the current value and a second state quantity relating to an open circuit voltage of the power storage device, at least the As a first state quantity, a state quantity relating to a charge / discharge hysteresis voltage component of a delay characteristic having at least an upper limit saturation voltage value or a lower limit saturation voltage value with respect to the current value detected by the current detection means is defined as the current value. A state quantity calculating means for calculating based on
A value obtained by adding at least the transient response component related to the first state quantity calculated by the state quantity calculation means and the open circuit voltage related to the second state quantity, and detected by the voltage detection means. Feedback means for correcting at least the second state quantity among the first state quantity and the second state quantity so that a difference from the voltage value becomes zero;
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. The state quantity calculation means has a delay characteristic reaction having an equilibrium value proportional to the current value detected by the charge / discharge hysteresis voltage component and the current detection means as the first state quantity relating to the transient response component. The open circuit voltage detection device for a power storage device according to claim 4, wherein a state quantity related to the resistance component is calculated. An internal resistance calculating means for calculating an internal resistance of the power storage device based on at least the voltage value detected by the voltage detecting means;
The feedback means includes the transient response component related to the first state quantity calculated by the state quantity calculation means and the open circuit voltage related to the second state quantity and the internal resistance calculation means calculated by the internal resistance calculation means. The difference between the value obtained by adding the resistance or the internal resistance component, which is a voltage change caused by a predetermined internal resistance fixed value, and the voltage value detected by the voltage detecting means is zero. 6. The open circuit voltage detection device for a power storage device according to claim 4, wherein either one of the first state quantity and the second state quantity is corrected. Comprising a deterioration degree detecting means for detecting a deterioration degree of the power storage device;
7. The state quantity calculation unit changes at least the upper limit saturation voltage value or the lower limit saturation voltage value according to the deterioration level detected by the deterioration level detection unit. The open circuit voltage detection apparatus of the electrical storage apparatus as described in any one of these. An open circuit voltage detection device for a power storage device according to any one of claims 1 to 7,
A remaining capacity detecting device for a power storage device, comprising: remaining capacity calculating means for calculating a remaining capacity of the power storage device based on the open circuit voltage calculated by the open circuit voltage calculating 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,
9. The power storage device according to claim 8, wherein the remaining capacity of the power storage device is calculated according to the open circuit voltage calculated by the open circuit voltage calculation unit based on the data stored in the storage unit. Remaining capacity detector.

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