WO2017022857A1 - 電池温度推定装置 - Google Patents

電池温度推定装置 Download PDF

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Publication number
WO2017022857A1
WO2017022857A1 PCT/JP2016/073157 JP2016073157W WO2017022857A1 WO 2017022857 A1 WO2017022857 A1 WO 2017022857A1 JP 2016073157 W JP2016073157 W JP 2016073157W WO 2017022857 A1 WO2017022857 A1 WO 2017022857A1
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Prior art keywords
temperature
battery
unit
observer
estimation
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PCT/JP2016/073157
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English (en)
French (fr)
Japanese (ja)
Inventor
裕介 渡邉
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株式会社デンソー
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Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Priority to CN201680046292.XA priority Critical patent/CN107925136B/zh
Priority to DE112016003579.9T priority patent/DE112016003579B4/de
Publication of WO2017022857A1 publication Critical patent/WO2017022857A1/ja

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
    • H01M10/48—Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte
    • H01M10/486—Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte for measuring temperature
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

Definitions

  • the present disclosure relates to a battery temperature estimation device.
  • Patent Document 1 discloses a battery temperature estimation device.
  • This battery temperature estimation device sequentially identifies resistance component values and the like in a battery equivalent circuit model using a Kalman filter, and sequentially estimates the internal temperature of the battery based on the identified resistance component values and the like. .
  • Part of the battery temperature estimation device includes an observer that sequentially estimates the battery temperature based on the equation of state derived from the thermal network model.
  • the thermal network model includes, as input variables, the current value flowing through the battery and the temperature at a predetermined position of the transmission path through which the heat generated in the battery is transmitted, and the battery temperature as a state variable. It models heat transfer.
  • the thermal network model includes the internal resistance of the battery, and this internal resistance has a characteristic that its resistance value increases as the temperature of the battery decreases.
  • the observer has a gain (observer gain) designed in advance to estimate the battery temperature.
  • This observer gain is a predetermined time or less until the estimated battery temperature converges to the true battery temperature in the fluctuation range of the internal resistance value corresponding to the fluctuation range of the battery temperature assumed at the time of design, And designed to satisfy the guarantee of observer stability.
  • the observer gain is designed to satisfy the robustness required for the observer, including the reduction of the convergence time and ensuring the stability of the observer, in the battery temperature fluctuation range.
  • the fluctuation range of the battery temperature assumed at the time of designing the observer gain is wide, the fluctuation range of the internal resistance value of the battery also becomes wide. If the variation range of the internal resistance value is wide, the designed observer gain may not satisfy the robustness required for the observer in the entire variation range of the battery temperature. For this reason, for example, it is considered to design the observer gain so as to satisfy the robustness required for the observer in a part of the battery temperature fluctuation range.
  • the battery temperature deviates from the partial temperature range described above, the time until the estimated battery temperature converges to the true battery temperature cannot be reduced to a predetermined time or the stability of the observer There is a concern that it cannot be guaranteed. In this case, there is a concern that the battery temperature estimation accuracy by the observer is reduced.
  • This disclosure mainly aims to provide a battery temperature estimation device that can improve the estimation accuracy of the battery temperature even when the variation range of the battery temperature is wide.
  • the first aspect of the present disclosure includes a battery (21), a current detection unit (53) that detects a current flowing through the battery, and a heat transfer path (K1a, Kb, Kp) is applied to a battery unit (10) provided with a temperature detector (50 to 52) for detecting the ambient temperature, and the current value flowing through the battery and the temperature at a predetermined position of the heat transfer path
  • a temperature detector 50 to 52 for detecting the ambient temperature, and the current value flowing through the battery and the temperature at a predetermined position of the heat transfer path
  • Each of which is an input variable, the temperature of the battery as a state variable, and the heat resistance modeled on the heat transfer path including the internal resistance of the battery having a resistance value that increases as the battery temperature decreases.
  • the variation range that the temperature detection value of the temperature detection unit can take is divided and a temperature range including the temperature detection value is selected from a plurality of set temperature ranges, and the temperature range corresponding to the boundary of the selected temperature range is selected.
  • a battery temperature estimation device comprising: a unit (61c).
  • the observer sequentially estimates the battery temperature in the state equation derived from the thermal network model based on the current detection value of the current detection unit and the temperature detection value of the temperature detection unit.
  • the resistance value of the internal resistance of the battery included in the thermal network model is increased as the temperature of the battery is lower. For this reason, if the fluctuation range that the battery temperature can take is wide, the fluctuation range of the internal resistance value becomes wide, and the robustness required for the observer may not be satisfied in all the fluctuation ranges that the battery temperature can take.
  • the fluctuation range that the temperature detection value can take is divided and set from a plurality of temperature ranges set, Select the temperature range that includes the temperature detection value. After selecting the temperature range, the upper and lower limit values of the internal resistance value corresponding to the boundary of the selected temperature range are set, and the observer gain used by the observer is calculated based on the set upper and lower limit values.
  • the observer in each of a plurality of temperature ranges in which a variation range that the temperature detection value can take is divided and set to a plurality of temperature ranges, the observer can detect the variation in the internal resistance value corresponding to the temperature range.
  • the observer gain can be calculated so as to satisfy the required robustness. For this reason, even when the variation range that the battery temperature can take is wide, the estimation accuracy of the battery temperature can be increased, such as avoiding the divergence of the estimated value of the battery temperature.
  • a convergence rate for converging the battery temperature estimated by the observer to the true value is individually set in each of the temperature ranges set by dividing the fluctuation range. It is characterized by being.
  • the observer gain with the convergence rate optimized so as to shorten the time for the estimated battery temperature to converge to its true value in each temperature range can be calculated. it can. For this reason, even if there is an estimation error between the initial estimated value of the battery temperature and its true value, the estimated error can be quickly eliminated.
  • the internal resistance value is set to be increased by increasing the amount of increase per unit temperature decrease amount of the battery as the temperature of the battery is lower.
  • Each of the temperature ranges is set to be narrower as the temperature detection value is lower.
  • the increase in the internal resistance value per unit temperature decrease amount of the battery is increased as the battery temperature is lower. Therefore, for example, when the fluctuation range that the temperature detection value can take is divided into a plurality of temperature ranges having the same temperature range, the lower the temperature detection value, the higher the internal resistance value corresponding to the boundary of the temperature range. The difference between the lower limit values increases. As a result, there is a concern that the observer gain cannot be calculated so as to satisfy the robustness required for the observer in the temperature range where the temperature detection value is low.
  • each of the temperature ranges set by dividing the variation range that can be taken by the temperature detection value of the temperature detection unit is set narrower as the temperature detection value is lower. For this reason, it can suppress that the difference of the upper and lower limit of an internal resistance value corresponding to the boundary of the temperature range becomes large, so that a temperature range with a low temperature detection value. Accordingly, the observer gain can be calculated so as to satisfy the robustness required for the observer in each temperature range.
  • the gain calculation unit stabilizes the closed loop of the observer with respect to fluctuations in the internal resistance value in each of the temperature ranges set by dividing the fluctuation range. An observer gain is calculated.
  • the closed loop stability of the observer can be ensured in each temperature range even when the internal resistance value varies according to the temperature detection value.
  • the estimation accuracy of the battery temperature can be further increased, for example, the divergence of the estimated value of the battery temperature can be avoided.
  • the gain calculation unit calculates the observer gain that stabilizes the closed loop of the observer with respect to process noise and observation noise mixed in a signal in the thermal circuit network model to be controlled. It is characterized by doing.
  • the stability of the closed loop including the observer can be ensured even when process noise and observation noise are mixed in the signal. Thereby, the estimation precision of battery temperature can be raised more.
  • the temperature of the battery is estimated by a method that is smaller than the processing load required for the temperature estimation of the battery by the observer and that is different from the battery temperature estimation method by the observer.
  • the temperature estimation accuracy by the observer is higher than the temperature estimation accuracy by the estimation unit, and first and second temperature ranges adjacent to each other related to the reliability of the battery are preset.
  • the second temperature range is a temperature range where the reliability of the battery is lower than the first temperature range, and a temperature range including the temperature estimated by the estimation unit is the first temperature range.
  • the temperature estimation by the estimation unit is continued, and the temperature range including the temperature estimated by the estimation unit changes from the first temperature range to the second temperature range.
  • it comprises a switching unit for switching the temperature estimation by the observer.
  • the temperature estimation accuracy by the observer is higher than the temperature estimation accuracy by the estimation unit, and the processing load required for the temperature estimation by the estimation unit is a process required for the temperature estimation by the observer. Less than the load. Therefore, in the sixth aspect of the present disclosure, the temperature estimation by the estimation unit is continued when the temperature range including the battery temperature estimated by the estimation unit is the first temperature range. For this reason, the processing load of the battery temperature estimation device can be reduced until the temperature range including the battery temperature estimated by the estimation unit changes from the first temperature range to the second temperature range.
  • the temperature estimation by the estimation unit is performed by the observer. Switch to temperature estimation. For this reason, in the situation where the estimated temperature of the battery is included in the second temperature range, the temperature estimation accuracy can be increased. Thereby, it can avoid that a battery is used in an overheated state or used in a low temperature state.
  • the temperature detection unit includes a short-range temperature detection unit (50, 51) provided on a position where the path length of the heat transfer from the battery is small on the heat transfer path.
  • a long-distance temperature detector (52) provided on the heat transfer path at a position where the path length of heat transfer from the battery is large, and the heat transfer path includes the battery and the short distance
  • a first heat transfer resistor (R1hc, R2hc, Rb) exists in the first path portion (K1a, K2a, Kb) between the temperature detection units, and is between the short-distance temperature detection unit and the long-distance temperature detection unit.
  • the second heat transfer resistance (Rp) exists in the second path part (Kp), and the estimation part is a difference between the temperature detection values of the short-distance temperature detection part and the long-distance temperature detection part.
  • the short distance A temperature difference calculation unit that calculates an estimated temperature difference that is a temperature difference between the installation position of the temperature detection unit and the battery, and the estimated temperature difference calculated by the temperature difference calculation unit as a temperature detection value of the short-range temperature detection unit
  • a battery temperature calculation unit for calculating the temperature of the battery by adding.
  • the short-distance temperature detection unit and the long-distance temperature detection unit are provided on the heat transfer path through which the heat generated in the battery is transmitted. It is assumed that the first heat transfer resistance exists between the distance temperature detection units and the second heat transfer resistance exists between the short range temperature detection unit and the long range temperature detection unit. Under such a configuration, if the difference between the temperature detection values of the short-distance temperature detection unit and the long-distance temperature detection unit is obtained, the heat transmitted through the second path unit based on the temperature difference and the second heat transfer resistance. The amount is determined.
  • the amount of heat transfer in the second path portion and the amount of heat transfer in the first path portion are associated in advance, the amount of heat transfer in the first path portion is also determined, whereby the amount of heat transfer in the first path portion and the first amount of heat transfer are determined. Based on the heat transfer resistance, the temperature difference between the battery and the short-distance temperature detection unit can be obtained.
  • the seventh aspect of the present disclosure based on the detected temperature difference that is the difference between the temperature detection values of the short-distance temperature detection unit and the long-distance temperature detection unit, and the first heat transfer resistance and the second heat transfer resistance. Then, an estimated temperature difference that is a temperature difference between the short-distance temperature detection unit and the battery is calculated. And the temperature of a battery is computable by adding the computed estimated temperature difference to the temperature detection value of a short distance temperature detection part.
  • Sectional drawing of the battery unit which concerns on 1st Embodiment of this indication The top view of the control board shown in FIG. The figure which shows the thermal circuit network model for designing the observer in connection with 1st Embodiment. The figure which shows the structure of the observer in connection with 1st Embodiment. The figure which shows the temperature characteristic of the internal resistance value of the battery cell shown in FIG. The figure which shows the thermal network model which concerns on 2nd Embodiment of this indication.
  • the flowchart which shows the procedure of the switching process in connection with 2nd Embodiment.
  • the direction perpendicular to the horizontal plane is defined as the vertical direction of the battery unit 10 with reference to FIG. 1 in which the battery unit 10 is installed on a certain plane (for example, a horizontal plane).
  • the battery unit 10 includes an assembled battery 20, a control board 30 that controls charging / discharging of the assembled battery 20, and a housing case 40 that houses the assembled battery 20 and the control board 30.
  • the housing case 40 includes a bottom plate portion 41 that is fixed to a place where the battery unit 10 is mounted, a peripheral wall portion 42, and a cover 43.
  • the bottom plate portion 41 is formed, for example, in a rectangular shape and is made of a metal material such as aluminum.
  • the peripheral wall portion 42 has a rectangular frame shape that matches the shape of the bottom plate portion 41, and has a first end portion and a second end portion in the longitudinal direction thereof. The first end of the peripheral wall portion 42 is erected on the peripheral edge portion along the peripheral edge portion of the bottom plate portion 41.
  • the cover 43 is attached to the second end portion of the peripheral wall portion 42 and covers the storage space formed by the bottom plate portion 41 and the peripheral wall portion 42.
  • the bottom plate portion 41 has a placement portion 44 on which the assembled battery 20 is placed.
  • the assembled battery 20 placed on the placing portion 44 and the control board 30 are arranged to face each other vertically so that the assembled battery 20 is on the bottom and the control board 30 is on the top.
  • the assembled battery 20 and the control board 30 are disposed so as to be surrounded by the peripheral wall portion 42.
  • the cover 43 is formed in a rectangular shape like the bottom plate portion 41 and is formed of a metal material such as aluminum.
  • the cover 43 has substantially the same size as the bottom plate portion 41 in plan view.
  • the assembled battery 20 has a plurality of battery cells 21 as single cells.
  • Each battery cell 21 is a laminated battery having a plate shape, and the battery cells 21 are joined in a state where they are stacked one above the other.
  • a double-sided adhesive type adhesive tape is interposed between the battery cells 21, and the battery cells 21 are integrated by adhesion of the adhesive tape.
  • a battery constituted by four battery cells 21 is used as the assembled battery 20.
  • Each of these battery cells 21 is a first battery cell 21a, a second battery cell 21b, a third battery cell 21c, and a fourth battery cell 21d in order from the upper one to the lower one.
  • Each battery cell 21 has a square plate-shaped battery body 22 and a pair of plate-like electrode tabs 23 and 24 as electrode terminals connected to the battery body 22.
  • the battery body 22 is accommodated in a flat container 25 made of a laminate film, and the peripheral edge of the flat container 25 is sealed to be sealed in the container 25.
  • the battery main body 22 of each battery cell 21 is provided in a state of being stacked one above the other.
  • the pair of electrode tabs 23 and 24 are respectively provided on the two opposite sides of the battery body 22. Each of the electrode tabs 23 and 24 is drawn out from the battery body 22 toward the opposite side, and more specifically, is drawn out in a direction perpendicular to the stacking direction of the battery cells 21.
  • One of the electrode tabs 23, 24 is a positive electrode tab 23, and the other is a negative electrode tab 24.
  • the positive electrode tab 23 is made of aluminum
  • the negative electrode tab 24 is made of copper.
  • the direction orthogonal to the stacking direction of the battery cells 21 is also referred to as a tab pull-out direction.
  • the battery cells 21 stacked one above the other are arranged in such a manner that the positive electrode tabs 23 and the negative electrode tabs 24 are alternated between the battery cells 21 adjacent in the vertical direction.
  • the positive electrode tab 23 of one battery cell 21 and the negative electrode tab 24 of the other battery cell 21 face each other vertically and overlap each other, and are joined to each other at the overlapping portion. ing. Thereby, each battery cell 21 is connected in series.
  • the positive electrode tab 23A is connected to the negative electrode tab 24 of the other battery cell 21. Absent. Further, in the fourth battery cell 21 d arranged at the lowermost portion, the negative electrode tab 24 ⁇ / b> A is not connected to the positive electrode tab 23 of the other battery cell 21.
  • the positive electrode tab 23 ⁇ / b> A and the negative electrode tab 24 ⁇ / b> A constitute the positive electrode terminal and the negative electrode terminal of the series connection body of each battery cell 21, respectively, and the tab drawing directions are the same.
  • the negative electrode tab 24 of the first battery cell 21 a and the positive electrode tab 23 of the second battery cell 21 b are electrically connected to the control board 30 via the first bus bar 31.
  • the negative electrode tab 24 of the third battery cell 21 c and the positive electrode tab 23 of the fourth battery cell 21 d are electrically connected to the control board 30 via the second bus bar 32.
  • the positive electrode tab 23 ⁇ / b> A of the first battery cell 21 a is electrically connected to the control board 30 via the third bus bar 33.
  • the negative electrode tab 24 of the second battery cell 21 b and the positive electrode tab 23 of the third battery cell 21 c are electrically connected to the control board 30 via the fourth bus bar 34.
  • the negative electrode tab 24A of the fourth battery cell 21d is electrically connected to the control board 30 via the fifth bus bar 35.
  • Each of the bus bars 31 to 35 is provided so as to extend upward and downward.
  • the control board 30 can detect the terminal voltage of the corresponding battery cell via the corresponding pair of bus bars connected to the battery cells 21a to 21d in the bus bars 31 to 35. .
  • the control board 30 is formed of a rectangular board (rectangular board) printed board having a circuit pattern formed on at least one main surface (board surface). As described above, the control board 30 is arranged above the assembled battery 20, and the board long side direction is arranged in the tab drawing direction of the electrode tabs 23 and 24.
  • control unit 60 including a CPU, a switching element 36, and the like that execute processing of charge / discharge control of the assembled battery 20 and the like.
  • control unit 60 is shown separated from the control board 30.
  • the control board 30 is formed with a through hole 30a penetrating in the thickness direction at a substantially central portion thereof.
  • the switching element 36 is disposed on one side of both sides of the through hole 30a in the direction along the short side of the substrate on the substrate surface of the control substrate 30, and is not disposed on the other side. In this case, the switching element 36 does not exist on the other side of the through hole 30 a on the substrate surface of the control substrate 30. Further, from the viewpoint that the switching element 36 is a heat generating element that generates heat, the region can also be referred to as an unheated region 30b in which no heat generating element exists.
  • a group of first and second bus bars 31 and 32 and a group of third to fifth bus bars 33 to 35 are connected to the control board 30 at positions opposite to each other in the board longitudinal direction.
  • Each of these bus bars 31 to 35 is connected to the control board 30 in a state of being inserted into a hole formed in the control board 30.
  • each of the bus bars 31 to 35 is connected to the non-heated area 30 b in the control board 30.
  • a first temperature sensor 50 that detects a temperature of a connection part between the control board 30 and the first bus bar 31, and a temperature of a connection part between the control board 30 and the second bus bar 32 are detected.
  • the second temperature sensor 51 is mounted.
  • the first temperature sensor 50 is disposed in the vicinity of the first bus bar 31 on the substrate surface of the control board 30, and the second temperature sensor 51 is disposed in the vicinity of the second bus bar 32 on the substrate surface of the control board 30.
  • the thermistors are used as the first and second temperature sensors 50 and 51.
  • the first and second temperature sensors 50 and 51 correspond to a short-range temperature detection unit.
  • the arrangement of the first and second temperature sensors 50 and 51 will be described in detail.
  • the first and second bus bars 31 and 32 are arranged side by side in the substrate longitudinal direction on the control board 30, and the first and second bus bars 31 are arranged. , 32 are arranged along the direction in which the temperature sensors 50, 51 are arranged.
  • the first temperature sensor 50 is disposed adjacent to the first bus bar 31 in the substrate short direction
  • the second temperature sensor 51 is adjacent to the second bus bar 32 in the substrate short direction.
  • each of the temperature sensors 50 and 51 is disposed on the same side of the pair of short sides of the substrate, on both sides of each of the bus bars 31 and 32 in the short side of the substrate.
  • a third temperature sensor 52 that detects the temperature of the control board 30 is mounted on the board surface of the control board 30 in addition to the first and second temperature sensors 50 and 51.
  • a thermistor is used as the third temperature sensor 52.
  • the third temperature sensor 52 is different from the first and second temperature sensors 50 and 51 in that the first and second temperature sensors with respect to the first and second bus bars 31 and 32 on the board surface of the control board 30. It is arranged at a position farther from 50 and 51. Therefore, the third temperature sensor 52 detects the temperature of the control board 30 in a state where the influence from the temperature from the first and second bus bars 31 and 32 is less than that of the first and second temperature sensors 50 and 51. It has become a thing.
  • the third temperature sensor 52 corresponds to a long-distance temperature detection unit.
  • the third temperature sensor 52 is disposed on the same side as the first and second temperature sensors 50 and 51 with respect to the first and second bus bars 31 and 32, and the third temperature sensor 52 is first when viewed in the short direction of the substrate.
  • the first and second bus bars 31 and 32 are located on the opposite side of the first and second temperature sensors 50 and 51.
  • the third temperature sensor 52 is disposed in the non-heated region 30 b on the substrate surface of the control substrate 30. Therefore, the third temperature sensor 52 is less affected by heat from the switching element 36.
  • Each of the temperature sensors 50 to 52 is connected to the control unit 60.
  • the temperature detection values are input from the temperature sensors 50 to 52 to the control unit 60, respectively.
  • a current sensor 53 that detects a charging current input to each battery cell 21 and a discharging current output from each battery cell 21 is mounted.
  • the control unit 60 receives detection values of the charging current input to each battery cell 21 and the discharge current output from each battery cell 21 from the current sensor 53. Note that the polarity of the charge / discharge current is negative in the case of a discharge current discharged from each battery cell 21, and is positive in the case of a charge current charged to each battery cell 21.
  • the controller 60 estimates the temperature of the battery body 22 of each battery cell 21 (hereinafter referred to as “internal temperature”) based on the temperature detection values of the temperature sensors 50 to 52 and the current detection value of the current sensor 53. Perform the temperature estimation process. According to this temperature estimation process, the temperature of each battery cell 21 can be acquired without directly attaching a temperature sensor to each battery cell 21.
  • the first and second battery cells 21a and 21b are taken as an example to describe the internal temperature estimation method, and then the temperature estimation process will be described.
  • the electrode tabs 23 and 24, the first and second bus bars 31 and 32, and the control board 30 form a heat transfer path through which heat generated in each battery body 22 is transmitted.
  • a thermal circuit network model that models the movement of heat in the heat transfer path is created, and the control unit 60 estimates the internal temperature of each battery cell 21 using the thermal circuit network model. .
  • FIG. 3 shows the thermal network model.
  • FIG. 3 shows a thermal circuit network model by extracting the first and second battery cells 21 a and 21 b from the assembled battery 20.
  • the battery main bodies 22 of the first and second battery cells 21a and 21b serve as heat sources in the thermal circuit network model.
  • the heat transfer path from the first and second battery cells 21a, 21b to the control board 30 will be described.
  • the first tab path portion K1a is constituted by a negative electrode tab 24 connected to the first battery cell 21a.
  • route part K2a is comprised by the positive electrode tab 23 connected to the 2nd battery cell 21b.
  • the bus bar path portion Kb includes a first bus bar 31 and a substrate portion from the connection portion of the control board 30 to the first bus bar 31 to the mounting position of the first temperature sensor 50.
  • the board path portion Kp is configured by a board portion from the mounting position of the first temperature sensor 50 to the mounting position of the third temperature sensor 52 on the control board 30.
  • the thermal circuit network model shows an inter-cell path portion Kt that is a heat transfer path formed by the joint surfaces of the adjacent first and second battery cells 21a and 21b.
  • the thermal network model further shows a first space path portion K1b and a second space path portion K2b.
  • the first space path portion K1b is a heat transfer path from the first battery cell 21a to the mounting position of the third temperature sensor 52 on the control board 30 through the space in the housing case 40.
  • the second space path portion K2b is a heat transfer path from the second battery cell 21b to the mounting position of the third temperature sensor 52 on the control board 30 through the space in the housing case 40.
  • the first tab path K1a has a heat transfer resistance R1hc
  • the second tab path K2a has a heat transfer resistance R2hc
  • the inter-cell path Kt has a heat transfer resistance R12. Is present.
  • a heat transfer resistance Rb exists in the bus bar path portion Kb
  • a heat transfer resistance Rp exists in the substrate path portion Kp.
  • the first space path portion K1b has a heat transfer resistance R1ht
  • the second space path portion K2b has a heat transfer resistance R2ht.
  • a heat capacity C1 exists between the first battery cell 21a and the mounting part 44
  • a heat capacity C2 exists between the second battery cell 21b and the mounting part 44.
  • the amount of heat generated by the battery body 22 of the first battery cell 21a is indicated by Q1j, and the amount of heat transfer from the battery body 22 of the first battery cell 21a to the first space path portion K1b is indicated by Q1ht.
  • the amount of heat generated by the battery body 22 of the second battery cell 21b is indicated by Q2j, and the amount of heat transfer from the battery body 22 of the second battery cell 21b to the second space path portion K2b is indicated by Q2ht.
  • the amount of heat transfer in the inter-cell path portion Kt is indicated by Q12.
  • the amount of heat transfer from the battery body 22 of the first battery cell 21a to the first tab path portion K1a is indicated by Q1hc
  • the amount of heat transfer from the battery body 22 of the second battery cell 21b to the second tab path portion K2a is indicated by Q2hc. Show. For this reason, the amount of heat transfer in each of the bus bar path portion Kb and the substrate path portion Kp is “Q1hc + Q2hc”.
  • the internal temperature T1 of the first battery cell 21a is expressed by the following equation (eq1).
  • each heat transfer amount Q1j, Q12, Q1hc, Q1ht is represented by the following equation (eq2).
  • R1j represents the internal resistance value of the first battery cell 21a
  • I (t) represents the charge / discharge current flowing through the first and second battery cells 21a, 21b.
  • Tsens (t) represents the temperature detection value of the first temperature sensor 50
  • Tair (t) represents the temperature detection value of the third temperature sensor 52.
  • the internal temperature T2 of the second battery cell 21b is represented by the following formula (eq4).
  • each heat transfer amount Q2j, Q2hc, Q2ht is represented by the following equation (eq5).
  • R2j represents the internal resistance value of the second battery cell 21b.
  • a state variable xe (t) is newly defined as in the following equation (eq9).
  • Ep is a descriptor matrix
  • Ap is a system matrix
  • Bp is a control matrix.
  • the temperature detection values of the first and third temperature sensors 50 and 52 are input variables.
  • the output equation is expressed as the following equation (eq11).
  • the output variable y (t) is the state variable xe (t) itself.
  • the following equations (eq12) and (eq13) reflect the effects of the observation noise v (t) and the process noise w (t) in each of the above equations (eq10) and (eq11).
  • the matrices G and H are weighted to distribute the process noise w (t) to the noise mixed into the control target input and the noise mixed into the control target output, respectively. Is a weighting matrix.
  • the observation noise v (t) and the process noise w (t) are white noise. Therefore, it is assumed that the following equation (eq14) is established for the observation noise v (t) and the process noise w (t).
  • Rr and Qr indicate the covariance matrix of each noise v (t) and w (t), and N indicates the matrix related to the correlation between the observed noise v (t) and the process noise w (t).
  • the subscript T indicates a transposed matrix.
  • FIG. 4 shows a state variable diagram of the control object CTL based on the above equations (eq12) and (eq13).
  • the observer equation is expressed by the following equation (eq16) for the control object CTL expressed by the above equations (eq12) and (eq13).
  • xh (t) represents an estimated value of the state variable xe (t)
  • L represents an observer gain, and is also referred to as a gain matrix.
  • the observer gain L is expressed by the following equation (eq17).
  • the matrix P represents the solution of the algebraic Riccati equation and is a positive definite matrix.
  • the observer gain L includes the matrix P, the output matrix Cp, the weighting matrices G and H, the covariance matrices Rr and Qr of the noises v (t) and w (t), and the noises v (t) and w (t). It is calculated based on the matrix Nr related to the correlation.
  • the internal resistance value R1j of the first battery cell 21a constituting the system matrix Ap changes according to the temperature of the first battery cell 21a
  • the internal resistance value R2j of the second battery cell 21b is the second battery cell. It changes according to the temperature of 21b. Therefore, in order to satisfy the robustness required for the observer, the observer gain L that satisfies the secondary stability with respect to the fluctuations of the internal resistance values R1j and R2j is calculated. Also, an observer gain L that satisfies the secondary stability is calculated for each noise v (t), w (t).
  • the influence of the observation noise v (t) and the process noise w (t) is ignored in the observer state equation.
  • fluctuations of the internal resistance values R1j and R2j constituting the system matrix Ap are shown in a polytope format.
  • the upper and lower limits of the internal resistance value R1j of the first battery cell 21a are R1U and R1L
  • the upper and lower limits of the internal resistance value R2j of the second battery cell 21b are R2U and R2L.
  • each matrix An, Bn, Cn, and Dn is expressed as the following equation (eq18).
  • the differential value of the above equation (eq21) may be negative. Differentiating the above equation (eq21) leads to the following equation (eq22).
  • the convergence rate of the estimation error e (t) is ⁇ .
  • the following equation (eq24) including the convergence rate ⁇ and the descriptor matrix Ep is derived from the above equation (eq23).
  • the convergence rate ⁇ is defined as the attenuation characteristic of the amplitude of the estimation error e (t) as shown in the following equation (eq25).
  • the matrix P is calculated by solving the LMI expressed by the above equation (eq24) at each vertex of the parameter box. By inputting the calculated matrix P into the above equation (eq17), the observer gain satisfying the secondary stability with respect to the fluctuations of the internal resistance values R1j and R2j and the noises v (t) and w (t). L is calculated.
  • the internal temperatures of the third and fourth battery cells 21c and 21d can also be estimated by a method similar to the estimation method of the internal temperatures of the first and second battery cells 21a and 21b.
  • FIG. 4 shows an observer 61 provided in the control unit 60.
  • the transfer matrix Dp is a zero matrix, the transfer matrix Dp is not shown in FIG.
  • the observer 61 includes a deviation calculator 61a, an output multiplier 61b, a gain processor 61c, an adder 61d, a control multiplier 61e, a system multiplier 61f, and a coefficient multiplier 61g.
  • the deviation calculation unit 61a subtracts the matrix Cpxh (t) output from the output multiplication unit 61b from the output variable y (t).
  • the gain processing unit 61c calculates the observer gain L, and multiplies the calculated observer gain L by the matrix “y (t) ⁇ Cpxh (t)” output from the deviation calculation unit 61a.
  • the adder 61d outputs the matrix “L (y (t) ⁇ Cpxh (t))” output from the gain processor 61c, the matrix Bnu (t) output from the control multiplier 61e, and the system multiplier 61f.
  • the output matrix Anxh (t) is added.
  • the input variable u (t) includes the temperature detection values Tsens and Tair of the first and third temperature sensors 50 and 52.
  • the coefficient multiplication unit 61g multiplies the matrix “Anxh (t) + Bnu (t) + L (y (t) ⁇ Cpxh (t))” output from the addition unit 61d by the descriptor matrix Ep.
  • the integrator 61h integrates the matrix “Ep ⁇ Anxh (t) + Bnu (t) + L (y (t) ⁇ Cxh (t) ⁇ Du (t)) ⁇ ” output from the coefficient multiplier 61g, An estimated value xh (t) of the state variable is calculated.
  • the parameters R12, R1hc, R1ht, R2hc, R2ht, C1, and C2 included in the system matrix An of the system multiplier 61f and the control matrix Bn of the control multiplier 61e are sequentially identified.
  • identification of these parameters is not a main part in the present embodiment, detailed description of the identification method is omitted.
  • the gain processing unit 61c corresponds to a gain calculation unit that calculates the observer gain L based on the above equation (eq17). Specifically, the gain processing unit 61c first calculates the matrix P by solving the LMI expressed by the above equation (eq24). The gain processing unit 61c calculates the observer gain L based on the above equation (eq17) with the calculated matrix P as an input.
  • the gain processing unit 61c calculates the observer gain L so as to satisfy the robustness required for the observer in the entire fluctuation range that the battery cell 21 can take. This can be realized by setting the fluctuation range of the internal resistance values R1j and R2j to be considered when calculating the matrix P by the setting unit 62.
  • the setting unit 62 will be described.
  • the internal resistance values R1j and R2j of the first and second battery cells 21a and 21b increase as the temperature of the battery cell 21 decreases. For this reason, the fluctuation range of the internal resistance values R1j and R2j to be considered when calculating the matrix P is changed according to the temperature of the battery cell 21.
  • the battery unit 10 is not provided with a temperature sensor that directly detects the temperature of the battery cell 21a. For this reason, the setting unit 62 changes the fluctuation range of the internal resistance values R1j and R2j to be considered when calculating the matrix P in accordance with the temperature detection value Tair of the third temperature sensor 52.
  • the fluctuation range can be changed based on the temperature detection value Tair of the third temperature sensor 52 because the temperature detection value Tair and the temperature of the battery cell 21 have a positive correlation during the operation of the battery unit 10. It is for having. Due to this correlation, the temperature detection value Tair and the internal resistance values R1j and R2j can be related.
  • the setting unit 62 sets each temperature set by dividing the fluctuation range TB.
  • a temperature range including the temperature detection value Tair of the third temperature sensor 52 is selected from the ranges TA1 to TA7.
  • the setting unit 62 sets the upper and lower limit values R1L, R1U, R2L, the internal resistance values R1j, R2j corresponding to the boundary of the selected temperature range (the temperature range adjacent to the lower side and the boundary to the temperature range adjacent to the upper side). Set R2U.
  • the upper limit value R1U of the internal resistance value of the first battery cell 21a is set as RU
  • the lower limit value R1L of the internal resistance value is set as RL. An example is shown.
  • each internal resistance value R1j, R2j has a larger increase amount per unit temperature decrease amount of the battery cell 21 as the temperature of the battery cell 21 is lower, so that each of the temperature ranges TA1 to TA7.
  • Each is set narrower as the temperature detection value Tair is lower.
  • the setting unit 62 stores a value of the convergence rate ⁇ set in advance corresponding to each of the temperature ranges TA1 to TA7.
  • the setting unit 62 selects a value of the convergence rate ⁇ corresponding to the temperature range including the temperature detection value Tair of the third temperature sensor 52 from the temperature ranges TA1 to TA7, and outputs the selected value to the gain processing unit 61c.
  • the convergence rate ⁇ corresponding to the temperature of the battery cell 21 can be used so that the time required for the estimated internal temperature to converge to the true internal temperature can be shortened.
  • the same value may be used in each of the temperature ranges TA1 to TA7, or different values may be used.
  • the gain processing unit 61c calculates the observer gain L so that the eigenvalue of the matrix “An-LCp” becomes negative.
  • control unit 60 can satisfy the robustness of the observer 61 that estimates the internal temperature of the battery cell 21 in all the fluctuation ranges TB that the temperature detection value Tair can take. For this reason, it becomes unnecessary to adapt the observer 61 for every use environment of vehicles, such as a cold region specification and a warm region specification, and a common observer can be used.
  • the control unit 60 divides the fluctuation range TB that can be assumed as the temperature of the battery cell 21 to define a plurality of temperature ranges TA1 to TA7, and in each of the temperature ranges TA1 to TA7, each internal temperature corresponding to the temperature range is determined.
  • the observer gain L was calculated so as to satisfy the robustness with the upper and lower limit values of the resistance values R1j and R2j.
  • the control unit 60 schedules the observer gain L according to the temperature of the battery cell 21. For this reason, even when the variation range TB is wide, the LMI solution P satisfying the robustness can be calculated in each of the temperature ranges TA1 to TA7. Thereby, the observer gain L satisfying the robustness in each of the temperature ranges TA1 to TA7 can be calculated, and the estimation accuracy of the internal temperature of the battery cell 21 can be increased.
  • the convergence rate ⁇ of the estimated value xh (t) of the state variable was individually set. Therefore, the convergence rate ⁇ can be optimized in each of the temperature ranges TA1 to TA7. Thereby, even if there is an estimation error between the estimated internal temperature and the true internal temperature, the estimation error can be quickly converged to zero.
  • Each of the temperature ranges TA1 to TA7 is set narrower as the temperature detection value Tair of the third temperature sensor 52 is lower. For this reason, in the temperature range where the temperature detection value Tair is low, it is possible to suppress an increase in the difference between the upper and lower limit values of the internal resistance values R1j and R2j at the boundary of the temperature range.
  • the LMI matrix P shown in the above equation (eq24) can be calculated, and the observer gain L satisfying the robustness can be calculated.
  • the matrixes Rb and Nb related to noise are included in the LMI shown in the above equation (eq24).
  • the temperature estimation process described in the first embodiment is referred to as a first temperature estimation process.
  • the control unit 60 performs a second temperature estimation process in addition to the first temperature estimation process.
  • the control part 60 performs the switching process which switches which temperature estimation is used among the 1st, 2nd temperature estimation processes according to the estimated temperature of the battery cell 21.
  • FIG. hereinafter, after describing the second temperature estimation process, the switching process will be described.
  • the control unit 60 performs the second temperature estimation process using the thermal circuit network model shown in FIG.
  • the thermal network model shown in FIG. 6 is a simplified version of the model shown in FIG. Specifically, the first and second spatial path portions K1b and K2b, the inter-cell path portion Kt, and the heat capacities C1 and C2 are deleted from the model shown in FIG.
  • the first and second battery cells 21a and 21b will be described as an example.
  • the temperature difference at both ends of the first tab path portion K1a is represented by Q1j ⁇ R1hc
  • the temperature difference at both ends of the second tab path portion K2a is represented by Q2j ⁇ R2hc.
  • the temperature difference between both ends of the substrate path portion Kp is represented by (Q1j + Q2j) ⁇ Rp. Therefore, the internal temperatures of the first and second battery cells 21a and 21b can be expressed by the following equation (eq26).
  • the difference between the temperature detection values of the first and third temperature sensors 50 and 52 can be expressed by “Tsens ⁇ Tair”.
  • This temperature difference “Tsens-Tair” corresponds to a temperature difference at both ends of the substrate path portion Kp.
  • the heat transfer amount in the substrate path portion Kp is “Q1j + Q2j”
  • “Q1j + Q2j” can be expressed by the following equation (eq27).
  • each functional block in FIG. 7 is realized by the control unit 60.
  • a process for estimating the internal temperatures of the first and second battery cells 21a and 21b and a process for estimating the internal temperatures of the third and fourth battery cells 21c and 21d are individually performed. Done.
  • the control unit 60 includes a first temperature difference calculation unit 71, a second temperature difference calculation unit 72, an addition unit 73, a third temperature difference calculation unit 74, and an addition unit 75.
  • the first temperature difference calculation unit 71 calculates the temperature difference ⁇ T of each temperature detection value by subtracting the temperature detection value Tair of the third temperature sensor 52 from the temperature detection value Tsens of the first temperature sensor 50.
  • the second temperature difference calculation unit 72 is a temperature between the internal temperature T1 of the first battery cell 21a and the temperature detection value Tsens of the first temperature sensor 50.
  • the difference is calculated as y1.
  • This temperature difference g1 is expressed by the following equation (eq29).
  • the temperature difference g1 corresponds to the sum of the second term and the third term for T1 in the above equation (eq28).
  • each of the heat transfer resistances Rb, Rp, R1hc in the above equation (eq29) is an appropriate value
  • Q1hc ⁇ R1hc is also an appropriate value.
  • the temperature difference g1 corresponds to an “estimated temperature difference”
  • the second temperature difference calculation unit 72 corresponds to a temperature difference calculation unit.
  • the adding unit 73 adds the temperature difference g1 calculated by the second temperature difference calculating unit 72 and the temperature detection value Tsens of the first temperature sensor 50. Thereby, the internal temperature T1 of the first battery cell 21a is calculated.
  • the adding unit 73 corresponds to a battery temperature calculating unit.
  • the third temperature difference calculation unit 74 is a temperature between the internal temperature T2 of the second battery cell 21b and the temperature detection value Tsens of the first temperature sensor 50.
  • the difference is calculated as g2.
  • This temperature difference g2 is expressed by the following equation (eq30).
  • the temperature difference g2 corresponds to the sum of the second term and the third term for T2 in the above equation (eq28).
  • the heat transfer resistances Rb, Rp, R2hc in the above equation (eq30) are all appropriate values, and Q2hc ⁇ R2hc is also an appropriate value.
  • the temperature difference y2 corresponds to an “estimated temperature difference”
  • the third temperature difference calculation unit 74 corresponds to a temperature difference calculation unit.
  • the adding unit 75 adds the temperature difference g2 calculated by the third temperature difference calculating unit 74 and the temperature detection value Tsens of the first temperature sensor 50. Thereby, the internal temperature T2 of the second battery cell 21b is calculated.
  • the adding unit 75 corresponds to a battery temperature calculating unit.
  • the internal temperature can be estimated by the same method as that shown in FIG. In this case, the heat transfer resistance and heat transfer amount in the above equations (eq29) and (eq30) are changed to the heat transfer resistance and heat transfer amount corresponding to the third and fourth battery cells 21c and 21d, and the first temperature sensor 50 Instead of the detected temperature value, the detected temperature value of the second temperature sensor 51 may be Tsens.
  • FIG. 8 shows the procedure of the switching process for switching the temperature estimation between the first and second temperature estimation processes. This process is repeatedly executed by the control unit 60 at a predetermined cycle, for example.
  • the internal temperature Te used in the first step S10 or the first steps S10 and S11 is estimated by a predetermined one of the first and second temperature estimation processes. Values are used. Specifically, for example, the internal temperature estimated by the first temperature estimation process with high estimation accuracy is used.
  • step S10 the control unit 60 determines whether or not the internal temperature Te estimated by the currently executed estimation process out of the first and second temperature estimation processes exceeds the upper limit temperature Tmax. Determine.
  • the upper limit temperature Tmax is set to a value smaller than the upper limit value of the temperature at which the reliability of the battery cell 21 can be maintained (hereinafter referred to as “allowable upper limit value TUlim”).
  • step S11 the control unit 60 determines that the internal temperature Te estimated by the currently executed estimation process of the first and second temperature estimation processes is less than the lower limit temperature Tmin. It is determined whether or not there is.
  • the lower limit temperature Tmin is set to a value smaller than the upper limit temperature Tmax and larger than the lower limit value of the temperature at which the reliability of the battery cell 21 can be maintained (hereinafter referred to as “allowable lower limit value TLlim”). ing.
  • step S12 the control unit 60 performs a second temperature estimation process.
  • step S13 the control unit 60 performs a first temperature estimation process.
  • the temperature range from the lower limit temperature Tmin to the upper limit temperature Tmax corresponds to the first temperature range.
  • a temperature range from the lower limit temperature Tmin to the allowable lower limit value TLlim and a temperature range from the upper limit temperature Tmax to the allowable upper limit value TUlim correspond to the second temperature range.
  • the reliability of the battery cell 21 is lower in the second temperature range than in the first temperature range is, for example, that the discharge capacity of the battery cell 21 in the first temperature range is lower than the maximum value. It means that the maximum value of the discharge capacity of the battery cell 21 in the temperature range of 2 is smaller.
  • the two first and second estimation processes are switched according to the estimated temperature for the reason described below.
  • the estimation accuracy of the internal temperature by the first temperature estimation process is higher than the estimation accuracy of the internal temperature by the second temperature estimation process.
  • the processing load required for the estimation of the internal temperature by the second temperature estimation process is smaller than the processing load required for the estimation of the internal temperature by the first temperature estimation process. Therefore, the estimation of the internal temperature Te by the second temperature estimation process is continued until the internal temperature Te estimated by the second temperature estimation process exceeds the upper limit temperature Tmax or falls below the lower limit temperature Tmin.
  • the processing load on the control unit 60 can be reduced until the internal temperature Te estimated by the second temperature estimation process exceeds the upper limit temperature Tmax or falls below the lower limit temperature Tmin.
  • the second temperature estimation process is switched to the first temperature estimation process. Therefore, when the internal temperature Te increases and approaches the allowable upper limit value TUlimit, or when the internal temperature Te decreases and approaches the allowable lower limit value TLlimit, the estimation accuracy of the internal temperature Te can be increased. Thereby, it can avoid using the battery cell 21 in the overheated state or the low temperature state. Therefore, deterioration of the battery cell 21 can be avoided.
  • the temperature ranges TA1 to TA7 are set such that the difference between the upper and lower limit values of the internal resistance values R1j and R2j corresponding to the boundary of the temperature range is equal to each other.
  • Each temperature range may be set.
  • switching to the first temperature estimation process may be performed only when the internal temperature Te estimated by the second temperature estimation process exceeds the upper limit temperature Tmax.
  • the first temperature estimation process may be switched only when the internal temperature Te estimated by the second temperature estimation process falls below the lower limit temperature Tmin.
  • the second temperature estimation process is not limited to the one exemplified in the second embodiment. If the processing load is lower than the first temperature estimation process, the process may be different from the process exemplified in the second embodiment.
  • the upper and lower limit values of the internal resistance values of the first and second battery cells 21a and 21b are set based on the temperature detection value Tair of the third temperature sensor 52, but the present invention is not limited to this.
  • the upper and lower limit values of the internal resistance value are set based on the temperature detection value Tsens of the first temperature sensor 50. May be.
  • the thermal network model is not limited to that shown in FIG.
  • a model in which any one of the inter-cell route portion Kt and the space route portions K1b and K2b is omitted may be used.
  • control substrate 30 may be disposed between the assembled battery 20 and the peripheral wall portion 42 with the substrate surface facing the inner surface of the peripheral wall portion 42.
  • the arrangement method of the battery cells 21 in the housing case 40 is not limited to that shown in FIG.
  • a vertical arrangement in which the battery cells are arranged in the housing case 40 with the plate surface of the battery cells 21 facing the inner surface of the peripheral wall portion 42 may be adopted.
  • the internal temperature of the battery cell was estimated by the observer 61, it is not restricted to this.
  • the surface temperature of the battery cell (the surface temperature of the flat container 25) may be estimated.

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