TW201440378A - Charging balancing system based on battery operating process and charging balancing method thereof - Google Patents

Abstract

A charging balancing system based on battery operating process and charging balancing method thereof are disclosed. By detecting a state of each cells as detecting parameters, and analyzing the detecting parameters for producing an operating process, and selecting at least one of the residual power estimation methods according to the operating process so as to calculate a residual power of each cells, and adjusting charging current and charging time for each cells according to the residual power. The mechanism is help to improve the efficiency of charging balancing.

Description

Equalization system based on battery operation history and equalization method thereof

The present invention relates to a battery charging system and a charging method thereof, and particularly to an equalizing system based on a battery operating history and a charging method thereof, which are selected according to a battery operating history. .

In recent years, with the popularization and vigorous development of mobile devices, it has become the norm to use the charge balancing technology (also known as equalization technology) in order to improve the service life of secondary batteries, and how to improve the charging efficiency has become a manufacturer. One of the problems to be solved.

In general, the equalization technology is divided into two parts, namely: active balance or passive balance. In order to effectively improve the charging efficiency, the residual power of the battery core is usually estimated to be used as a basis for controlling the charging balance. Therefore, the charging efficiency will be greatly affected by the residual power of the battery, if the battery cannot be correctly estimated. Residual power will not be able to effectively balance all the cells in the battery pack, resulting in over-charging of the battery cells due to poor charging efficiency, and even reducing the service life of the secondary battery.

In view of this, some manufacturers have proposed various methods for estimating the residual capacity of the battery, such as: open circuit voltage method, ampere hour method, Coulomb counting method, Kaman filtering method, and the like. There are even more methods for estimating residual power in order to improve the accuracy of battery residual power, such as the improved Coulomb counting method based on the Coulomb counting method. However, after the secondary battery has undergone different operations, the original estimation method may not be applicable to the battery. For example, after the battery is used for a long time, it is estimated that the battery residual capacity will be increased by the ampere-hour method. distortion. Therefore, whether it is the pre-improvement or improved residual power estimation method, It still cannot effectively solve the problem of poor charging efficiency caused by inaccurate estimation of residual power.

In summary, it can be seen that there has been a problem in the prior art that the charging efficiency is not good due to the inaccurate estimation of the residual power. Therefore, it is necessary to propose an improved technical means to solve this problem.

In view of the problems of the prior art, the present invention discloses an equalization system based on a battery operation history and a method of equalizing the same.

The charging system based on battery operation history disclosed in the present invention is applied to a battery pack having a plurality of battery cells, and comprises: a storage module, a sensing module, a micro processing unit and a equalization module. The storage module is configured to pre-store the residual power estimation method; the sensing module is configured to continuously sense and record the state of each battery cell to generate a set of sensing parameters; and the micro processing unit is configured to analyze the sensing group. The parameter is used to generate an operation history, and according to the operation history, at least one residual power estimation method is selected from the storage module to calculate the residual power of each battery core; the equalization module is used to calculate each battery core according to the calculation The residual power adjusts the charging current and charging time of each battery cell separately, so that the battery core maintains the charging balance.

The method for equalizing the battery operation history of the present invention is applied to a battery pack having a plurality of battery cells, the steps comprising: pre-storing a residual power estimation method; continuously sensing and recording the state of each battery core to generate a set of sensing parameters; analyzing the set of sensing parameters to generate an operating history, and selecting at least one residual power estimation method from the storage module according to the operating history to calculate a residual power of each battery cell; The residual power of each battery cell adjusts the charging current and charging time of each battery core separately, so that the battery core maintains the charging balance.

The system and method disclosed by the present invention are as above, and the difference from the prior art is that the present invention generates a sensing parameter by sensing the state of all the cells in the battery pack, and analyzing the sensing parameters to generate an operation history, and According to this operation history, at least one residual power estimation method is selected to calculate each battery. The residual power of the core, and then adjust the charging current and charging time of each battery cell according to the residual power.

Through the above technical means, the present invention can achieve the technical effect of improving the charging efficiency of the battery.

10‧‧‧Battery Pack

11‧‧‧ battery core

110‧‧‧Storage module

120‧‧‧Sensor module

130‧‧‧Microprocessing unit

140‧‧‧ Equalization Module

150‧‧‧weight module

Step 210‧‧‧ Pre-store multiple residual power estimation methods

Step 211‧‧‧ pre-store a weight value corresponding to each residual power estimation method for adjusting the weight value according to the weight value when calculating the residual power of each battery core

Step 220‧‧‧Continuously sense and record the status of each cell to generate a set of sensing parameters

Step 230‧ ‧ analyze the set of sensing parameters to generate an operation history, and select at least one of the residual power estimation methods according to the operation history to calculate the residual capacity of each battery core

Step 240‧‧‧ Adjust the charging current and charging time of each battery cell according to the calculated residual power of each battery cell, so that the battery core maintains the charging balance

1 is a system block diagram of an equalization system based on a battery operation history of the present invention.

2 is a flow chart of a method for equalizing a battery operation history according to the present invention.

The third figure is a schematic diagram of the component of the dynamic internal resistance of the battery generated by the vector residual power estimation method.

Fig. 4A and Fig. 4B are schematic diagrams showing the weighting process of the number of discharge Cs before and after the vector type residual electric quantity estimation method.

Figure 5 is a schematic diagram showing the percentage of battery residual capacity defined by the vector residual power estimation method.

Figure 6 is a schematic diagram of the percentage of residual battery power calculated by the vector residual power estimation method.

The embodiments of the present invention will be described in detail below with reference to the drawings and embodiments, so that the application of the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented.

Before describing the battery-based operating system-based equalization system and its equalization method disclosed in the present invention, the terminology defined by the present invention will be described. The operation history of the present invention refers to the use condition of the battery core, and includes: Charge and discharge times, depth of discharge, temperature changes, etc. Since different users use different methods, locations, times, etc., different battery packs have different operating procedures, and this operation history can be continuously detected and recorded. The state of the battery core is generated. In addition, the dynamic internal resistance index of the battery refers to a change in the internal resistance of the battery core (the internal resistance of the battery core exhibits different resistance values as the voltage changes during charging and discharging of the battery, such as: when the battery core is charged and discharged The internal resistance will increase with the change of the electric quantity. The calculated value, the value of the battery dynamic internal resistance index can be matched with the look-up table to obtain the corresponding capacitance, and then generate the dynamic internal resistance of the battery. The component will be described in detail later in conjunction with the schema. In practical implementation, the calculation formula of the dynamic internal resistance index of the battery may be: “(reference voltage value-closed loop voltage value)*α/(reference voltage value+β*closed loop voltage value)”, where “α” For the magnification parameter, since the reference voltage value minus the closed loop voltage value is usually a minimum value, multiply the magnification parameter to facilitate the calculation; "β" is a type of battery cell and the number of cells connected in series. The relevant parameters, in the calculation process will continue to bring the detected voltage value into the closed loop voltage value in this calculation formula to calculate the battery dynamic internal resistance index, in which the influence of the current factor can be eliminated.

The charging system based on the battery operation history and the method for equalizing the same according to the present invention will be further described below with reference to the drawings. Please refer to FIG. 1 and FIG. 1 is a system block of the equalization system based on the battery operation history of the present invention. The system is applied to a battery pack 10 having a plurality of battery cells 11. The system includes a storage module 110, a sensing module 120, a micro processing unit 130, and an equalization module 140. The storage module 110 is configured to pre-store various residual power estimation methods, and the residual power estimation method may include an ampere hour method, a coulomb counting method, an internal resistance method, and a voltage look-up table method. The method of estimating the residual capacity of the battery, or including the self-designed residual power estimation method, such as: vector residual power estimation method, will be described later in detail with the vector-based residual power estimation method. In addition, the storage module 110 also pre-stores various parameters and information required for using the residual power estimation method. For example, when the stored residual power estimation method is the “voltage look-up method”, voltage and power are simultaneously stored. Correspondence table. In practical implementation, the The storage module 110 can use a Read-Only Memory (ROM), an Electronically Erasable Programmable Read-Only Memory (EEPROM), or a Flash Memory (Flash ROM). achieve.

The sensing module 120 is configured to continuously sense and record the state of each of the battery cells 11 to generate a set of sensing parameters, and the set of sensing parameters may be selected from a closed loop voltage value of the battery core, a closed loop current value, and a discharge current. A group consisting of size, temperature, number of charge and discharge, and depth of discharge. For example, the voltage sensor can be used to sense the closed loop voltage value of the battery core; the current sense sensor is used to sense the closed loop current value and the discharge current; and the temperature sensor is used to sense the temperature of the battery core. And these sensed values are taken as sensing parameters. In addition, the number of times of charge and discharge, the depth of discharge, etc. of the battery cell 11 can also be obtained by continuous sensing. In practical implementation, the sensing parameters can be recorded in an electronic erasable rewritable read-only memory or flash. In memory.

The micro processing unit 130 is configured to analyze the set of sensing parameters to generate an operation history, and select at least one of the residual power estimation methods from the storage module 110 according to the operation history to calculate the residual power of each of the battery cells 11. For example, when the micro-processing unit 130 analyzes the temperature difference of the working environment of the battery cell 11 according to the temperature recorded in the sensing parameter, the analysis result is used as an operation history, and then the temperature compensation function is selected according to the operation history. The residual power estimation method is used to calculate the residual power; the micro processing unit 130 analyzes the charge and discharge state in the sensing parameter that the battery core 11 has been charged and discharged multiple times, and the number of times of charging and discharging is taken as an operation history, and then, the micro processing unit 130 Based on this operation, the ampere-hour method will no longer be used to calculate the residual capacity, because the ampere-hour method has lower accuracy when the number of charge and discharge times is higher. In other words, the micro processing unit 130 first determines the usage status of the battery core 11 as the operation history according to the sensing parameters generated by the sensing module 120, and then selects an appropriate residual power estimation method according to the operation history.

The equalization module 140 is configured to separately adjust the charging current of each of the battery cells 11 according to the residual power of each of the battery cells 11 calculated by the micro processing unit 130. And the charging time enables the battery cell 11 to maintain the charge balance. In practical implementation, the equalization module 140 can use a plurality of switching elements, such as a transistor, to form a switch array, so as to control the electrical connection mode of each battery cell 11 to achieve active balance or passive balance. Since the charging current and the charging time are adjusted according to the residual power, the details are not described herein.

In particular, the system may further include a weight module 150 for pre-storing weight values corresponding to each residual power estimation method, such as: ampere hour method corresponding weight value is "1", coulomb counting method corresponding weight value It is "10", the internal resistance method corresponds to a weight value of "5", and the voltage look-up table corresponds to a weight value of "2". The weight value can be set by the user, for example, according to the accuracy of the residual power estimation method, the corresponding weight value is set (that is, the higher the accuracy, the higher the value of the weight value). In this way, when the micro processing unit 130 selects a plurality of residual power estimation methods at the same time, the weight value can be adjusted by the micro processing unit 130 when calculating the residual power of each of the battery cells 11. For example, it is assumed that the residual power "5Ah", "6Ah", "8Ah", and "10Ah" are respectively calculated for each of the battery cells 11 by four residual power estimation methods, and the weight values are respectively "10", When "3", "2" and "1", the residual power of the micro processing unit 130 adjusted according to the weight value will be "6Ah", and the calculation formula can be: "(5*10+6*3+ 8*2+10*1)/(10+3+2+1)". In particular, although the present invention uses the above calculation formula to explain the use of the weight value, it is not limited thereto, and any manner of adjusting the calculated residual power by the weight value does not deviate from the application scope of the present invention.

Next, please refer to "Fig. 2", "Fig. 2" is a flowchart of a method for equalizing the battery operation history according to the present invention, the steps of which include: pre-storing a plurality of residual power estimation methods (step 210); Sensing and recording the state of each battery cell 11 to generate a set of sensing parameters (step 220); analyzing the set of sensing parameters to generate an operating history, and selecting at least one of the residual power estimation methods according to the operating history First, the residual power of each of the battery cells 11 is calculated (step 230); the charging current and the charging time of each of the battery cells 11 are respectively adjusted according to the calculated residual power of each of the battery cells 11, so that the battery cells are 11-dimensionally The charge balance is maintained (step 240). Through the above steps, the state of all the battery cells 11 in the battery pack 10 can be sensed to generate sensing parameters, and the sensing parameters are analyzed to generate an operation history, and at least one residual power estimation method is selected according to the operation history. The residual electric power of each of the battery cells 11 is calculated, and the charging current and the charging time of each of the battery cells 11 are adjusted according to the residual electric power.

In actual implementation, before step 220, the weight value corresponding to each residual power estimation method may be pre-stored for adjusting the residual power of each battery cell 11 according to the weight value (step 211). . Since the manner of adjusting the calculated residual power according to the weight value has been mentioned in the foregoing description, it will not be repeated here.

The following is a description of the following examples in conjunction with "3" to "6". Please refer to "3" and "3" to generate the battery dynamic internal resistance for the vector residual power estimation method. Schematic diagram of the components. As mentioned above, in addition to storing the conventional residual power estimation method, the storage module 110 can also store the user-designed residual power estimation method, such as a vector residual power estimation method. Taking the vector residual power estimation method as an example, the battery dynamic internal resistance index of each battery cell 11 is calculated according to the sensing parameters obtained by the sensing module 120 continuously sensing each of the battery cells 11 , and The battery dynamic internal resistance index finds a preset power change lookup table for generating a component of the battery dynamic internal resistance power. Then, according to the sensing parameter, the component of the battery coulomb counting power is generated by the Coulomb counting method, and then the battery dynamic is generated. The component of the internal resistance power and the component of the battery coulomb counting power are added and combined to calculate the residual power of each of the battery cells 11. At this point, the vector residual power estimation method is completed. Like other residual power estimation methods, various parameters and information required for this vector residual power estimation method, such as: power change lookup table, reference voltage value, magnification parameter, battery core serial number, etc. The content is also stored in advance in the storage module 110.

In actual implementation, when the micro-processing unit 130 selects the vector-based residual power estimation method according to the operation history, the dynamic internal resistance index of the battery is calculated through the calculation formula of the battery dynamic internal resistance index mentioned in the self-defined noun. And use the preset power change lookup table to find the corresponding battery dynamics The component of the internal resistance of the internal dynamic resistance of the battery. The power change lookup table refers to a look-up table of different discharge current magnitudes corresponding to changes in capacitance of the battery, for example, a discharge current of 0.5C, 1C, 1.5C, and 2C until a rated maximum discharge current and capacity of the battery, the discharge The current size interval can be subdivided into 0.25C, 0.5C, 0.75C, etc. according to the actual experimental data until the rated maximum discharge C number or the battery pack discharge current constructed by the difference series.

For the convenience of explanation, the data in the power change lookup table is presented in the line mode indicated by "Fig. 3" (ie, the dynamic internal resistance index of the battery is in the time interval from full charge to depletion at different discharge currents). Corresponding relationship with capacitance), where the oblique line part is the capacitance and the curve part is the corresponding battery dynamic internal resistance index. In this figure, from left to right are the discharge currents of 2C, 1.5C, 1C and 0.5C respectively. The correspondence between the dynamic internal resistance index of the battery and the capacitance. As mentioned above, the battery dynamic internal resistance index can be obtained by calculating the dynamic internal resistance index of the above battery. In practical implementation, taking 0.5C discharge as an example, assuming that the calculated dynamic internal resistance index of the battery is the point a shown in “Fig. 3”, then the point a and the measured discharge current (ie 0.5C). The discharges correspond to each other, and according to the power change lookup table stored in the storage module 110, the correspondence between the dynamic internal resistance index b and the capacitance of the battery when the discharge current is 0.5 C is found, and the corresponding discharge capacity found is set to c. After the value, the current used capacity is calculated as the percentage d of the original total capacity through the total capacity of the c/0.5C discharge, and the percentage is the component of the vertical direction (that is, the component of the dynamic internal resistance of the battery). At this point, the component that generates the dynamic internal resistance of the battery through the power change lookup table is completed.

In particular, although only the correspondence between the dynamic resistance index and the capacitance of the four groups of batteries is recorded in the power change lookup table shown in "Fig. 3", the present invention is not limited thereto. In practice, the power change lookup table can also store more groups of different discharge currents, such as: 1.3C, 1.4C, etc., the correspondence between the battery dynamic internal resistance index and the capacitance. In addition, in actual implementation, the battery dynamic internal resistance index can be controlled within the range of “0 to 100” by setting the “α” and “β” parameters, so as to be the third The vertical axes of the figures correspond to each other.

For example, "4A" and "4B", "4A" and "4B" are schematic diagrams of weighting the number of discharge Cs before and after the vector residual power estimation method. As mentioned above, the storage module 110 pre-stores a power change lookup table, and the power change lookup table records the correspondence between the dynamic internal resistance index and the capacitance of the battery with different discharge C numbers. However, when the power change is found in the lookup table, When there is no corresponding correspondence between the number of discharge C numbers, the weighting process may be performed according to the number of discharge Cs in the power change lookup table. For example, it is assumed that the calculated dynamic internal resistance index of the battery is “65” (eg: "point e shown in Figure 4A", when the detected number of discharge C is 1.2C, the corresponding relationship between the dynamic internal resistance index and the capacitance of 1.2C does not exist in the power change lookup table. Will calculate the distance between 1.2C and the number of C before and after discharge, that is, the battery dynamic internal resistance index "65" corresponds to the f point of 1C and the f' point corresponding to 1.5C, and find the corresponding discharge capacity g point and g' point.

Next, as shown in "Fig. 4B", the distance between the 1.2C discharge capacity i point and the 1C discharge capacity g point is 0.2; the distance between the 1.2C discharge capacity i point and the 1.5C discharge capacity g' point is 0.3, both of which are The ratio is 2:3, so the percentage of capacity is: "(3* battery dynamic internal resistance index "65" and the capacity found when 1C discharge + 2 * battery dynamic internal resistance index "65" and 1.5C discharge The capacity) / (2+3)", that is, the battery dynamic internal resistance index "65" and the corresponding capacity percentage h point when discharging 1.2C, this percentage is the vertical component (ie, the battery dynamic internal resistance Component). Therefore, when the corresponding relationship between the magnitudes of the discharge C numbers does not exist in the power change lookup table by the above method, the corresponding component of the dynamic internal resistance of the battery is derived by weighting.

Next, please refer to "Figure 5", "Figure 5" is a schematic diagram of the percentage of battery residual capacity defined by the vector residual power estimation method. Among them, the horizontal axis is the percentage of the battery corresponding to the battery coulomb count, and the calculation method can be calculated by: " Q ₀ " is the initial charge of " t ₀ " before discharge calculated by the electricity change look-up table. When the current " i " is negative during discharge, the " Q ( t )" calculated by the time " t " Dividing by the full charge capacity " Q _Full " will result in a capacity percentage "j", then the "j" point can be used as a component in the horizontal direction (ie, the component of the battery coulomb count power). Since the Coulomb counting method and the component conversion operation are conventional techniques, they will not be described again here. As for the vertical axis, it is the percentage of the battery corresponding to the dynamic internal resistance index. In Figure 5, find the k-point coordinate (γ, 100) according to the relationship between the rated maximum discharge current and the capacitance of the battery. (Because the Coulomb counting method will have an error between the actual heat and the energy consumed by the battery, the parallel direction cannot actually reach the "100" position, and the battery dynamic internal resistance index uses the voltage difference, so the reference voltage will be reached. Subtract the position of the lowest cut-off voltage, so the vertical direction can reach the "100" position), and use the k-point coordinate to project the straight line L of the trajectory to " "in" Orthodox For example, the formula is as follows:

And get the q point coordinates (λ, μ). The q point (λ, μ) and the origin o (0, 0) formed by " "The segment is divided into n equal parts (n is a positive integer, which can be segmented according to the actual needs and the accuracy of the requirements). Take "figure 5" as an example. n is the value "100", that is, "100". That is, the residual estimate is 100%~0%, and the accuracy error is 1%. Each aliquot represents the value represented by the battery residual capacity.

Please refer to "Figure 6". "Figure 6" is a schematic diagram of calculating the percentage of battery residual capacity by the vector residual power estimation method. Assume that the percentage of electricity calculated by the battery dynamic internal resistance index is obtained at time t" "(ie the component of the battery's dynamic internal resistance) and the percentage of electricity calculated using the Coulomb counting method" "(ie the component of the battery coulomb counting power), based on the vector determined by these two components" "Projecting the line k line of the trajectory can be obtained" ", and then with the battery can display the maximum capacity" "Point comparison, the calculation of the percentage of battery residual capacity is as follows:

Through the above calculation formula, the percentage of the amount of residual electric power at time t can be obtained. In this way, unlike the conventional method of calculating only one of the axes, the vertical axis (vertical direction) and the horizontal axis (horizontal direction) are corrected to obtain the residual power of each of the battery cells 11 that is actually available. In other words, the component of the battery's dynamic internal resistance is " "And the battery coulomb counts the amount of electricity" "Additional synthesis is performed to calculate the residual power actually available to the battery cell 11, and the calculation formula can be expressed as:" Since the calculation method of the vector is a conventional technique, it will not be described here. After the vector residual power estimation method is used to calculate the actual available residual power, the equalization module 140 can be used according to each. The residual power actually used by the battery cell 11 controls the charge balance.

In summary, it can be seen that the difference between the present invention and the prior art is that by sensing the state of all the cells in the battery pack to generate sensing parameters, and analyzing the sensing parameters to generate an operation history, and selecting according to the operation history. At least one residual power estimation method is used to calculate the residual power of each battery cell, and then adjust the charging current and charging time of each battery core according to the residual power, and the technical problem can be solved by the prior art, thereby achieving The technical effect of improving the charging efficiency of the battery.

While the present invention has been described above in the foregoing embodiments, it is not intended to limit the invention, and the invention may be modified and modified without departing from the spirit and scope of the invention. The scope of patent protection shall be subject to the definition of the scope of the patent application attached to this specification.

10‧‧‧Battery Pack

11‧‧‧ battery core

110‧‧‧Storage module

120‧‧‧Sensor module

130‧‧‧Microprocessing unit

140‧‧‧ Equalization Module

150‧‧‧weight module

Claims (11)

An equalization system based on a battery operation history is applied to a battery pack having a plurality of battery cells, the system comprising: a storage module for pre-storing a plurality of residual power estimation methods; and a sensing module for Continuously sensing and recording the state of each battery cell to generate a set of sensing parameters; a micro processing unit for analyzing the set of sensing parameters to generate an operation history, and selecting from the storage module according to the operation history At least one of the residual power estimation methods calculates a residual power of each battery core; and an equalization module for separately adjusting the charging of each battery core according to the calculated residual power of each battery core The current and charging time maintain the battery core in charge balance. According to the battery charging process-based equalization system of claim 1, wherein the system further comprises a weight module for pre-storing a weight value corresponding to each residual power estimation method, the micro processing unit is calculating When the residual capacity of each battery cell is adjusted, it is adjusted according to the weight value. According to the battery charging operation of the equalizing system according to the first application of the patent scope, the residual power estimation method includes an ampere hour method, a coulomb counting method, an internal resistance method, a voltage meter reading method, and a vector residual power estimation method. . According to the charging system of the battery operating history according to Item 3 of the patent application scope, the vector residual power estimation method continuously calculates a dynamic internal resistance index of the battery according to the sensing parameters of the group to find a preset power change. Finding a table and generating a component of the dynamic internal resistance of the battery, and generating a component of the battery coulomb count by the Coulomb counting method according to the set of sensing parameters, and then The component of the dynamic internal resistance of the battery and the component of the battery coulomb count are added to calculate the residual capacity of each cell. According to the battery-operated history-based equalization system of claim 4, wherein the power change look-up table includes at least one discharge current magnitude corresponding to the battery dynamic internal resistance index and the capacitance. An equalization method based on battery operation history is applied to a battery pack having a plurality of battery cells, the steps comprising: pre-storing a plurality of residual power estimation methods; continuously sensing and recording the state of each battery cell to generate a Group sensing parameters; analyzing the set of sensing parameters to generate an operation history, and selecting at least one of the residual power estimation methods according to the operating history to calculate a residual power of each battery cell; and calculating according to The residual power of each battery cell adjusts the charging current and charging time of each battery core separately, so that the battery core maintains the charging balance. The method for equalizing a battery operation history according to claim 6 of the patent application scope, wherein the method further comprises pre-storing a weight value corresponding to each residual power estimation method for calculating the residual power of each battery core. The step of adjusting according to the weight value. According to the charging method of the battery operating history according to Item 6 of the patent application scope, the sensing parameter is selected from the closed loop voltage value, the closed loop current value, the discharge current magnitude, the temperature, the number of charge and discharge times, and the discharge of the battery core. A group of depths. According to the charging method of the battery operation history according to Item 6 of the patent application scope, the residual power estimation method includes an ampere hour method, a Coulomb counting method, an internal resistance method, a voltage look-up table method, and a vector residual power estimation method. . According to the charging method of the battery operating history according to claim 9 of the patent application scope, the vector residual power estimation method continuously calculates a dynamic internal resistance index of the battery according to the sensing parameter of the group to find a preset change of the electric quantity. Locating the table and generating a component of the dynamic internal resistance of the battery, and generating a component of the battery coulomb counting power by the Coulomb counting method according to the set of sensing parameters, and then calculating the component of the dynamic internal resistance of the battery and the battery coulomb counting power The components are additively combined to calculate the residual capacity of each cell. According to the charging method of the battery operating history according to claim 10, wherein the power change lookup table includes a correspondence between the dynamic internal resistance index of the battery and the capacitance of at least one discharge current.