WO2018218721A1 - Method for detecting leakage current of battery pack of unmanned vehicle - Google Patents
Method for detecting leakage current of battery pack of unmanned vehicle Download PDFInfo
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- WO2018218721A1 WO2018218721A1 PCT/CN2017/090680 CN2017090680W WO2018218721A1 WO 2018218721 A1 WO2018218721 A1 WO 2018218721A1 CN 2017090680 W CN2017090680 W CN 2017090680W WO 2018218721 A1 WO2018218721 A1 WO 2018218721A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/3644—Constructional arrangements
- G01R31/3648—Constructional arrangements comprising digital calculation means, e.g. for performing an algorithm
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/396—Acquisition or processing of data for testing or for monitoring individual cells or groups of cells within a battery
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- the invention relates to an unmanned vehicle technology, in particular to a battery pack leakage current detecting method for an unmanned vehicle.
- the battery pack is a source of power for the unmanned vehicle.
- the battery pack and the vehicle may be caused.
- unmanned vehicles In order to achieve certain power requirements, unmanned vehicles often use multiple batteries in series. There may be leakage current between each battery and the chassis.
- the current research on DC system leakage current generally uses single point grounding or positive and negative.
- the model of the busbar grounding however, the maximum leakage current of the model for the unmanned vehicle battery pack cannot be determined, so the leakage problem cannot be accurately detected.
- the object of the present invention is to provide a method for measuring leakage current of an unmanned vehicle battery pack, comprising the following steps:
- the unmanned vehicle battery pack is insulated.
- R 0 - R n are ground resistances
- I 0 - I n are leakage currents flowing from the battery into the electric chassis
- V 0 - V n are voltages between the grounding points, assuming that someone is in contact with the battery Point a, let the current flowing through the human body be I p , thereby obtaining:
- I 1 +...I p +...I n 0(1), which defines the leakage current between the battery pack and the electric chassis when the battery pack is directly shorted to the electric chassis.
- the current through the human body is maximized, and at this time, the point a is located at the most positive or negative part of the battery pack, then
- the relationship between the voltage and the resistance obtained in the step (1) is:
- the relationship of the step (2) to obtain V a ' is:
- the relationship of the step (3) to obtain V b ' is:
- the step (4) simultaneous equation comprises:
- the threshold of the step (6) is 2 mA.
- FIG. 1 is a schematic diagram of maximum leakage current detection according to an embodiment of the present invention.
- FIG. 2 is a flow chart of method steps in accordance with an embodiment of the present invention.
- the leakage current measurement method of the unmanned vehicle battery pack adopts an insulation model, setting R 0 - R n as the grounding resistance, the resistance is parallel, and I 0 -I n are respectively flowing from the battery to the electric chassis.
- the leakage current, V 0 - V n is the voltage between the grounding points, respectively connected to each grounding resistance, assuming that someone touches the point a of the battery, and the current flowing through the human body is I p , thereby obtaining:
Abstract
A method for detecting a leakage current of battery pack of an unmanned vehicle, comprising: (1) taking an electric chassis as a reference point, and when both Sa and Sb are not connected, setting the voltages at points a and b as Va and Vb respectively, and obtaining the correlation between the voltage and the resistance; (2) closing Sa and measuring the voltage V'a at point A after the corresponding resistor of Sa is connected; (3) opening Sa, closing Sb, and measuring the voltage V'b at point B after the corresponding resistor of Sb is connected; (4) forming simultaneous equations, solving same to obtain currents Ipos and Ireg of the battery pack which is directly shorted to the ground at the most negative and most positive points; (5) comparing the magnitudes of Ipos and Ireg, and taking the larger one as the maximum leakage current IL = max{Ipos, Ireg} of the battery pack; and (6) the battery pack of the unmanned vehicle being insulated when the maximum leakage current is less than a certain threshold value.
Description
本发明涉及无人车技术，特别是一种面向无人车的电池组漏电流检测方法。The invention relates to an unmanned vehicle technology, in particular to a battery pack leakage current detecting method for an unmanned vehicle.
电池组是无人车的一种动力来源，然而，由于车辆上恶劣的环境，以及随着电池的使用，电池组自身或它们之间的连接线老化等多种原因，会导致电池组和车辆电底盘之间的绝缘出现问题，由于电池组电压通常在300V以上，漏电流问题会使得无人车整个电路出现问题。The battery pack is a source of power for the unmanned vehicle. However, due to the harsh environment on the vehicle and the aging of the battery pack itself or the connection between them due to the use of the battery, the battery pack and the vehicle may be caused. There is a problem with the insulation between the electric chassis. Since the battery pack voltage is usually above 300V, the leakage current problem may cause problems in the entire circuit of the unmanned vehicle.
无人车为了达到一定功率要求，常常将多节电池串联使用，每节电池与车底盘之间都有可能存在泄漏电流，现有技术对直流系统泄漏电流的研究一般采用单点接地或正负母线接地的模型，然而该模型对于无人车电池组的最大泄漏电流无法确定，因此不能精确的检测到泄漏问题。In order to achieve certain power requirements, unmanned vehicles often use multiple batteries in series. There may be leakage current between each battery and the chassis. The current research on DC system leakage current generally uses single point grounding or positive and negative. The model of the busbar grounding, however, the maximum leakage current of the model for the unmanned vehicle battery pack cannot be determined, so the leakage problem cannot be accurately detected.
发明内容Summary of the invention
本发明的目的在于提供一种无人车实电池组漏电流测量方法，包括如下步骤：The object of the present invention is to provide a method for measuring leakage current of an unmanned vehicle battery pack, comprising the following steps:
(1)以电底盘为参考点，当Sa、Sb都不切入的时候，设定a、b两点的电压分别为Va、Vb，获得电压与电阻之间的相应关系；(1) Taking the electric chassis as the reference point, when both S a and S b are not cut in, set the voltages of two points a and b to V a and V b respectively , and obtain the corresponding relationship between voltage and resistance;
(2)闭合Sa，将Sa相应的电阻接入后测量a点的电压Va′；(2) closing S a , connecting the corresponding resistance of S a and measuring the voltage V a ' at point a ;
(3)断开Sa，闭合Sb，将Sb相应的电阻接入后测量b点的电压Vb′；
(3) disconnecting S a , closing S b , connecting the corresponding resistance of S b and measuring the voltage V b ' at point b ;
(4)联立方程，求得电池组最负和最正处对地直接短路的电流Ipos和Ireg；(4) Simultaneous equations, find the currents I pos and I reg of the battery group's most negative and most direct short-circuit to ground;
(5)比较Ipos和Ireg的大小，取其中较大值作为电池组的最大漏电流IL＝max{Ipos,Ireg}；(5) Compare the sizes of I pos and I reg , and take the larger value as the maximum leakage current of the battery pack I L =max{I pos , I reg };
(6)当最大漏电流小于一定阈值的情况下，无人车电池组是绝缘的。(6) When the maximum leakage current is less than a certain threshold, the unmanned vehicle battery pack is insulated.
优选的，设定R0-Rn为接地电阻，I0-In分别为从电池流入电底盘的泄漏电流，V0-Vn为各接地点之间的电压，假设某人接触了电池的a点，设流过人体的电流为Ip，从而获得：Preferably, R 0 - R n are ground resistances, I 0 - I n are leakage currents flowing from the battery into the electric chassis, and V 0 - V n are voltages between the grounding points, assuming that someone is in contact with the battery Point a, let the current flowing through the human body be I p , thereby obtaining:
I1+...Ip+...In＝0(1)，定义电池组某点直接和电底盘短路时电池组与电底盘之间的泄漏电流为该点此时的最大泄漏电流，当人体电阻为0的时候，Ip＝0，设电地盘的电位为0，a点电位也为0，此时电池组各点对电底盘的漏电电流的关系式为：I 1 +...I p +...I n =0(1), which defines the leakage current between the battery pack and the electric chassis when the battery pack is directly shorted to the electric chassis. The maximum leakage current at this point is When the body resistance is 0, I p =0, set the potential of the electric ground to 0, and the potential at point a is also 0. At this time, the relationship between the leakage current of each point of the battery pack to the electric chassis is:
流过人体的电流，Current flowing through the body,
优选的，当所有的电流同方向的时候，通过人体的电流取得最大值，此时a点位于电池组的最正或最负的地方，则Preferably, when all the currents are in the same direction, the current through the human body is maximized, and at this time, the point a is located at the most positive or negative part of the battery pack, then
优选的，所述步骤(1)获得的电压和电阻的关系为：Preferably, the relationship between the voltage and the resistance obtained in the step (1) is:
优选的，所述步骤(2)获得Va′的关系式为：Preferably, the relationship of the step (2) to obtain V a ' is:
优选的，所述步骤(3)获得Vb′的关系式为：Preferably, the relationship of the step (3) to obtain V b ' is:
优选的，所述步骤(4)联立方程包括：Preferably, the step (4) simultaneous equation comprises:
将式(6)代入式(7)，整理获得：Substituting equation (6) into equation (7), and finishing:
将式(5)代入式(8)，整理获得：Substituting equation (5) into equation (8), and finishing:
将式(9)整理得到：Formula (9) is obtained:
将式(6)代入式(13)得到：Substituting equation (6) into equation (13) yields:
整理式(10)得到：Finishing (10) gets:
将式(5)代入式(15)得到：Substituting equation (5) into equation (15) yields:
联立(11)和(14)获得：
Lianli (11) and (14) obtained:
联立(12)和(16)获得：Lianli (12) and (16) obtained:
优选的，所述步骤(6)的阈值为2mA。Preferably, the threshold of the step (6) is 2 mA.
根据下文结合附图对本发明具体实施例的详细描述，本领域技术人员将会更加明了本发明的上述以及其他目的、优点和特征。The above as well as other objects, advantages and features of the present invention will become apparent to those skilled in the <
后文将参照附图以示例性而非限制性的方式详细描述本发明的一些具体实施例。附图中相同的附图标记标示了相同或类似的部件或部分。本领域技术人员应该理解，这些附图未必是按比例绘制的。本发明的目标及特征考虑到如下结合附图的描述将更加明显，附图中：Some specific embodiments of the present invention are described in detail below by way of example, and not limitation. The same reference numbers in the drawings identify the same or similar parts. Those skilled in the art should understand that the drawings are not necessarily drawn to scale. The objects and features of the present invention will become more apparent in consideration of the following description in conjunction with the accompanying drawings.
图1为根据本发明实施例的最大漏电流检测原理图；1 is a schematic diagram of maximum leakage current detection according to an embodiment of the present invention;
图2位根据本发明实施例的方法步骤流程图。2 is a flow chart of method steps in accordance with an embodiment of the present invention.
参见图1，该无人车实电池组漏电流测量方法采用的是一种绝缘模型，设定R0-Rn为接地电阻，电阻为并联，I0-In分别为从电池流入电底盘的泄漏电流，V0-Vn为各接地点之间的电压，分别连接各个接地电阻，假设某人接触了电池的a点，设流过人体的电流为Ip，从而获得：Referring to Fig. 1, the leakage current measurement method of the unmanned vehicle battery pack adopts an insulation model, setting R 0 - R n as the grounding resistance, the resistance is parallel, and I 0 -I n are respectively flowing from the battery to the electric chassis. The leakage current, V 0 - V n is the voltage between the grounding points, respectively connected to each grounding resistance, assuming that someone touches the point a of the battery, and the current flowing through the human body is I p , thereby obtaining:
I1+...Ip+...In＝0(1)，I 1 +...I p +...I n =0(1),
定义电池组某点直接和电底盘短路时电池组与电底盘之间的泄漏电流为该点此时的最大泄漏电流，当人体电阻为0的时候，Ip＝0，设电地盘的电位为0，a点电位也为0，此时电池组各点对电底盘的漏电电流的关系式为：
Defining the leakage current between the battery pack and the electric chassis when the battery pack is directly shorted to the electric chassis is the maximum leakage current at that point. When the human body resistance is 0, I p =0, and the potential of the electric ground is set. 0, the potential at point a is also 0. At this time, the relationship between the leakage current of each point of the battery pack to the electric chassis is:
流过人体的电流，Current flowing through the body,
当所有的电流同方向的时候，通过人体的电流取得最大值，此时a点位于电池组的最正或最负的地方，则When all currents are in the same direction, the current through the human body is maximized. At this point, point a is at the most positive or negative point of the battery pack.
首先，以电底盘为参考点，当Sa、Sb都不切入的时候，设定a、b两点的电压分别为Va、Vb，获得电压与电阻之间的相应关系，First, with the electric chassis as the reference point, when both S a and S b are not cut in, the voltages at the two points a and b are V a and V b respectively , and the corresponding relationship between voltage and resistance is obtained.
然后，闭合Sa，将Sa相应的电阻接入后测量a点的电压Va′，Va′的关系式为：Then, S a closed, a measured voltage V a point after the S a respective resistor access ', V a' in the relationship of:
然后，断开Sa，闭合Sb，将Sb相应的电阻接入后测量b点的电压Vb′，Vb′的关系式为：Then, S a is turned off, S b is closed, and the corresponding resistance of S b is connected to measure the voltage V b ' at point b , and the relationship of V b ' is:
此后，通过联立方程，求得电池组最负和最正处对地直接短路的电流Ipos和Ireg，包括：
Thereafter, through the simultaneous equations, the currents I pos and I reg of the battery group's most negative and most direct short-circuit to ground are obtained, including:
将式(6)代入式(7)，整理获得：Substituting equation (6) into equation (7), and finishing:
将式(5)代入式(8)，整理获得：Substituting equation (5) into equation (8), and finishing:
将式(9)整理得到：Formula (9) is obtained:
将式(6)代入式(13)得到：Substituting equation (6) into equation (13) yields:
整理式(10)得到：Finishing (10) gets:
将式(5)代入式(15)得到：Substituting equation (5) into equation (15) yields:
联立(11)和(14)获得：Lianli (11) and (14) obtained:
联立(12)和(16)获得：Lianli (12) and (16) obtained:
然后，比较Ipos和Ireg的大小，取其中较大值作为电池组的最大漏电流IL＝max{Ipos,Ireg}，当最大漏电流小于2mA的情况下，无人车电池组是绝缘的。Then, compare the size of I pos and I reg , and take the larger value as the maximum leakage current of the battery pack I L =max{I pos , I reg }, when the maximum leakage current is less than 2 mA, the unmanned vehicle battery pack It is insulated.
为了验证该方法的有效性，采用MATLAB/simulink对电路取n＝5进行仿真，其中各方针参数分别为
R0＝300kΩ,R1＝400kΩ,R2＝500kΩ,R3＝600kΩ,R4＝700kΩ,R5＝800kΩ,Rp＝100kΩ,Rq＝100kΩ,V1＝V2＝V3＝V4＝V5＝100V，测量后进行计算的结果为Ipos＝2.333mA，Ireg＝3.746mA，仿真的结果为：Ipos＝2.346mA，Ireg＝3.74mA，从而证明了该方法的正确性和有效性。In order to verify the effectiveness of the method, MATLAB/simulink is used to simulate the circuit with n=5, where the policy parameters are R 0 =300kΩ, R 1 =400kΩ, R 2 =500kΩ, R 3 =600kΩ, R 4 = 700kΩ, R 5 =800kΩ, R p =100kΩ, R q =100kΩ, V 1 =V 2 =V 3 =V 4 =V 5 =100V, the result of the calculation after measurement is I pos =2.333mA, I reg = 3.746mA, the simulation results are: I pos = 2.346mA, I reg = 3.74mA, which proves the correctness and effectiveness of the method.
虽然本发明已经参考特定的说明性实施例进行了描述，但是不会受到这些实施例的限定而仅仅受到附加权利要求的限定。本领域技术人员应当理解可以在不偏离本发明的保护范围和精神的情况下对本发明的实施例能够进行改动和修改。
The present invention has been described with reference to the specific illustrative embodiments, and is not limited by the scope of the appended claims. It will be appreciated by those skilled in the art that the embodiments of the invention can be modified and modified without departing from the scope and spirit of the invention.
Claims (8)
- 一种无人车实电池组漏电流测量方法，其特征在于包括如下步骤：A method for measuring leakage current of an unmanned vehicle battery pack, characterized in that the method comprises the following steps:(1)以电底盘为参考点，当Sa、Sb都不切入的时候，设定a、b两点的电压分别为Va、Vb，获得电压与电阻之间的相应关系；(1) Taking the electric chassis as the reference point, when both S a and S b are not cut in, set the voltages of two points a and b to V a and V b respectively , and obtain the corresponding relationship between voltage and resistance;(2)闭合Sa，将Sa相应的电阻接入后测量a点的电压V′a；(2) a closed S, S to a corresponding resistor of the measurement point a voltage V 'a;(3)断开Sa，闭合Sb，将Sb相应的电阻接入后测量b点的电压V′b；(3) Disconnect S a , close S b , and connect the corresponding resistance of S b to measure the voltage V′ b at point b ;(4)联立方程，求得电池组最负和最正处对地直接短路的电流Ipos和Ireg；(4) Simultaneous equations, find the currents I pos and I reg of the battery group's most negative and most direct short-circuit to ground;(5)比较Ipos和Ireg的大小，取其中较大值作为电池组的最大漏电流IL＝max{Ipos,Ireg}；(5) Compare the sizes of I pos and I reg , and take the larger value as the maximum leakage current of the battery pack I L =max{I pos , I reg };(6)当最大漏电流小于一定阈值的情况下，无人车电池组是绝缘的。(6) When the maximum leakage current is less than a certain threshold, the unmanned vehicle battery pack is insulated.
- 根据权利要求1所述的一种无人车实电池组漏电流测量方法，设定R0-Rn为接地电阻，I0-In分别为从电池流入电底盘的泄漏电流，V0-Vn为各接地点之间的电压，假设某人接触了电池的a点，设流过人体的电流为Ip，从而获得：The method for measuring leakage current of an unmanned vehicle battery pack according to claim 1, wherein R 0 - R n are ground resistance, and I 0 - I n are leakage currents flowing from the battery into the electric chassis, respectively, V 0 - V n is the voltage between the grounding points. Suppose someone touches the point a of the battery, and the current flowing through the human body is I p , thereby obtaining:I1+...Ip+...In＝0 (1)，I 1 +...I p +...I n =0 (1),定义电池组某点直接和电底盘短路时电池组与电底盘之间的泄漏电流为该点此时的最大泄漏电流，当人体电阻为0的时候，Ip＝0，设电地盘的电位为0，a点电位也为0，此时电池组各点对电底盘的漏电电流的关系式为：Defining the leakage current between the battery pack and the electric chassis when the battery pack is directly shorted to the electric chassis is the maximum leakage current at that point. When the human body resistance is 0, I p =0, and the potential of the electric ground is set. 0, the potential at point a is also 0. At this time, the relationship between the leakage current of each point of the battery pack to the electric chassis is:
流过人体的电流，Current flowing through the body,
- 根据权利要求2所述的一种无人车实电池组漏电流测量方法，当所有的电流同方向的时候，通过人体的电流取得最大值，此时a点位于电池组的最正 或最负的地方，则The method for measuring leakage current of an unmanned vehicle battery pack according to claim 2, wherein when all the currents are in the same direction, the current through the human body obtains a maximum value, and the point a is located at the most positive of the battery pack. Or the most negative place, then
- 根据权利要求3所述的一种无人车实电池组漏电流测量方法，所述步骤(1)获得的电压和电阻的关系为：The method for measuring leakage current of an unmanned vehicle battery pack according to claim 3, wherein the relationship between the voltage and the resistance obtained in the step (1) is:
- 根据权利要求4所述的一种无人车实电池组漏电流测量方法，所述步骤(2)获得V′a的关系式为：The method for measuring leakage current of a battery pack of an unmanned vehicle according to claim 4, wherein the relationship of obtaining V' a in the step (2) is:
- 根据权利要求5所述的一种无人车实电池组漏电流测量方法，所述步骤(3)获得V′b的关系式为：The method for measuring leakage current of an unmanned vehicle battery pack according to claim 5, wherein the relationship of the step (3) to obtain V' b is:
- 根据权利要求6所述的一种无人车实电池组漏电流测量方法，所述步骤(4)联立方程包括：The method for measuring leakage current of an unmanned vehicle battery pack according to claim 6, wherein the step (4) simultaneous equation comprises:将式(6)代入式(7)，整理获得：Substituting equation (6) into equation (7), and finishing:
将式(5)代入式(8)，整理获得：Substituting equation (5) into equation (8), and finishing:
将式(9)整理得到：Formula (9) is obtained:
将式(6)代入式(13)得到：Substituting equation (6) into equation (13) yields:
整理式(10)得到：Finishing (10) gets:
将式(5)代入式(15)得到：Substituting equation (5) into equation (15) yields:
联立(11)和(14)获得：Lianli (11) and (14) obtained:
联立(12)和(16)获得：Lianli (12) and (16) obtained:
- 根据上述任意一个权利要求所述的一种无人车实电池组漏电流测量方法，所述步骤(6)的阈值为2mA。 A method for measuring leakage current of an unmanned vehicle battery according to any one of the preceding claims, wherein the threshold of the step (6) is 2 mA.
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| CN201710405264.9A CN107229018A (en) | 2017-05-31 | 2017-05-31 | A kind of unmanned vehicle electric leakage of battery pack stream detection method |
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Citations (7)
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